CN109466766A - A kind of autogyro and Reconnaissance system - Google Patents
A kind of autogyro and Reconnaissance system Download PDFInfo
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- CN109466766A CN109466766A CN201811435770.3A CN201811435770A CN109466766A CN 109466766 A CN109466766 A CN 109466766A CN 201811435770 A CN201811435770 A CN 201811435770A CN 109466766 A CN109466766 A CN 109466766A
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- Prior art keywords
- autogyro
- target
- image
- coordinate
- obtaining
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
This application discloses a kind of autogyros, including autogyro ontology；Photoelectric nacelle, the image and real-time measurement target for acquiring target in real time are at a distance from autogyro ontology；Posture component, for obtaining the attitude data of autogyro；Controller, for obtaining image, distance and attitude data, and according to attitude data and apart from the coordinate for calculating target, so that investigator carries out investigations to target according to coordinate and image.It can be seen that, when executing reconnaissance mission using the autogyro of the application, without the information for obtaining target in such a way that the investigator on autogyro directly observe or investigator holds measuring device or capture apparatus again, manpower is saved, result of the investigations is also more acurrate.Disclosed herein as well is a kind of Reconnaissance systems, with above-mentioned autogyro beneficial effect having the same.
Description
Technical field
This application involves autogyro technical fields, more particularly to a kind of autogyro and Reconnaissance system.
Background technique
Autogyro is mainly used for completing the task of air patrol and investigation, during investigation, it is often necessary to obtain
The information of target object, such as image and position data.
Currently, autogyro when executing investigation tasks, relies primarily on the investigation people for being responsible for checking on autogyro
Member, when needing the information of target object, investigator needs hand-held measuring device perhaps capture apparatus or direct by detecing
The observation of personnel is looked into obtain the information of target object, these information are then reported by radio station, this investigation mode is not only unrestrained
Take manpower, and the target position of manual measurement is not accurate enough, so that the investigation effect of autogyro is not ideal enough, it is difficult to full
The requirement that foot is accurately investigated.
Therefore, how a kind of scheme can solve above-mentioned technical problem is provided, is that those skilled in the art needs at present
It solves the problems, such as.
Summary of the invention
The purpose of the application is to provide a kind of autogyro, without direct by the investigator on autogyro again
Observation or investigator hold the mode of measuring device or capture apparatus to obtain the information of target, have saved manpower, investigate
As a result also more acurrate；The another object of the application is to provide a kind of Reconnaissance system, having the same with above-mentioned autogyro
Beneficial effect.
In order to solve the above technical problems, this application provides a kind of autogyros, comprising:
Autogyro ontology；
Photoelectric nacelle, for acquire in real time target image and real-time measurement described in target and the autogyro sheet
The distance of body；
Posture component, for obtaining the attitude data of autogyro；
Controller, for obtaining described image, the distance and the attitude data, and according to the attitude data and institute
The coordinate that distance calculates the target is stated, so that investigator detects the target according to the coordinate and described image
It looks into.
Preferably, the autogyro further include:
Tracking box tracks the target according to described image, and calculate the target for obtaining described image
Motion profile；
Then the controller is also used to control the photoelectric nacelle rotation according to the motion profile.
Preferably, the photoelectric nacelle includes:
Imaging device, for acquiring the image of the target in real time；
Laser ranging system, for target described in real-time measurement at a distance from the autogyro ontology.
Preferably, the posture component includes:
Positioning device, for obtaining the position of the autogyro；
Inertial Measurement Unit IMU, for obtaining course, deflection and the inclination angle of the autogyro.
Preferably, the tracking box is PT-1 intelligent-tracking box.
Preferably, the imaging device includes infreared imaging device and/or visual light imaging device.
Preferably, the IMU includes accelerometer and gyroscope.
In order to solve the above technical problems, present invention also provides a kind of Reconnaissance systems, including as above it is described in any item from
Switch rotor machine further includes transmission device and terminal；
The autogyro is used to that the coordinate and described image to be sent to the terminal by the transmission device,
To carry out investigations to the target.
Preferably, before sending the coordinate and described image to the terminal, the control of the autogyro
Device is also used to encrypt the coordinate and described image.
Preferably, the transmission device is radio transmission facility.
This application provides a kind of autogyros, including autogyro ontology；Photoelectric nacelle, for acquiring mesh in real time
Target image and real-time measurement target are at a distance from autogyro ontology；Posture component, for obtaining autogyro
Attitude data；Controller, for obtaining image, distance and attitude data, and according to attitude data and apart from the seat for calculating target
Mark, so that investigator carries out investigations to target according to coordinate and image.
The autogyro of the application acquires the image and real-time measurement autorotating rotor of target using photoelectric nacelle in real time
Machine obtains the attitude data of autogyro using posture component at a distance from target, according to attitude data and the distance that measures,
The coordinate of target can be accurately calculated in controller, according to the image of the target of acquisition and the coordinate being calculated, investigation
Personnel can know the information of target in time, complete investigation tasks.Appoint as it can be seen that executing to scout using the autogyro of the application
When business, without directly observed by the investigator on autogyro again or investigator hold measuring device or shooting set
Standby mode obtains the information of target, has saved manpower, result of the investigations is also more acurrate.
Present invention also provides a kind of Reconnaissance systems, with above-mentioned autogyro beneficial effect having the same.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the application
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of autogyro provided herein；
Fig. 2 is the structural schematic diagram of another autogyro provided herein；
Fig. 3 is a kind of structural schematic diagram of Reconnaissance system provided herein.
Specific embodiment
The core of the application is to provide a kind of autogyro, without direct by the investigator on autogyro again
Observation or investigator hold the mode of measuring device or capture apparatus to obtain the information of target, have saved manpower, investigate
As a result also more acurrate；Another core of the application is to provide a kind of Reconnaissance system, having the same with above-mentioned autogyro
Beneficial effect.
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Referring to FIG. 1, Fig. 1 is a kind of structural schematic diagram of autogyro provided herein, comprising:
Autogyro ontology 1；
Photoelectric nacelle 2, for acquire in real time target image and real-time measurement target and autogyro ontology 1 away from
From；
Posture component 3, for obtaining the attitude data of autogyro；
Controller 4, for obtaining image, distance and attitude data, and according to attitude data and apart from the seat for calculating target
Mark, so that investigator carries out investigations to target according to coordinate and image.
Specifically, in order to solve the problems in the existing technology, this application provides one kind can automatically obtain target
Information, realize the autogyro quickly investigated, the autogyro of the application increase photoelectric nacelle 2, posture component 3 with
And corresponding controller 4, wherein photoelectric nacelle 2 can acquire the image of target in real time, can be with real-time measurement autogyro
The platform range-to-go of ontology 1, such as can use laser ranging；Posture component 3 utilizes the sensor or top of itself
Spiral shell instrument obtains the attitude data of autogyro, such as inclination angle, acceleration etc., according to the distance and attitude data of acquisition,
The coordinate of target is calculated by software, there is the coordinate and image of target, autogyro is also just completed to target
Investigation tasks.
It should be noted that photoelectric nacelle 2 may be mounted at below the head of autogyro ontology 1, be convenient for measuring with
Target information is acquired, certainly, photoelectric nacelle 2 also may be mounted at the other positions of autogyro ontology 1, and the application is herein not
It is particularly limited.
It should also be noted that, posture component 3 can be set near the luggage case of autogyro ontology 1, peace is saved
Space is filled, certainly, posture component 3 also may be mounted at the other positions of autogyro ontology 1, and the application is not done especially herein
Restriction.
In addition, the controller 4 of the application is attached by corresponding interface with photoelectric nacelle 2 and posture component 3, with
Carry out the interaction of data；The controller 4 of the application can be set below the back seat of autogyro ontology 1, to save
Installation space, certainly, controller 4 also may be mounted at the other positions of autogyro ontology 1, and the application is not done especially herein
Restriction.In addition, the controller 4 of the application can be microcontroller, or STM32 or other, the application is herein not
It is particularly limited.
This application provides a kind of autogyros, including autogyro ontology；Photoelectric nacelle, for acquiring mesh in real time
Target image and real-time measurement target are at a distance from autogyro ontology；Posture component, for obtaining autogyro
Attitude data；Controller, for obtaining image, distance and attitude data, and according to attitude data and apart from the seat for calculating target
Mark, so that investigator carries out investigations to target according to coordinate and image.
The autogyro of the application acquires the image and real-time measurement autorotating rotor of target using photoelectric nacelle in real time
Machine obtains the attitude data of autogyro using posture component at a distance from target, according to attitude data and the distance that measures,
The coordinate of target can be accurately calculated in controller, according to the image of the target of acquisition and the coordinate being calculated, investigation
Personnel can know the information of target in time, complete investigation tasks.Appoint as it can be seen that executing to scout using the autogyro of the application
When business, without directly observed by the investigator on autogyro again or investigator hold measuring device or shooting set
Standby mode obtains the information of target, has saved manpower, result of the investigations is also more acurrate.
On the basis of the above embodiments:
Embodiment as one preferred, the autogyro further include:
Tracking box 5 tracks target according to image, and calculate the motion profile of target for obtaining image；
Then controller 4 is also used to control photoelectric nacelle 2 according to motion profile and rotate.
Specifically, referring to FIG. 2, Fig. 2 is the structural schematic diagram of another autogyro provided herein, consider
To the mobility of target of investication, the autogyro of the application is also provided with tracking box 5, since target may be movement, example
Like a car driving on a highway etc., when carrying out investigations, in order to realize for a long time, investigates at a distance, need autogyro
Target is tracked always, just needs to track purpose of the box 5 to realize tracking at this time.
Specifically, tracking box 5 finds target by track algorithm in real-time image, predicts the motion profile of target,
Controller 4 according to the motion profile of target it is known that the direction of motion and movement velocity etc. of target, to control photoelectricity
Gondola 2 rotates, to adjust the device of the acquisition image of photoelectric nacelle 2 or the position of photoelectric nacelle 2, so that preferably acquiring mesh
Target information.
It should be noted that the tracking box 5 of the application can be set near the luggage case of autogyro ontology 1, section
Installation space is saved, certainly, tracking box 5 also may be mounted at the other positions of autogyro ontology 1, and the application is not spy herein
Other restriction.The tracking box 5 of the application corresponding hardware configuration with software algorithm forms, knot of the application to tracking box 5
Structure is not particularly limited.
Embodiment as one preferred, photoelectric nacelle 2 include:
Imaging device, for acquiring the image of target in real time；
Laser ranging system, for real-time measurement target at a distance from autogyro ontology 1.
Specifically, it is contemplated that investigate the accuracy of variability and the investigation of scene, the photoelectric nacelle 2 of the application can be by
Visual light imaging device and/or infreared imaging device and laser ranging system composition, it is seen that photoimaging equipment and/or it is infrared at
As the visible images and/or infrared image of the available target of device, laser ranging system obtains target using Laser Measuring
Distance.Whether daytime or night investigation, infreared imaging device can guarantee that the image of the target obtained is all very clear, swash
Optical range finding apparatus can guarantee the accuracy of the distance of measurement.
It should be noted that in addition to the above described configuration, the photoelectric nacelle 2 of the application can also be other structures, this
Application is not particularly limited herein.
Embodiment as one preferred, posture component 3 include:
Positioning device, for obtaining the position of autogyro；
Inertial Measurement Unit IMU (Inertial Measurement Unit, Inertial Measurement Unit), for obtaining rotation
Course, deflection and the inclination angle of gyroplane.
Specifically, in order to guarantee the accuracy investigated, the posture component 3 of the application can be made of positioning device and IMU,
Orientation, pitching, course, deflection and the inclination angle etc. of the available flight of posture component 3.Positioning device can be GPS (Global
Positioning System, global positioning system), or Beidou satellite navigation system, the application are not done especially herein
Restriction.
Certainly, in addition to the above described configuration, the posture component 3 of the application can also be other structures, and the application is herein
It is not particularly limited.
Embodiment as one preferred, tracking box 5 are PT-1 intelligent-tracking box.
Specifically, it is contemplated that the tracking box 5 of the accuracy of tracking, the application uses PT-1 intelligent-tracking box, can lock at a high speed
It sets the goal, automatic continuous tracking is carried out to mobile target, following range is greatly to 300 meters × 300 meters, and detectable and locking is most
Small moving target is 5 × 5 pixels, is suitable for various investigation scenes, also supports a variety of tracing modes.
Certainly, the tracking box 5 of the application can be PT-1 intelligent-tracking box, or other, the application is not done herein
It is special to limit.
Embodiment as one preferred, imaging device include infreared imaging device and/or visual light imaging device.
Specifically, it is contemplated that investigate the complexity of scene, the imaging device of the application may include infreared imaging device and/
Or visual light imaging device.Certainly, imaging device can also be other, such as video camera and scanner etc., and the application is herein not
It is particularly limited.
Embodiment as one preferred, IMU include accelerometer and gyroscope.
Specifically, it is contemplated that the accuracy of attitude data, the IMU of the application can be to contain three uniaxial acceleration
The structure of meter and three uniaxial gyroscopes, accelerometer detect the acceleration of three axis, and gyroscope detects angular speed, IMU measurement
The angular speed and acceleration of autogyro in three dimensions, and calculate with this attitude data of object.In addition, in order to mention
High reliability can also be equipped with more sensors for each axis.
Certainly, in addition to the above described configuration, the IMU of the application can also be other structures, and the application is not done especially herein
Restriction.
Referring to FIG. 3, Fig. 3 is a kind of structural schematic diagram of Reconnaissance system provided herein, including as above any reality
Autogyro described in example is applied, further includes transmission device 6 and terminal 7；
Autogyro is used to that coordinate and image to be sent to terminal 7 by transmission device 6, to detect to target
It looks into.
Specifically, it is contemplated that the investigator on machine needs to realize over the ground by itself speech FM radio station in the prior art
Dough figurine person reports investigation situation, the reconnaissance that ground staff cannot obtain on acquisition machine in time, task execution low efficiency, reality
The problem of when property difference and information exchange ability difference, the Reconnaissance system of the application further include transmission device 6 and terminal 7, autorotating rotor
The controller 4 of machine passes through the terminal 7 that transmission device 6 is sent to ground in time for information (image and coordinate of target) is investigated, and makes
Investigation situation can be understood in time by obtaining ground staff, improve investigation efficiency.
It should be noted that transmission device 6 here refers to the transmission device 6 and ground configured on autogyro
The entirety of upper matched transmission device 6 may be implemented to interconnect with terrestrial links in the air.The transmission device 6 of the application can
Think wireless radio transmission, or other, the application is not particularly limited herein.
Embodiment as one preferred, before sending coordinate and image to terminal 7, the controller 4 of autogyro is also
For being encrypted to coordinate and image.
Specifically, it is contemplated that the safety of transmission, autogyro is before sending coordinate and image to terminal 7, controller 4
First these data can be encrypted, then encryption data is sent to the terminal 7 on ground, correspondingly, terminal 7 needs
Operation is decrypted, then carries out data processing, such as storage and export etc..
Embodiment as one preferred, transmission device 6 are radio transmission facility.
Specifically, it is contemplated that investigation information needs remote transmission, and the transmission device 6 of the application can be wireless radio transmission
Equipment, can satisfy that autogyro is a wide range of, investigates demand at a distance.
Certainly, the transmission device 6 of the application can be radio transmission facility, or other, the application is herein not
It is particularly limited.
The embodiment of aforementioned autogyro is please referred to for a kind of introduction of Reconnaissance system provided by the embodiments of the present application,
Details are not described herein by the application.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For method disclosed in embodiment
For, since it is corresponding with system disclosed in embodiment, so being described relatively simple, related place is defended oneself referring to Account Dept
It is bright.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, being wanted by what sentence " including one " limited
Element, it is not excluded that there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of autogyro characterized by comprising
Autogyro ontology；
Photoelectric nacelle, for acquire in real time target image and real-time measurement described in target and the autogyro ontology
Distance；
Posture component, for obtaining the attitude data of autogyro；
Controller, for obtaining described image, the distance and the attitude data, and according to the attitude data and it is described away from
From the coordinate for calculating the target, so that investigator carries out investigations to the target according to the coordinate and described image.
2. autogyro according to claim 1, which is characterized in that the autogyro further include:
Tracking box tracks the target according to described image, and calculate the fortune of the target for obtaining described image
Dynamic rail mark；
Then the controller is also used to control the photoelectric nacelle rotation according to the motion profile.
3. autogyro according to claim 1, which is characterized in that the photoelectric nacelle includes:
Imaging device, for acquiring the image of the target in real time；
Laser ranging system, for target described in real-time measurement at a distance from the autogyro ontology.
4. autogyro according to claim 1-3, which is characterized in that the posture component includes:
Positioning device, for obtaining the position of the autogyro；
Inertial Measurement Unit IMU, for obtaining course, deflection and the inclination angle of the autogyro.
5. autogyro according to claim 2, which is characterized in that the tracking box is PT-1 intelligent-tracking box.
6. autogyro according to claim 3, which is characterized in that the imaging device includes infreared imaging device
And/or visual light imaging device.
7. autogyro according to claim 4, which is characterized in that the IMU includes accelerometer and gyroscope.
8. a kind of Reconnaissance system, which is characterized in that including such as described in any item autogyros of claim 1-7, further include
Transmission device and terminal；
The autogyro is used to that the coordinate and described image to be sent to the terminal by the transmission device, so as to
It carries out investigations to the target.
9. Reconnaissance system according to claim 8, which is characterized in that sending the coordinate and described image to the end
Before end, the controller of the autogyro is also used to encrypt the coordinate and described image.
10. Reconnaissance system according to claim 8, which is characterized in that the transmission device is radio transmission facility.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811435770.3A CN109466766A (en) | 2018-11-28 | 2018-11-28 | A kind of autogyro and Reconnaissance system |
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| CN201811435770.3A CN109466766A (en) | 2018-11-28 | 2018-11-28 | A kind of autogyro and Reconnaissance system |
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