CN110662170A - All-terrain rapid observation vehicle cleaning system - Google Patents
All-terrain rapid observation vehicle cleaning system Download PDFInfo
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- CN110662170A CN110662170A CN201910926395.0A CN201910926395A CN110662170A CN 110662170 A CN110662170 A CN 110662170A CN 201910926395 A CN201910926395 A CN 201910926395A CN 110662170 A CN110662170 A CN 110662170A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
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Abstract
The all-terrain rapid observation and clearing vehicle system comprises an all-terrain vehicle subsystem, a rapid clearing subsystem and a terminal coordinate observation subsystem, adopts the design principles of universalization, serialization, modularization and combination, and is used for tasks of clearing fields, finding bullets, roughly observing terminal coordinates and the like of complex geomorphic fields. The problem of missing clear field or repeated clear field that the clear field in-process appears easily is solved. And ensuring that the field cleaning range of the field edge meets the requirement. The system can provide accurate position information of the clearing personnel in real time, the clearing commander can master the position and clearing condition of the clearing vehicle in detail, and can simultaneously command and dispatch 32 clearing personnel by adopting 1 command vehicle and the clearing vehicle, and the system is provided with corresponding number of handheld terminals, and the maximum clearing range reaches 10km multiplied by 10 km. The system has the advantages of miniaturization, light weight, high maneuverability, high precision, fast response, strong environment adaptability and the like. The device is used for the field cleaning, the bomb finding and the terminal point coordinate rough observation of a complex geomorphic field area.
Description
Technical Field
The invention belongs to a test guarantee device for a large weapon test site, and relates to an all-terrain rapid observation yard cleaning vehicle system.
Background
In recent years, with the upgrading of the modern military requirements, the construction for accelerating the quality of the military is urgent, and the large-scale replacement of high-tech modern weapon equipment is imperative to meet the requirements of modern war and national defense construction. Modern wars mainly are the comparison of science and technology strength, the battlefield environment is constantly changeable, attack and defense conversion is frequent, and a weapon system is required to realize flexible, quick response and accurate striking. Meanwhile, along with the continuous development of weaponry, the plateau test of remote weapons is increased year by year, the distance of a remote weapon landing area is far away from a launching position, the clearing range is large, the road condition is complex, the condition of missing clearing or repeated clearing is easy to occur in the clearing process, and the clearing work efficiency is reduced. In addition, the field cleaning range is determined on a drawing, the field cleaning range at the edge of the field is difficult to meet the requirements under the existing field cleaning conditions, and the warning point position selected according to the drawing often does not accord with the reality. The rapid observation of clearing field, finding bomb and terminal point coordinates in a complex landform area cannot be completed rapidly, and a rapid observation clearing field vehicle system suitable for all terrains cannot be provided.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to quickly finish clearing, bullet finding and terminal point coordinate rough observation of a complex landform area and provide an all-terrain quick observation clearing vehicle system. The system can provide accurate position information of the clearing personnel in real time, the clearing commander can master the position and the clearing condition of the clearing personnel in detail, and the clearing personnel can be commanded, dispatched and cleared on site with high quality and high efficiency to complete clearing tasks.
A system for quickly observing and clearing station cars in all terrain comprises an all-terrain vehicle subsystem, a quick clearing station subsystem and a terminal coordinate observation subsystem; the all-terrain vehicle subsystem comprises a command vehicle and a clearing vehicle; the rapid field cleaning subsystem comprises a network base station, a vehicle-mounted terminal and a handheld terminal; the terminal coordinate observation subsystem comprises a camera, an angle measuring instrument, an image memory, a GPS/Beidou dual-mode time service instrument and wireless image transmission equipment;
the command vehicle is used for carrying commanders and a quick clearing subsystem, the network base station and the vehicle-mounted terminal establish network signals covering the test field area, corresponding number of clearing areas are manually or automatically divided by using clearing software in the vehicle-mounted terminal, GPS data points of edge characteristics of the divided clearing areas are automatically and quickly extracted, and the vehicle-mounted terminal sends the edge GPS data points of the divided clearing areas to a handheld terminal carried by the clearing personnel through the network signals established by the network base station;
after the clearing personnel receive the clearing area path by using the handheld terminal, starting navigation software built in the handheld terminal to clear the clearing area according to the appointed clearing area path; meanwhile, a positioning module arranged in the handheld terminal can transmit network signals established by a network base station in real time on the walking path of the clearing personnel to the vehicle-mounted terminal, a clearing commander on the command vehicle compares the path information transmitted back by each clearing personnel with the clearing area which is divided in advance, and if repeated clearing and omission clearing occur, real-time voice scheduling command is carried out through a voice scheduling module of the vehicle-mounted terminal; the handheld terminal integrated image acquisition module carried by the clearing personnel acquires image information of a relevant clearing area through the handheld terminal in the clearing process and sends the image information to the vehicle-mounted terminal through a network signal established by the network base station so that a clearing commander can master the clearing general situation of the whole test field in real time;
the clear yard vehicle is used for carrying clear yard personnel and an end point observation subsystem, receiving coordinates of erection points of the end point observation subsystem sent by a commander of the command vehicle, commanding the clear yard vehicle to drive to a specified coordinate point for erecting the end point coordinate observation subsystems one by one according to the positioning and navigation function of a handheld terminal, rotating an angle measuring instrument by an operator of each erection point, mutually aiming at the erection points of the other side through a camera, finishing aiming, then respectively rotating the angle measuring instrument to enable the field of view of the camera to cover a set bouncing area. At the moment, each erection point starts the wireless image transmission equipment, erection personnel retreat to a safe area beyond 3km, and a commander can monitor the situation of the whole impact area through video information returned by the wireless image transmission equipment of each erection point;
when the explosion points are generated, the cameras of all the erection points shoot images in respective areas, the images are recorded by time marks provided by a GPS/Beidou dual-mode time service instrument, and the definition can reach 1080 standard; the goniometer is provided with an angle encoder, so that the height and the pitching angle of the aiming point of the camera can be accurately given; the image memory integrates a camera control module and a storage module to control the resetting of the camera and the control of image acquisition and image recording; the wireless image transmission equipment is responsible for transmitting the image information shot by the camera to the network base station and also can transmit the image information recorded by the image memory; the commander of the command vehicle plays back the image frame number where the target point is located through the vehicle-mounted terminal, sends an instruction to each observation point through the network base station, transmits the N-frame image of the specified time period to the vehicle-mounted terminal by each observation point, finishes the target information extraction task of each observation point and carries out rendezvous processing to form a final target point coordinate file and stores the final target point coordinate file;
after the test is finished, a commander of the command vehicle extracts coordinates of a target point through the vehicle-mounted terminal, sends the coordinates to a handheld terminal carried by the personnel in clearing the yard through the network base station, and guides the personnel in clearing the yard to recover the shots through handheld terminal navigation software.
Has the advantages that: the invention adopts the design principles of universalization, serialization, modularization and combination to construct an all-terrain rapid observation and clearing vehicle system. The method is used for tasks of clearing fields, finding bullets, roughly observing terminal coordinates and the like of complex geomorphic fields. The problem of missing clear field or repeated clear field that the clear field in-process appears easily is solved. And ensuring that the field cleaning range of the field edge meets the requirement. The system can provide accurate position information of the clearing personnel in real time, the clearing commander can master the position of the clearing vehicle and clearing conditions in detail, 1 command vehicle and the clearing vehicle are adopted, 32 clearing personnel can be simultaneously commanded and dispatched, the corresponding number of handheld terminals are equipped, the maximum clearing range reaches 10km multiplied by 10km, and the clearing personnel are commanded and dispatched on site with high quality and high efficiency to complete clearing tasks. The system has the advantages of miniaturization, light weight, high maneuverability, high precision, fast response, strong environment adaptability and the like.
Drawings
FIG. 1 is a block diagram of a system architecture for a full terrain rapid survey clearing away vehicle.
FIG. 2 is a flow chart of the inventory software of the present invention.
Detailed Description
The invention is further described with reference to the following detailed drawings:
embodiment 1 as shown in fig. 1, an all-terrain rapid observation station cleaning vehicle system comprises an all-terrain vehicle subsystem (1), a rapid station cleaning subsystem (2) and an endpoint coordinate observation subsystem (3); the all-terrain vehicle subsystem (1) comprises a command vehicle (101) and a pigging vehicle (102); the rapid clearing subsystem (2) comprises a network base station (201), a vehicle-mounted terminal (202) and a handheld terminal (203); the terminal coordinate observation subsystem (3) comprises a camera (301), an angle measuring instrument (302), an image memory (303), a GPS/Beidou dual-mode time service instrument (304) and wireless image transmission equipment (305);
in the embodiment, 1 command vehicle (101) and 1 clearing vehicle (102) are adopted, 32 clearing personnel can be simultaneously commanded and dispatched, and corresponding number of handheld terminals (203) are equipped, so that the clearing range can reach 10km multiplied by 10km at most, and the task requirement of the test clearing is met;
the command car (101) is used for carrying commanders and a rapid clearing subsystem (2), a network base station (201) and a vehicle-mounted terminal (202) establish network signals covering a test field area, clearing software deployed in the vehicle-mounted terminal (202) is utilized, corresponding number of clearing areas are manually or automatically and rapidly divided according to the number of people participating in clearing, edge characteristics of the divided clearing areas are automatically and rapidly extracted, and the edge characteristics are mainly reflected as GPS data points; the vehicle-mounted terminal (202) sends the edge GPS data points of the divided areas to a handheld terminal (203) carried by the field clearing personnel through a network signal established by the network base station (201), and after the field clearing personnel receives a field clearing area path by using the handheld terminal (203), navigation software built in the handheld terminal (203) is started to clear the field according to the designated field clearing area path; meanwhile, a positioning module arranged in the handheld terminal (203) can transmit network signals established by the network base station (201) of the walking path of the clearing personnel back to the vehicle-mounted terminal (202) in real time, a clearing commander on the command car (101) compares the path information returned by each clearing personnel with the clearing area which is divided in advance, and if repeated clearing and omission clearing occur, real-time voice scheduling command is carried out through a voice scheduling module of the vehicle-mounted terminal (202); the handheld terminal (203) carried by the clearing personnel integrates an image acquisition module, and the clearing personnel acquire image information of a related clearing area through the handheld terminal (203) and send the image information to the vehicle-mounted terminal (202) through a network signal established by the network base station (201) in the clearing process so as to enable a clearing commander on the command car (101) to master the clearing general situation of the whole test field in real time;
the clearing car (102) is used for carrying clearing personnel and an end point observation subsystem (3), receiving coordinates of erection points of the end point observation subsystem (3) sent by a commander of the command car (101), commanding the clearing car (102) to drive to a specified coordinate point for erecting the end point coordinate observation subsystem (3) one by one according to the positioning and navigation functions of the handheld terminal (203), considering the high efficiency of erection and the factors of coverage efficiency and recognition distance of a camera (301) in an impact area, the erection of the end point coordinate observation subsystem (3) is arranged in a straight line, operators of all the erection points rotate the goniometer (302) to mutually aim at opposite erection points through the camera (301), and aiming at the rear zero goniometer (302), then, the goniometers (302) are rotated respectively to enable the field of view of the camera (301) to cover a predetermined impact area. At the moment, each erection point starts the wireless image transmission equipment (305), the erection personnel retreat to a safety area beyond 3km, and the commander of the command car (101) can monitor the situation of the whole impact area through the video information returned by the wireless image transmission equipment (305) of each erection point;
when the explosion points are generated, the cameras (301) of all the erection points shoot images in respective areas, the images are recorded by time marks provided by a GPS/Beidou dual-mode time service instrument (304), and the definition can reach 1080 standard; the goniometer (302) is provided with an angle encoder, so that the height and the pitch angle of the aiming point of the camera (301) can be accurately given; the image memory (303) integrates a camera (301) control module and a storage module to control the reset of the camera (301) and control image acquisition and image recording; the wireless image transmission device (305) is responsible for transmitting the image information shot by the camera (301) to the network base station (201) and also transmitting the image information recorded by the image memory (304); a commander of the command car (101) plays back the image frame number where the target point is located through the vehicle-mounted terminal (202), sends an instruction to each observation point through the network base station (201), each observation point transmits N frame images in a specified time period to the vehicle-mounted terminal (202), and the commander of the command car (101) finishes target information extraction tasks of each observation point and carries out rendezvous processing to form a final target point coordinate file and store the final target point coordinate file;
after the test is finished, a commander of the command car (101) extracts coordinates of a target point through the vehicle-mounted terminal (202), sends the coordinates to a handheld terminal (203) carried by the personnel in clearing the yard through the network base station (201), and guides the personnel in clearing the yard to recover the shots through navigation software of the handheld terminal (203).
As shown in fig. 2, a method for using an all-terrain rapid observation yard vehicle system is performed according to the following yard software process.
step 140, clearing personnel start built-in navigation software of the handheld terminal according to the clearing area and path sent by the vehicle-mounted terminal and received by the mobile phone terminal to clear the field according to the designated clearing area path;
step 170, the image data processing personnel finishes extracting the target information of each observation point and performs intersection processing to form a final target point coordinate file;
proceeding to step 175, the image memory stores the field information file;
proceed to step 180 and end.
Claims (1)
1. A system for quickly observing and clearing station cars in all terrain is characterized by comprising an all-terrain vehicle subsystem (1), a quick clearing station subsystem (2) and a terminal coordinate observation subsystem (3); the all-terrain vehicle subsystem (1) comprises a command vehicle (101) and a pigging vehicle (102); the rapid clearing subsystem (2) comprises a network base station (201), a vehicle-mounted terminal (202) and a handheld terminal (203); the terminal coordinate observation subsystem (3) comprises a camera (301), an angle measuring instrument (302), an image memory (303), a GPS/Beidou dual-mode time service instrument (304) and wireless image transmission equipment (305);
the command car (101) is used for carrying commanders and a rapid clearing subsystem (2), a network base station (201) and a vehicle-mounted terminal (202) establish network signals covering a test field area, clearing software deployed in the vehicle-mounted terminal (202) is utilized, corresponding number of clearing areas are manually or automatically and rapidly divided according to the number of people participating in clearing, edge characteristics of the divided clearing areas are automatically and rapidly extracted, and the edge characteristics are mainly reflected as GPS data points; the vehicle-mounted terminal (202) sends the edge GPS data points of the divided areas to a handheld terminal (203) carried by the field clearing personnel through a network signal established by the network base station (201), and after the field clearing personnel receives a field clearing area path by using the handheld terminal (203), navigation software built in the handheld terminal (203) is started to clear the field according to the designated field clearing area path; meanwhile, a positioning module arranged in the handheld terminal (203) can transmit network signals established by the network base station (201) of the walking path of the clearing personnel back to the vehicle-mounted terminal (202) in real time, a clearing commander on the command car (101) compares the path information returned by each clearing personnel with the clearing area which is divided in advance, and if repeated clearing and omission clearing occur, real-time voice scheduling command is carried out through a voice scheduling module of the vehicle-mounted terminal (202); the handheld terminal (203) carried by the clearing personnel integrates an image acquisition module, and the clearing personnel acquire image information of a related clearing area through the handheld terminal (203) and send the image information to the vehicle-mounted terminal (202) through a network signal established by the network base station (201) in the clearing process so as to enable a clearing commander on the command car (101) to master the clearing general situation of the whole test field in real time;
the clearing car (102) is used for carrying clearing personnel and an end point observation subsystem (3), receiving erection point coordinates of the end point observation subsystem (3) sent by a commander of the command car (101), commanding the clearing car (102) to drive to a specified coordinate point for erecting the end point coordinate observation subsystem (3) one by one according to the positioning and navigation function of the handheld terminal (203), enabling operators of all the erection points to rotate the goniometer (302) to aim at the erection point of the opposite side through the camera (301), aiming to finish the post-zero goniometer (302), and then rotating the goniometer (302) respectively to enable the view field of the camera (301) to cover a set bouncing area; at the moment, each erection point starts the wireless image transmission equipment (305), the erection personnel retreat to a safety area beyond 3km, and the commander of the command car (101) can monitor the situation of the whole impact area through the video information returned by the wireless image transmission equipment (305) of each erection point;
when the explosion points are generated, the cameras (301) of all the erection points shoot images in respective areas, the images are recorded by time marks provided by a GPS/Beidou dual-mode time service instrument (304), and the definition can reach 1080 standard; the goniometer (302) is provided with an angle encoder, so that the height and the pitch angle of the aiming point of the camera (301) can be accurately given; the image memory (303) integrates a camera (301) control module and a storage module to control the reset of the camera (301) and control image acquisition and image recording; the wireless image transmission device (305) is responsible for transmitting the image information shot by the camera (301) to the network base station (201) and also transmitting the image information recorded by the image memory (304); a commander of the command car (101) plays back the image frame number where the target point is located through the vehicle-mounted terminal (202), sends an instruction to each observation point through the network base station (201), each observation point transmits N frame images in a specified time period to the vehicle-mounted terminal (202), and the commander of the command car (101) finishes target information extraction tasks of each observation point and carries out rendezvous processing to form a final target point coordinate file and store the final target point coordinate file;
after the test is finished, a commander of the command car (101) extracts coordinates of a target point through the vehicle-mounted terminal (202), sends the coordinates to a handheld terminal (203) carried by the personnel in clearing the yard through the network base station (201), and guides the personnel in clearing the yard to recover the shots through navigation software of the handheld terminal (203).
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