CN111179349B - Integrated laser target indicator and target indicating method - Google Patents
Integrated laser target indicator and target indicating method Download PDFInfo
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- CN111179349B CN111179349B CN202010006152.8A CN202010006152A CN111179349B CN 111179349 B CN111179349 B CN 111179349B CN 202010006152 A CN202010006152 A CN 202010006152A CN 111179349 B CN111179349 B CN 111179349B
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- 238000005259 measurement Methods 0.000 claims abstract description 6
- 230000004927 fusion Effects 0.000 claims description 12
- 230000003993 interaction Effects 0.000 claims description 9
- 238000007499 fusion processing Methods 0.000 claims description 6
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- 238000004590 computer program Methods 0.000 description 7
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G06T5/00—Image enhancement or restoration
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention discloses an integrated laser target indicator and a target indicating method. The integrated laser target indicator includes: the device comprises an observation and aiming unit, a positioning and orienting unit, a code pattern generating unit, a laser transmitter, a distance measuring unit, a control unit and a communication unit; the observation and aiming unit, the positioning and orientation unit, the code pattern generation unit, the distance measurement unit and the communication unit are respectively connected with the control unit, and the code pattern generation unit is also connected with the laser transmitter and the distance measurement unit; the positioning and orientation unit is used for measuring the coordinates and the posture of the target indicator; the code pattern generating unit is used for generating a laser emission mode signal; the laser transmitter is used for transmitting indicating laser to the target according to the laser transmitting mode signal; the distance measuring unit is used for measuring the distance between the integrated laser target indicator and the target according to the laser signal which is transmitted by the laser transmitter and returned to the target; the control unit is used for determining the coordinates and the height of the target. The invention can assist the guided device to quickly lock the target, and is integrated, and the operation is simple and convenient.
Description
Technical Field
The invention relates to the field of laser target indication, in particular to an integrated target indicator and a target indication method.
Background
At present, most of laser target indicators are formed by combining a laser emitting unit and a sighting telescope or a visible light detector, and an integrated ranging receiving device has the capability of ranging a target.
The existing laser target indicator cannot enable the guided device to quickly lock on the target, and when the target cannot be quickly locked, the longer the locking time is, the greater the risk that the guided device is lured.
In addition, most of the existing laser target indicators are designed by separating equipment from a power supply, and have the defects of complex unfolding operation, inconvenience in carrying and the like.
Disclosure of Invention
In view of the above, the present invention has been made to provide an integrated laser target indicator and target indicating method that overcomes or at least partially solves the above problems.
One embodiment of the present invention provides an integrated laser target indicator comprising:
the device comprises an observation and aiming unit, a positioning and orienting unit, a code pattern generating unit, a laser transmitter, a distance measuring unit, a control unit and a communication unit;
the observation and aiming unit, the positioning and orientation unit, the code pattern generation unit, the distance measurement unit and the communication unit are respectively connected with the control unit, and the code pattern generation unit is also connected with the laser transmitter and the distance measurement unit;
the observation and aiming unit is used for aiming a target and acquiring an image of the target;
the positioning and orienting unit is used for measuring the coordinate and the posture of the integrated laser target indicator;
the code pattern generating unit is used for generating a laser emission mode signal and sending the laser emission mode signal to the laser emitter;
the laser transmitter is used for transmitting indicating laser to the target according to the laser transmitting mode signal;
the distance measuring unit is used for measuring the distance between the integrated laser target indicator and the target according to the laser signal which is emitted by the laser emitter and returns to the target;
the control unit is used for man-machine interaction and processing multi-sensor fusion information, determining the coordinates and the height of the target and sending the coordinates and the height of the target to the outside through the communication unit.
Optionally, the viewing unit includes:
the system comprises a visible light aiming module, an infrared aiming module and a display module;
the visible light aiming module and the infrared aiming module are respectively connected with the display module;
the visible light aiming module and the infrared aiming module are used for collecting the image of the target and displaying the image of the target through the display module.
Optionally, the positioning and orientation unit comprises a GPS/beidou positioning antenna and an electronic compass;
the GPS/Beidou positioning antenna is used for measuring the coordinates of the integrated laser target indicator;
the electronic compass is used for measuring the attitude of the integrated laser target indicator.
Optionally, the control unit comprises:
the system comprises a human-computer interaction module, a multi-data fusion processing module and a communication module;
the man-machine interaction module is used for receiving key operation of a user and analyzing and converting the key operation into a control instruction;
the multi-input fusion processing module is used for performing fusion analysis on the received various data information through a data fusion algorithm and determining the coordinates and the height of the target;
and the communication module is used for sending the coordinates and the height of the target outwards through the communication unit.
Optionally, the method further comprises: a data recording unit;
the data recording unit is connected with the observing and aiming unit and the control unit;
and after the data recording unit receives the data recording instruction sent by the control unit, the data recording unit records the image of the target acquired by the observing and aiming unit.
Optionally, the method further comprises: a power supply unit;
the power supply unit is used for supplying power to the integrated laser target indicator.
Optionally, the power supply unit includes:
a battery and mains interface;
the battery is used for ensuring that the integrated laser target indicator can normally work under the condition of no external power supply;
the mains supply interface is used for charging the battery and supplying power to the indicator independently or simultaneously.
Another embodiment of the present invention provides a target indication method using the above-mentioned integrated laser target indicator, including:
receiving the coordinates and the height of a target sent by the integrated laser target indicator;
and tracking the target according to the coordinate and the height of the target.
Another embodiment of the present invention provides an electronic apparatus including:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the above-described target indication method.
Another embodiment of the present invention provides a computer-readable storage medium storing one or more programs which, when executed by a processor, implement the above-described object indication method.
The invention has the advantages that the positioning and orienting unit, the control unit and the communication unit are added on the basis of the traditional target indicator, the positioning and orienting unit can determine the coordinate and the posture of the target indicator, and the control unit has a multi-sensor fusion function and can determine the coordinate and the height information of the target. The integrated laser target indicator sends the coordinate and height information of the target to the guided device or the emission system thereof through the communication unit, the guided device can set the position and the angle of the detector in advance according to the information, the target can be locked quickly after the detector is started, and the risk of being trapped is reduced. And newly-added equipment and an original system are integrated, so that the operation steps are reduced, and the portability is improved.
Drawings
FIG. 1 is a schematic structural diagram of an integrated laser target indicator according to one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an integrated laser target indicator according to another embodiment of the present invention;
FIG. 3 is a flow chart of a target indication method according to one embodiment of the present invention;
FIG. 4 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;
fig. 5 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an integrated laser target indicator according to an embodiment of the present invention. As shown in fig. 1, the integrated laser target indicator of the embodiment of the present invention includes:
the system comprises an observing and aiming unit 1, a positioning and orienting unit 2, a code pattern generating unit 3, a laser transmitter 4, a ranging unit 5, a control unit 7 and a communication unit 8;
the observing and aiming unit 1, the positioning and orienting unit 2, the code pattern generating unit 3, the ranging unit 5 and the communication unit 8 are respectively connected with the control unit 7, and the code pattern generating unit 3 is also connected with the laser transmitter 4 and the ranging unit 5;
the observation and aiming unit 1 is used for aiming a target and collecting an image of the target;
the positioning and orientation unit 2 is used for measuring the coordinates and the posture of the integrated laser target indicator;
the code pattern generating unit 3 is used for generating a laser emission mode signal and sending the laser emission mode signal to the laser emitter 4;
the laser transmitter 4 is used for sending indication laser to the target according to the laser emission mode signal;
the distance measuring unit 5 is used for measuring the distance between the integrated laser target indicator and the target according to the laser signal which is transmitted by the laser transmitter 4 and returned to the target;
the control unit 7 is used for man-machine interaction and processing multi-sensor fusion information, determining the coordinates and the height of the target and sending the coordinates and the height of the target to the outside through the communication unit 8.
It will be appreciated that the sighting unit 1 can assist the operator in sighting the target. The control unit 7 sends the coordinates and the height of the target to the guided device through the communication unit 8, so that the guided device tracks the target according to the coordinates and the height of the target.
The integrated laser target indicator provided by the embodiment of the invention is additionally provided with the positioning and orienting unit, the control unit and the communication unit on the basis of the traditional target indicator, the positioning and orienting unit can determine the coordinate and the posture of the target indicator, and the control unit has a multi-sensor fusion function and can determine the coordinate and the height information of a target. The integrated laser target indicator sends the coordinate and height information of the target to the guided device or the emission system thereof through the communication unit, the guided device can set the position and the angle of the detector in advance according to the information, the target can be locked quickly after the detector is started, and the risk of being trapped is reduced. And newly-added equipment and an original system are integrated, so that the operation steps are reduced, and the portability is improved.
In an alternative implementation manner of the embodiment of the present invention, as shown in fig. 2, the observing and aiming unit 1 includes:
a visible light aiming module 11, an infrared aiming module 12 and a display module 13;
the visible light aiming module 11 and the infrared aiming module 12 are respectively connected with the display module 13;
the visible light aiming module 11 and the infrared aiming module 12 are used for acquiring an image of the target and displaying the image of the target through the display module 13.
It can be appreciated that the present invention contemplates a day and night working integrated laser target pointer that can locate target coordinates in real time. The visible light aiming module 11 collects the visible light image of the target, and the infrared aiming module 12 collects the infrared image of the target.
In practical application, the visible light aiming module 11 may use a telescope or a visible light camera, and when the visible light aiming module 11 aims at the visible light camera, images of a target collected by the visible light aiming module 11 and the infrared aiming module 12 need to be simultaneously connected to the display module 13 through the video transmission circuit, and the visible light image or the infrared image is manually switched; when the visible light aiming module 11 is aimed as a telescope, the infrared aiming module 12 is only connected with the display module 13 through a video transmission line.
Further, the positioning and orientation unit 2 comprises a GPS/beidou positioning antenna 21 and an electronic compass 22;
the GPS/Beidou positioning antenna 21 is used for measuring the coordinates of the integrated laser target indicator;
an electronic compass 22 is used to measure the attitude of the integrated laser target indicator.
It will be appreciated that the GPS/compass positioning antenna 21 and the electronic compass 22 are two separate devices, each connected to the control unit 7, for providing the control unit with the coordinates and attitude data of the target indicator.
Further, the control unit 7 includes:
a human-computer interaction module 71, a multi-data fusion processing module 72 and a communication module 73;
the human-computer interaction module 71 is used for receiving key operation of a user and analyzing and converting the key operation into a control instruction;
the multi-input fusion processing module 72 is configured to perform fusion analysis on the received various data information through a data fusion algorithm, and determine the coordinates and height of the target;
the communication module 73 is used for sending the coordinates and height of the object to the outside through the communication unit 8.
It will be appreciated that the communication module 73 may communicate with the guided device via the communication unit 8, sending the coordinates and height of the object to the guided device via the communication unit 8.
In another optional implementation manner of the embodiment of the present invention, the integrated laser target indicator further includes: a data recording unit 6;
the data recording unit 6 is connected with the observing and aiming unit 1 and the control unit 7;
after the data recording unit 6 receives the data recording instruction sent by the control unit 7, the data recording unit 6 records the image of the target collected by the observing unit 1.
After receiving an operation instruction of the operator for storing information, the control unit 7 sends the instruction to the data recording unit 6; after receiving the instruction sent by the control unit 7, the data recording unit 6 performs screen capture or recording on the information on the display module 13 of the viewing unit 1.
Further, the integrated laser target indicator further comprises: a power supply unit 9;
the power supply unit 9 is used for supplying power to the integrated laser target indicator.
Specifically, the power supply unit 9 includes:
a battery 91 and a mains interface 92;
the battery 91 is used for ensuring that the integrated laser target indicator can normally work under the condition of no external power supply;
the mains interface 92 is used for battery charging and indicator powering, either separately or simultaneously.
The power supply unit 9 supplies power to the observing and pointing unit 1, the positioning and orienting unit 2, the code pattern generating unit 3, the laser transmitter 4, the distance measuring unit 5, the data recording unit 6, the control unit 7 and the communication unit 8 through energy transmission lines, and is used for supplying power to the integrated laser target indicator.
Another embodiment of the present invention provides an object indication method using the above-mentioned integrated laser object indicator, as shown in fig. 3, the object indication method of the embodiment of the present invention includes:
s31: receiving the coordinates and the height of a target sent by the integrated laser target indicator;
s32: and tracking the target according to the coordinate and the height of the target.
The working principle of the integrated laser target indicator provided by the embodiment of the invention is as follows: the power supply unit 9 is started to supply power to the integrated laser target indicator; the observing and aiming unit 1 automatically starts to display the acquired image of the target on the display module 13; the positioning and orienting unit 2 automatically starts to send the coordinate and attitude information of the integrated laser target indicator to the control unit 7; the communication unit 8 is connected with a communication module of the guided device or a transmitting system thereof; the control unit 7 analyzes the received key operation of the operator to obtain a control instruction, the control unit 7 transmits the control instruction to the code pattern generation unit 3, the code pattern generation unit 3 generates an appointed code pattern and sends a laser emission mode signal to the laser emitter 4; the laser transmitter 4 transmits the indication laser to the target according to the laser transmitting mode signal transmitted by the code pattern generating unit 3; the distance measuring unit 5 is used for measuring the distance between the integrated laser target indicator and the target according to the laser signal which is transmitted by the laser transmitter 4 and returned to the target, and sending the measured distance to the control unit 7; the control unit 7 calculates the coordinate and height information of the target according to the received distance information sent by the distance measuring unit 5 and the coordinate and attitude information sent by the positioning and orienting unit 2, and sends the coordinate and height information to the display module 13 of the observing and aiming unit 1 for displaying, and the control unit 7 also sends the coordinate and height information of the target to the communication unit 8; after receiving the information sent from the control unit 7, the communication unit 8 sends the information to the receiving device with the established connection.
In summary, the positioning and orientation unit, the control unit and the communication unit are added on the basis of the traditional target indicator, the positioning and orientation unit can determine the coordinate and the posture of the target indicator, and the control unit has a multi-sensor fusion function and can determine the coordinate and the height information of the target. The integrated laser target indicator sends the coordinate and height information of the target to the guided device or the emission system of the guided device through the communication unit, the guided device can set the position and the angle of the detector in advance according to the information, the target can be locked quickly after the detector is started, and the risk of being trapped is reduced. And newly-added equipment and an original system are integrated, so that the operation steps are reduced, and the portability is improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the devices in an embodiment may be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus for detecting a wearing state of an electronic device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 4 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 401 and a memory 402 arranged to store computer-executable instructions (program code). The memory 402 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 402 has a storage space 403 for storing program code 404 for performing the method steps shown in fig. 3 and in any of the embodiments. For example, the storage space 403 for storing the program code may comprise respective program codes 404 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 5. The computer readable storage medium may have memory segments, memory spaces, etc. arranged similarly to the memory 402 in the electronic device of fig. 4. The program code may be compressed, for example, in a suitable form. In general, the memory space stores program code 501 for performing the steps of the method according to the invention, i.e. there may be program code, such as read by the processor 401, which, when run by an electronic device, causes the electronic device to perform the steps of the method described above.
While the foregoing is directed to embodiments of the present invention, other modifications and variations of the present invention may be devised by those skilled in the art in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of better explaining the present invention, and the scope of the present invention should be determined by the scope of the appended claims.
Claims (10)
1. An integrated laser target indicator comprising:
the device comprises an observation and aiming unit, a positioning and orienting unit, a code pattern generating unit, a laser transmitter, a distance measuring unit, a control unit and a communication unit;
the observation and aiming unit, the positioning and orientation unit, the code pattern generation unit, the distance measurement unit and the communication unit are respectively connected with the control unit, and the code pattern generation unit is also connected with the laser transmitter and the distance measurement unit;
the observation and aiming unit is used for aiming a target and collecting an image of the target;
the positioning and orientation unit is used for measuring the coordinates and the posture of the integrated laser target indicator;
the code pattern generating unit is used for generating a laser emission mode signal and sending the laser emission mode signal to the laser emitter;
the laser transmitter is used for transmitting indicating laser to the target according to the laser transmitting mode signal;
the distance measuring unit is used for measuring the distance between the integrated laser target indicator and the target according to the laser signal which is emitted by the laser emitter and returns to the target;
the control unit is used for man-machine interaction and processing multi-sensor fusion information, determining the coordinates and the height of the target and sending the coordinates and the height of the target to the outside through the communication unit.
2. The target indicator of claim 1 wherein the sighting unit comprises:
the system comprises a visible light aiming module, an infrared aiming module and a display module;
the visible light aiming module and the infrared aiming module are respectively connected with the display module;
the visible light aiming module and the infrared aiming module are used for collecting the image of the target and displaying the image of the target through the display module.
3. The target indicator of claim 1, wherein the positioning and orientation unit comprises a GPS/beidou positioning antenna and an electronic compass;
the GPS/Beidou positioning antenna is used for measuring the coordinates of the integrated laser target indicator;
the electronic compass is used for measuring the attitude of the integrated laser target indicator.
4. The target indicator of claim 1, wherein the control unit comprises:
the system comprises a human-computer interaction module, a multi-data fusion processing module and a communication module;
the man-machine interaction module is used for receiving key operation of a user and analyzing and converting the key operation into a control instruction;
the multi-input fusion processing module is used for performing fusion analysis on the received various data information through a data fusion algorithm and determining the coordinates and the height of the target;
and the communication module is used for sending the coordinates and the height of the target to the outside through the communication unit.
5. The target indicator of claim 1, further comprising: a data recording unit;
the data recording unit is connected with the observing and aiming unit and the control unit;
and after the data recording unit receives the data recording instruction sent by the control unit, the data recording unit records the image of the target acquired by the observing and aiming unit.
6. The target indicator of claim 1, further comprising: a power supply unit;
the power supply unit is used for supplying power to the integrated laser target indicator.
7. The target indicator of claim 6 wherein the power supply unit comprises:
a battery and mains interface;
the battery is used for ensuring that the integrated laser target indicator can normally work under the condition of no external power supply;
the mains supply interface is used for independently or simultaneously charging the battery and supplying power to the indicator.
8. A method of indicating a target using the integrated laser target indicator of any one of claims 1-7, comprising:
receiving the coordinates and the height of a target sent by the integrated laser target indicator;
and tracking the target according to the coordinate and the height of the target.
9. An electronic device, characterized in that the electronic device comprises:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of claim 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more programs which, when executed by a processor, implement the method of claim 8.
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| CN115031576B (en) * | 2022-07-07 | 2023-11-24 | 福建警察学院 | Intelligent wire winding emitter control system and method |
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