CN113296447B - Vehicle-mounted detection instrument control system - Google Patents
Vehicle-mounted detection instrument control system Download PDFInfo
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- CN113296447B CN113296447B CN202110633824.2A CN202110633824A CN113296447B CN 113296447 B CN113296447 B CN 113296447B CN 202110633824 A CN202110633824 A CN 202110633824A CN 113296447 B CN113296447 B CN 113296447B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a vehicle-mounted detection instrument control system which comprises a control unit and a driving unit, wherein the control unit comprises a DSP module and an FPGA module, the DSP module is in signal connection with the FPGA module, the FPGA module is in signal connection with an encoder, the signal output end of the FPGA module is connected with a conversion module, the driving unit comprises an isolation module, a driving interface and a sampling module, the isolation module, the driving interface and the sampling module are in signal connection in sequence, and the conversion module is in signal connection with the isolation module. The vehicle-mounted detector control system can meet different requirements of the vehicle-mounted detector in a speed mode, a positioning mode, a searching mode and a tracking mode in the using process, the DSP module and the FPGA module of the control unit calculate the collected external target information, and then the drive module is controlled to drive the drive motor to work in an automatic mode or a semi-automatic mode to complete the control requirements in different modes.
Description
Technical Field
The invention belongs to the technical field of investigation instrument control systems, and particularly relates to a vehicle-mounted investigation instrument control system.
Background
The vehicle-mounted detector is an advanced all-weather high-resolution video reconnaissance and tracking system, can continuously search, track, monitor and record suspicious targets in a certain range around equipment day and night to obtain evidence, and is mainly applied to the fields of seaside defense reconnaissance, smuggling and the like.
The control system of the existing vehicle-mounted detection instrument has a single function, and can not adjust the use mode of the vehicle-mounted detection instrument according to specific conditions, so that the popularization of the use scene of the vehicle-mounted detection instrument is influenced.
Disclosure of Invention
The present invention provides a vehicle-mounted detector control system to solve the above problems in the background art.
In order to solve the technical problems, the invention adopts the technical scheme that: a control system of a vehicle-mounted detector comprises a control unit and a driving unit, wherein the control unit comprises a DSP module and an FPGA module, the DSP module is in signal connection with the FPGA module, the FPGA module is in signal connection with an encoder, and a signal output end of the FPGA module is connected with a conversion module;
the driving unit comprises an isolation module, a driving interface and a sampling module, wherein the isolation module, the driving interface and the sampling module are sequentially in signal connection, and the conversion module is in signal connection with the isolation module;
the FPGA module is connected with the ADC module in a bidirectional signal mode, and the signal output end of the sampling module is connected with the ADC module in a signal mode.
Preferably, a JTAG module and a bus are further arranged in the DSP module, the JTAG module is connected with a debugging module in a two-way mode, and the bus is in signal connection with the FPGA module.
Preferably, the system further comprises a signal module, wherein the signal module is specifically a gyro signal, is in signal connection with the ADC module, and is used for transmitting the gyro signal to the FPGA module through the ADC module.
Preferably, the FPGA module is further provided with a communication interface for communicating with an external communication device.
Preferably, the encoder is used for measuring the angular velocity as a negative feedback signal of the velocity loop, and then the signal is transmitted to the driving module to drive the motor to move after the calculation of the FPGA module.
Preferably, the conversion module is specifically a level conversion module, the isolation module is specifically a photoelectric isolation module, and the driving interface is specifically a motor driving interface.
Preferably, the sampling module is a current sampling circuit.
Preferably, the DSP module is configured to set two interrupts, one is a serial communication interrupt, and the other is a timer interrupt of kHz, and the DSP module is configured to set an interrupt vector and an interrupt priority of a system, and perform an initialization operation on the digital I/O, the timer, and the serial communication.
Preferably, the driving module adopts the cooperation of the intelligent power module and the peripheral circuit, so that the system has high integration level and strong reliability.
Compared with the prior art, the invention has the following advantages:
in the use process of the vehicle-mounted detection instrument control system, under a speed mode, an encoder is used for measuring the angular speed to serve as a negative feedback signal of a speed loop, the given speed can be given by a control unit, and a driving module is controlled to drive a motor to move through speed correction operation; in a positioning mode, namely when the azimuth and the pitch axis of the turntable of the detection instrument are required to be controlled to move to a specified angular position according to external position instruction data, position input is given by a control unit, an encoder is used for position measurement, the angular speeds of the azimuth axis and the pitch axis of the turntable can be obtained by carrying out position difference, position positioning error amount calculation is completed through position and speed correction control, and the motor is driven by a driving module to move to complete quick positioning; in a searching mode, namely in a set moving range, the rotating table direction and the pitching axis direction of the detection instrument are controlled to move according to a certain rule, searching is carried out in the set range so as to capture a target, the actual multipoint position control is realized, a given parameter needs to be set in a control unit, and a signal is transmitted to a driving module to drive a motor to move regularly; in a tracking mode, namely after the object is captured by the detection instrument, the control unit controls the visual axis of the rotary table to point to the object according to the information of the miss distance of the object given by the image processing unit, the object is kept at the center of the visual field in the moving process of the object, and after the object enters the visual field of the tracker of the detection instrument, the DSP module and the FPGA module of the control unit can control the driving module to drive the driving motor to work in an automatic mode or a semi-automatic mode to capture and track the object.
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FIG. 1 is a general principle framework of the present invention;
description of reference numerals:
1-a DSP module; 11-JTAG module; 12-a bus; 13-debugging module; 2-FPGA module; 21-an ADC module; 22-a communication interface; 3-an encoder; 4-a conversion module; 5-an isolation module; 6-a drive module; 7-a drive interface; 8-a sampling module; 9-signal module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a technical solution: the utility model provides a vehicle-mounted detector control system, includes the control unit and drive unit, wherein, the control unit includes DSP module 1 and FPGA module 2, set up two kinds of interruptions in the DSP module 1, one kind is interrupted for serial communication, and another kind is 1 kHz's timer interrupt, DSP module 1 is used for setting up digital IO, timer and serial communication to the interrupt vector and the interrupt priority of system, carries out initialization operation.
The DSP module 1 is in signal connection with the FPGA module 2, the FPGA module 2 realizes the function of logic control, and the FPGA module 2 is in signal connection with the encoder 3 and is used for finishing the functions of signal acquisition and the like of the encoder 3.
The encoder 3 is used for measuring the angular speed as a negative feedback signal of the speed loop, and then transmits the signal to the driving module 6 to drive the motor to move after the calculation of the FPGA module 2.
The DSP module 1 is also internally provided with a JTAG module 11 and a bus 12, the JTAG module 11 is bidirectionally connected with a debugging module 13, and the debugging operation of the JTAG module 11 is completed through the debugging module 13.
The bus 12 is in signal connection with the FPGA module 2, and the FPGA module 2 is further provided with a communication interface 22 for communicating with external communication equipment.
The signal output end of the FPGA module 2 is connected with a conversion module 4, the conversion module 4 is specifically a level conversion module, voltage conversion is completed through the level conversion module, and signal connection between the FPGA module and the driving unit is completed.
The drive unit includes isolation module 5, drive module 6, drive interface 7 and sampling module 8, isolation module 5, drive module 6, drive interface 7 and sampling module 8 signal connection in proper order, isolation module 5 specifically is the optoelectronic isolation module, accomplishes the isolation effect good to the input, output signal of telecommunication through isolation module 5.
The driving module 6 adopts the cooperation of an intelligent power module and a peripheral circuit, so that the system is high in integration level and high in reliability.
The drive interface 7 is specifically a motor drive interface,
the conversion module 4 is in signal connection with the isolation module 5,
the sampling module 8 is specifically a current sampling circuit, the FPGA module 2 is connected with an ADC module 21 in a bidirectional signal mode, and the signal output end of the sampling module 8 is connected with the ADC module 21 in a signal mode.
The gyroscope signal processing system further comprises a signal module 9, wherein the signal module 9 is specifically a gyroscope signal, is in signal connection with the ADC module 21, and is used for transmitting the gyroscope signal to the FPGA module 2 through the ADC module 21.
In the use process, in a speed mode, namely a control motion mode of the detection instrument in two directions of the rotating table direction and the pitching axis, the encoder 3 measures the angular speed as a negative feedback signal of a speed loop, the given speed can be given by the control unit, and the drive module 6 is controlled to drive the motor to move through speed correction operation.
In a positioning mode, namely when the detection instrument rotary table azimuth and the pitch axis need to be controlled to move to a specified angular position according to external position instruction data, position input is given by the control unit, the encoder 3 is used for position measurement, the angular speeds of the rotary table azimuth axis and the pitch axis can be obtained through position difference, position positioning error amount calculation is completed through position and speed correction control, and the motor is driven to move through the driving module 6 to complete rapid positioning.
In the search mode, namely in a set moving range, the rotary table direction and the pitching axis direction of the detection instrument are controlled to move according to a certain rule, searching is carried out in the set range so as to capture a target, actually, multipoint position control is realized, given parameters need to be set in the control unit, and signals are transmitted to the driving module 6 to drive the motor to move regularly.
In a tracking mode, namely after the object is captured by the detection instrument, the control unit controls the visual axis of the rotary table to point to the object according to the information of the miss distance of the object given by the image processing unit, the object is kept at the center of the visual field in the moving process of the object, and after the object enters the visual field of the tracker of the detection instrument, the DSP module 1 and the FPGA module 2 of the control unit can control the driving module 6 to drive the driving motor to work in an automatic mode or a semi-automatic mode to capture and track the object.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a vehicle-mounted detector control system which characterized in that: the device comprises a control unit and a driving unit, wherein the control unit comprises a DSP module (1) and an FPGA module (2), the DSP module (1) is in signal connection with the FPGA module (2), a JTAG module (11) and a bus (12) are further arranged in the DSP module (1), the JTAG module (11) is in two-way connection with a debugging module (13), the bus (12) is in signal connection with the FPGA module (2), the FPGA module (2) is in signal connection with an encoder (3), the encoder (3) is used for measuring angular speed to serve as a negative feedback signal of a speed loop, then the signal is transmitted to a driving module (6) to drive a motor to move after calculation of the FPGA module (2), and a signal output end of the FPGA module (2) is connected with a conversion module (4);
the driving unit comprises an isolation module (5), a driving module (6), a driving interface (7) and a sampling module (8), the conversion module (4) is specifically a level conversion module, the isolation module (5) is specifically a photoelectric isolation module, the driving interface (7) is specifically a motor driving interface, the isolation module (5), the driving module (6), the driving interface (7) and the sampling module (8) are sequentially in signal connection, and the conversion module (4) is in signal connection with the isolation module (5);
the FPGA module (2) is in bidirectional signal connection with an ADC module (21), and the signal output end of the sampling module (8) is in signal connection with the ADC module (21); the FPGA module (2) is also provided with a communication interface (22) for communicating with external communication equipment;
the sampling module (8) is specifically a current sampling circuit;
the gyroscope comprises an ADC module (21) and a signal module (9), wherein the signal module (9) is specifically a gyro signal, is in signal connection with the ADC module (21) and is used for transmitting the gyro signal to the FPGA module (2) through the ADC module (21);
the control system comprises a speed mode, a positioning mode, a searching mode and a tracking mode;
under a speed mode, namely a control motion mode of a rotary table azimuth and a pitching axis of the detection instrument, an encoder (3) measures angular speed as a negative feedback signal of a speed loop, the given speed can be given by a control unit, and a driving module (6) is controlled to drive a motor to move through speed correction operation;
in a positioning mode, namely when the detection instrument turntable azimuth and the pitch axis need to be controlled to move to a specified angular position according to external position instruction data, position input is given by a control unit, an encoder (3) is used for position measurement, the angular speeds of the turntable azimuth axis and the pitch axis can be obtained through position difference, position positioning error amount calculation is completed through position and speed correction control, and a driving module (6) drives a motor to move to complete quick positioning;
in a searching mode, namely in a set moving range, the rotating table direction and the pitching axis direction of the detection instrument are controlled to move according to a certain rule, searching is carried out in the set range, given parameters are set in the control unit, and signals are transmitted to the driving module (6) to drive the motor to move regularly;
in a tracking mode, namely after the object is captured by the detection instrument, the control unit controls the visual axis of the rotary table to point to the object according to the information of the miss distance of the object given by the image processing unit, the object is kept at the center of the visual field in the moving process of the object, and after the object enters the visual field of the tracker of the detection instrument, the DSP module (1) and the FPGA module (2) of the control unit can control the driving module (6) to drive the driving motor to work in an automatic mode or a semi-automatic mode to capture and track the object.
2. The vehicle scout control system according to claim 1, wherein two interrupts are set in the DSP module (1), one is serial communication interrupt and the other is timer interrupt of 1kHz, and the DSP module (1) is used to initialize digital I/O, timer and serial communication for the interrupt vector and interrupt priority setting of the system.
3. The vehicle-mounted detector control system according to claim 2, wherein the driving module (6) adopts an intelligent power module to cooperate with a peripheral circuit, so that the system is high in integration level and reliability.
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| CN202110633824.2A CN113296447B (en) | 2021-06-07 | 2021-06-07 | Vehicle-mounted detection instrument control system |
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| CN202110633824.2A CN113296447B (en) | 2021-06-07 | 2021-06-07 | Vehicle-mounted detection instrument control system |
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Patent Citations (7)
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