CN107765088B - Mobile periodic scanning control device and control method, mobile periodic scanning equipment and unmanned vehicle - Google Patents
Mobile periodic scanning control device and control method, mobile periodic scanning equipment and unmanned vehicle Download PDFInfo
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- 238000010408 sweeping Methods 0.000 claims description 25
- 230000001629 suppression Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000001228 spectrum Methods 0.000 claims description 7
- 230000000087 stabilizing effect Effects 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
- G01R23/16—Spectrum analysis; Fourier analysis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H13/00—Means of attack or defence not otherwise provided for
- F41H13/0043—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target
- F41H13/0081—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target the high-energy beam being acoustic, e.g. sonic, infrasonic or ultrasonic
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a mobile periodic scanning control device and a control method, mobile periodic scanning equipment and an unmanned vehicleAnd the scanning device is fixedly arranged on the mobile platform, and the closest distance which can be scanned by the scanning device is L1The maximum distance is L2The moving sweep control device includes: the first control module is used for controlling the scanning equipment to perform circumferential scanning relative to the mobile platform at a set circumferential scanning angular velocity omega; the second control module is used for controlling the mobile platform to translate at a set translation speed v so as to drive the scanning equipment to translate at the translation speed v; the main control module is used for associating the translation speed v and the circumferential scanning angular speed omega and restricting the translation speed v and the circumferential scanning angular speed omega, so that when the scanning equipment performs circumferential scanning for 360 degrees, the translation distance of the mobile platform is delta L, wherein the delta L is L2‑L1. The invention can avoid repeated scanning, ensure the periodic scanning effect, improve the platform operation speed and improve the overall working efficiency.
Description
Technical Field
The present invention relates to the field of mobile scanning technologies, and in particular, to a mobile scanning control device and a mobile scanning control method. In addition, the invention also relates to a mobile periodic sweeping device comprising the mobile periodic sweeping control device and an unmanned vehicle comprising the mobile periodic sweeping device.
Background
The circumferential scanning is scanning the device for 360 degrees around, and the moving circumferential scanning refers to scanning the device for 360 degrees around while moving in the space. The existing periodic scanning modes mainly comprise remote control and automatic patrol. The remote control is that a person controls the angle of the circumferential scanning through a rocker, the automatic patrol is preset with a fixed circumferential scanning speed, and the motor control equipment performs 360-degree scanning at the set fixed circumferential scanning speed. At present, in order to perform full coverage scanning as much as possible, the speed of the moving platform is low when the moving platform is moved for periodic scanning. There is a possibility that some regions are scanned many times, resulting in practical waste and low working efficiency.
Disclosure of Invention
The invention provides a moving periodic scanning control device, a control method, a moving periodic scanning device and an unmanned vehicle, and aims to solve the technical problems of low translation speed and low working efficiency caused by repeated scanning in the prior art.
The technical scheme adopted by the invention is as follows:
in one aspect, the invention provides a mobile periodic sweeping control device, which is applied to mobile periodic sweeping equipment, wherein the mobile periodic sweeping equipment comprises a mobile platform and a fixed deviceThe scanning device on the mobile platform has a scanning nearest distance L1The maximum distance is L2The moving sweep control device includes:
the first control module is used for controlling the scanning equipment to perform circumferential scanning relative to the mobile platform at a set circumferential scanning angular velocity omega;
the second control module is used for controlling the mobile platform to translate at a set translation speed v so as to drive the scanning equipment to translate at the translation speed v;
the main control module is used for associating the translation speed v and the circumferential scanning angular speed omega and restricting the translation speed v and the circumferential scanning angular speed omega, so that when the scanning equipment performs circumferential scanning for 360 degrees, the translation distance of the mobile platform is delta L, wherein the delta L is L2-L1。
Further, the main control module is used for constraining the translational velocity v and the circumferential scan angular velocity ω to satisfy the following formula:
wherein v ismaxIs the maximum translation speed of the moving sweeping device.
According to another aspect of the present invention, there is also provided a mobile periodic scanning control method applied to the mobile periodic scanning control apparatus, the control method including the steps of:
s100, selecting a proper circumferential scanning speed omega of the equipment according to actual requirements, and controlling the scanning equipment to perform circumferential scanning at a set circumferential scanning angular speed omega relative to the mobile platform;
step S200, controlling the moving platform to translate at a set translation speed v, so that when the scanning device sweeps 360 ° circumferentially, the translation distance of the moving platform is Δ L, where Δ L is L2-L1。
According to another aspect of the present invention, there is also provided a mobile periodic scanning device, which includes a mobile platform and a periodic scanning device fixed on the mobile platform, and further includes the above-mentioned mobile periodic scanning control device.
Further, the mobile platform is a vehicle, and the circumferential scanning device is a reconnaissance system or a suppression system fixed on the vehicle.
Optionally, the reconnaissance system includes an electromagnetic reconnaissance unit, where the electromagnetic reconnaissance unit includes an antenna turntable disposed on the vehicle and a directional antenna driven by the antenna turntable, the directional antenna is electrically connected to an electromagnetic spectrum analyzer, and the electromagnetic spectrum analyzer is configured to receive a detection signal of the directional antenna and convert the detection signal into electromagnetic intensity and/or electromagnetic frequency band data corresponding to the reconnaissance target.
Optionally, the reconnaissance system includes a photoelectric reconnaissance unit, and the photoelectric reconnaissance unit includes an image stabilization holder disposed on the vehicle, and three optical reconnaissance systems disposed on the image stabilization holder.
Optionally, the suppressing system comprises a sound suppressing device, the sound suppressing device comprises a turntable arranged on the vehicle and rotatable, and the turntable is provided with a strong sound generating device for generating a suppressed sound wave signal, and the strong sound generating device is used for generating a directional sound wave signal outwards.
The invention also provides the unmanned vehicle, and the vehicle body of the unmanned vehicle is provided with the mobile sweeping equipment.
The invention combines the translation speed v of the mobile platform/the scanning equipment with the circumferential scanning angular speed omega of the scanning equipment and restricts the two so that the translation distance DL of the mobile platform is equal to L when the scanning equipment performs circumferential scanning of 360 degrees2-L1Therefore, repeated scanning can be avoided, waste is avoided, the periodic scanning effect is guaranteed, the running speed of the platform can be increased, and the overall working efficiency is improved. Meanwhile, the scanning shape formed by the invention is fixed and is irrelevant to the translation velocity v and the circumferential scanning angular velocity omega, so that the scanning shape is controllable, and global scanning planning is facilitated.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic block diagram of a mobile sweep control apparatus of the present invention;
FIG. 2 is a schematic view of the scanning depth of the mobile sweeping device of the present invention;
FIG. 3 is a schematic diagram of the mobile periodic scanning device of the present invention;
FIG. 4 is a schematic diagram of a track formed by the moving periodic scanning device of the present invention;
FIG. 5 is a schematic structural diagram of an unmanned vehicle employing a reconnaissance system as a mobile sweeping device according to a first embodiment of the present invention;
fig. 6 is a schematic structural view of an unmanned vehicle employing a pressing system as a moving sweeping device in a second embodiment of the present invention.
The reference numbers illustrate:
100. a first control module; 200. a second control module; 300. a main control module;
40. a vehicle; 50. an electromagnetic reconnaissance unit; 51. an antenna turntable; 52. a directional antenna; 53. an electromagnetic spectrum analyzer; 60. a photoelectric detection unit; 61. an image stabilizing cradle head; 62. a three-light reconnaissance system; 70. a sound suppressing means; 71. a turntable; 72. a loud sound generating device.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, a preferred embodiment of the present invention provides a mobile circumferential scanning control device, which is applied to a mobile circumferential scanning device, where the mobile circumferential scanning device includes a mobile platform and a scanning device fixed on the mobile platform, and a minimum distance that can be scanned by the scanning device is L1The maximum distance is L2The moving sweep control device includes:
the first control module 100 is used for controlling the scanning device to perform circumferential scanning relative to the mobile platform at a set circumferential scanning angular velocity omega;
the second control module 200 is configured to control the moving platform to translate at a set translation speed v, so as to drive the scanning device to translate at the translation speed v;
a main control module 300, configured to associate and constrain the translational velocity v and the circumferential scan angular velocity ω, so that when the scanning device performs circumferential scan for 360 °, a translational distance of the mobile platform is Δ L, where Δ L is L2-L1。
Further, the main control module 300 is configured to constrain the translational velocity v and the sweeping angular velocity ω such that both satisfy the following formula:
wherein v ismaxIs the maximum translation speed of the moving sweeping device.
Specifically, the moving sweep control principle of the present invention is as follows:
referring to fig. 2, it is assumed that the scanning distance of the scanning device is L at the nearest1The farthest is L2Wherein L is1≥0，L2>L1Then the scanning depth Δ L of the scanning device is L2-L1(ii) a The translation speed of the moving platform is v, and the circumferential scanning angular speed of the scanning device is omega.
In order to improve the working efficiency, the translation speed v and the circumferential scanning angular speed ω are constrained, and when the scanning device performs circumferential scanning for 360 degrees, the moving platform just moves by Δ L.
The available formula is then as follows (angles are expressed in radians):
from the above formula, one can obtain:
the value range of omega is determined during the design of equipment, and omegamax>ω>0, the translation speed of the moving platform is also known, vmax>v>0. In actual use, the circumferential scanning angular speed of the scanning device is selected according to the situation. For example, in an image reconnaissance application, if the sweep angular velocity is too fast and the scanning device does not have a motion stabilization function, the actually acquired image is unusable. Therefore, in practical application, the appropriate circumferential scanning angular velocity ω is selected according to practical requirements, and then the translation velocity of the mobile platform is set
If it is not
Then v is equal to vmax。
The summary is presented below:
according to another aspect of the present invention, there is also provided a mobile periodic scanning control method applied to the mobile periodic scanning control apparatus, the control method including the steps of:
s100, selecting a proper circumferential scanning speed omega of the equipment according to actual requirements, and controlling the scanning equipment to perform circumferential scanning at a set circumferential scanning angular speed omega relative to the mobile platform;
step S200, controlling the moving platform to translate at a set translation speed v, so that when the scanning device sweeps 360 ° circumferentially, the translation distance of the moving platform is Δ L, where Δ L is L2-L1。
According to another aspect of the present invention, there is also provided a mobile periodic scanning device, which includes a mobile platform and a periodic scanning device fixed on the mobile platform, and further includes the above-mentioned mobile periodic scanning control device.
Further, the mobile platform is a vehicle 40, and the sweep apparatus is a reconnaissance system or a suppression system fixed on the vehicle 40.
Referring to fig. 3, taking the vehicle-mounted sweep image scout apparatus as an example, the image scout apparatus may continuously perform a sweep. Vehicle with a steering wheel40 travel at a constant speed v in the positive y-axis direction, and the image scout apparatus sweeps at a constant angular speed ω in the counterclockwise direction. The position of the initial image reconnaissance equipment is O, and the position of the image reconnaissance equipment after once circumferential scanning is O'. The initial image reconnaissance apparatus faces the positive y-axis direction, and the angle θ is made 0 at this time. Scanning distance of image reconnaissance equipment is L at the nearest1The farthest is L2The scout depth Δ L of the device is equal to L2-L1。
The inner diameter trace of the sweep can be obtained as follows:
substitution into
And θ ═ ω t, can be found:
similarly, the outer diameter trace of the circumferential sweep can be:
assuming that the image reconnaissance equipment adopts a 200mm fixed-focus lens, the aperture size is f2.8, the focus distance is 50000mm, the depth of the foreground can be calculated to be 5457mm, the depth of field is 6980mm, and the inner scanning radius L can be obtained144543mm, outer scanning radius L2When the sweeping speed is 0.35rad/s (20 °/s) at 56980mm, the running speed of the vehicle 40 is calculated to be 693 mm/s.
The inner and outer tracks are:
the final shape of the scan formed by the moving scanning device is fixed, as shown in fig. 4. There is a special case where if Δ L is 0, the inner and outer trajectories coincide, and the scanning shape becomes a plane scan (like a radar).
The invention also provides the unmanned vehicle, and the vehicle body of the unmanned vehicle is provided with the mobile sweeping equipment. The mobile periodic scanning equipment on the unmanned vehicle can be a reconnaissance system and is used for realizing mobile reconnaissance; or a pressing system for circumferential sweeping pressing.
Specifically, referring to fig. 5, in the present embodiment, the unmanned vehicle is a scout unmanned vehicle, and the scout system thereof adopts the above-mentioned moving periodic scanning control device and moving periodic scanning method.
Optionally, the reconnaissance system includes an electromagnetic reconnaissance unit 50, where the electromagnetic reconnaissance unit 50 includes an antenna turntable 51 provided on the vehicle 40, and a directional antenna 52 driven by the antenna turntable 51, the directional antenna 52 is electrically connected to an electromagnetic spectrum analyzer 53, and the electromagnetic spectrum analyzer 53 is configured to receive a detection signal of the directional antenna 52 and convert the detection signal into electromagnetic intensity and/or electromagnetic frequency band data corresponding to the reconnaissance target. The vehicle 40 travels at a translational velocity v, the directional antenna 52 in the electromagnetic reconnaissance unit 50 is driven by the rotation of the antenna turntable 51 to perform rotary reconnaissance at a circumferential scanning angular velocity ω, and the main control module 300 controls the two to satisfy the formula:
optionally, the scout system comprises a photoelectric scout unit 60, the photoelectric scout unit 60 comprising an image stabilization cradle head 61 arranged on the vehicle 40, and a three-light scout system 62 arranged on the image stabilization cradle head 61. The infrared night vision system or the laser night vision system, the visible light system and the laser range finder jointly form a three-light reconnaissance system 62. The three-light reconnaissance system 62 is arranged on the image stabilizing tripod head 61, and can perform 360-degree day and night patrol reconnaissance, key target tracking, key target high-magnification gaze and other tasks under the driving of the image stabilizing tripod head 61.
Referring to fig. 6, in this embodiment, the unmanned vehicle is a pressing unmanned vehicle, and the pressing system of the unmanned vehicle adopts the moving sweep control device and the moving sweep method.
Optionally, the suppressing system comprises a sound suppressing device 70, the sound suppressing device 70 comprises a turntable 71 rotatably arranged on the vehicle 40, the turntable 71 is provided with a loud sound generating device 72 for generating a suppressed sound wave signal, and the loud sound generating device 72 is used for generating a directional sound wave signal outwards. In this embodiment, the loud sound generating device 72 may be a tweeter or a loudspeaker as a loud sound weapon.
In this embodiment, the megasonic weapon can emit megasonic waves sufficient to deter or disable a offender without causing long-term damage to the human body. It can be used for protecting important facilities such as military bases. When a person approaches, such an acoustic weapon first sounds an audible warning to the coming person. If the coming person continues to approach, the sound becomes a shivering heart. If the person is left alone and continues to approach, the acoustic weapon will disable them. The strong sound wave weapon of this embodiment not only can carry out closely suppression, prevents that illegal personnel from being close to equipment, can also carry out outdoor propagation audio information, reaches linear clear audio propagation, warning, deterrent and the effect of dispersing, is applied to unmanned vehicle with it on, both can prevent that illegal personnel from being close to unmanned vehicle, can realize directional remote shouting again.
The invention can combine the translation velocity v and the circumferential scanning angular velocity omega, ensure the circumferential scanning effect, improve the platform operation speed and improve the overall working efficiency. Meanwhile, the scanning shape formed by the method/device is fixed and is irrelevant to the translational velocity v and the circumferential scanning angular velocity omega of the mobile platform, so that the method/device is controllable and is convenient for global scanning planning.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A mobile periodic scanning control device is applied to mobile periodic scanning equipment, the mobile periodic scanning equipment comprises a mobile platform and scanning equipment fixedly arranged on the mobile platform, and the closest distance which can be scanned by the scanning equipment is L1The maximum distance is L2Wherein the moving sweep control means comprises:
a first control module (100) for controlling the scanning device to perform circumferential scanning relative to the mobile platform at a set circumferential scanning angular velocity ω;
the second control module (200) is used for controlling the mobile platform to translate at a set translation speed v, so as to drive the scanning device to translate at the translation speed v;
a main control module (300) for correlating and constraining the translational velocity v and the circumferential scan angular velocity ω such that a translational distance of the mobile platform is Δ L when the scanning device performs a circumferential scan of 360 °, wherein Δ L is L2-L1；
The master control module (300) is further configured to constrain the translational velocity v and the sweeping angular velocity ω such that both satisfy the following formula:
wherein v ismaxIs the maximum translation speed of the moving sweep apparatus.
2. A mobile periodic scanning control method applied to the mobile periodic scanning control device according to claim 1, comprising the steps of:
s100, selecting a proper circumferential scanning speed omega of the scanning equipment according to actual requirements, and controlling the scanning equipment to perform circumferential scanning relative to the mobile platform at a set circumferential scanning angular speed omega;
step S200, controlling the moving platform to translate at a set translation speed v, so that when the scanning device sweeps 360 ° circumferentially, a translation distance of the moving platform is Δ L, where Δ L ═ L2-L1。
3. A mobile sweeping device comprising a mobile platform and a sweeping device fixed on the mobile platform, further comprising a mobile sweeping control apparatus as claimed in claim 1.
4. The mobile sweeping device of claim 3,
the mobile platform is a vehicle (40), and the circumferential scanning device is a reconnaissance system or a suppression system fixed on the vehicle (40).
5. The mobile sweeping device of claim 4,
the reconnaissance system comprises an electromagnetic reconnaissance unit (50), wherein the electromagnetic reconnaissance unit (50) comprises an antenna rotary table (51) arranged on the vehicle (40) and a directional antenna (52) driven by the antenna rotary table (51), the directional antenna (52) is electrically connected with an electromagnetic spectrum analyzer (53), and the electromagnetic spectrum analyzer (53) is used for receiving a detection signal of the directional antenna (52) and converting the detection signal into electromagnetic intensity and/or electromagnetic frequency range data corresponding to a reconnaissance target.
6. The mobile sweeping device of claim 4,
the scout system comprises a photoelectric scout unit (60), wherein the photoelectric scout unit (60) comprises an image stabilizing cradle head (61) arranged on the vehicle (40) and three light scout systems (62) arranged on the image stabilizing cradle head (61).
7. The mobile sweeping device of claim 4,
the suppression system comprises a sound suppression device (70), the sound suppression device (70) comprises a rotary table (71) which is arranged on the vehicle (40) and can rotate, a strong sound generating device (72) used for generating a suppression sound wave signal is arranged on the rotary table (71), and the strong sound generating device (72) is used for outwards generating a directional sound wave signal.
8. An unmanned vehicle, characterized in that the vehicle body of the unmanned vehicle is provided with a mobile sweeping device according to any one of claims 3 to 7.
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| CN111272021A (en) * | 2019-08-28 | 2020-06-12 | 建投物联（江西）股份有限公司 | Intelligent reversible sound wave expelling system |
| CN110988891B (en) * | 2019-12-26 | 2021-06-08 | 广州市慧建科技有限公司 | Laser scanning target identification system and method |
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| DE4338280C1 (en) * | 1993-11-10 | 1995-03-16 | Deutsche Aerospace | Method for image-aided detection of the position and mapping of underground (subterranean) objects |
| CN203444651U (en) * | 2013-06-20 | 2014-02-19 | 中国人民解放军陆军军官学院 | Open wheel type investigation vehicle simulator for immersing into simulation war |
| WO2014209281A1 (en) * | 2013-06-25 | 2014-12-31 | Analogic Corporation | Projection image generation via computed tomography system |
| CN203739915U (en) * | 2014-02-19 | 2014-07-30 | 重庆和航科技股份有限公司 | Patrol system of fire truck lane |
| CN106813061A (en) * | 2015-11-29 | 2017-06-09 | 重庆宏翼精密机械有限公司 | It is a kind of to finish the method for adjusting rotation speed that accessory workshop monitors dolly |
| CN105549594A (en) * | 2016-02-03 | 2016-05-04 | 无锡博实自动输送系统有限公司 | Crawler belt type unmanned patrol inspection dolly |
| CN106274618A (en) * | 2016-08-29 | 2017-01-04 | 龙岩市海德馨汽车有限公司 | Car is dispersed in patrol |
| CN106339004B (en) * | 2016-11-08 | 2017-12-12 | 广州极飞科技有限公司 | A kind of operational method and device of plant protection unmanned plane |
| CN106809217A (en) * | 2017-03-30 | 2017-06-09 | 戴姆勒股份公司 | Surrounding objects detection system and the vehicle with the system |
| CN107139809A (en) * | 2017-06-19 | 2017-09-08 | 内蒙古世纪消防科技开发有限公司 | It is a kind of to approach detection car with unmanned aerial vehicle and robot |
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