CN114910919A - Use of low-light-level night vision device and target positioning method and device - Google Patents
Use of low-light-level night vision device and target positioning method and device Download PDFInfo
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- CN114910919A CN114910919A CN202210419438.8A CN202210419438A CN114910919A CN 114910919 A CN114910919 A CN 114910919A CN 202210419438 A CN202210419438 A CN 202210419438A CN 114910919 A CN114910919 A CN 114910919A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/04—Magnetic compasses with north-seeking magnetic elements, e.g. needles
- G01C17/10—Comparing observed direction with north indication
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/12—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices with means for image conversion or intensification
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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
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Abstract
The invention provides a method and a device for using a low-light-level night vision device and positioning a target, the scheme of the invention is that the low-light-level night vision device is arranged on an unmanned aerial vehicle, a prey is observed and searched in high altitude through the unmanned aerial vehicle, the direction is determined by starting a compass, a positioning module is started to determine the current position coordinate, a distance measurement brightness sensor and a temperature sensor are started to determine the current environment temperature and brightness, a distance measurement module detects the target distance and sends a signal into a central processing module, the central processing module sends an image signal to an external display screen or a mobile phone APP through a wireless network module, the position coordinate is displayed on an electronic map, an external worker remotely controls the device, an acceleration module is started, a weapon can be arranged, the accuracy of shooting can be kept during shooting, video recording before and after automatic recording is realized, and the operation is convenient.
Description
Technical Field
The invention relates to the technical field of night vision devices, in particular to a target positioning method and a target positioning method using a low-light-level night vision device.
Background
The low-light level night vision device is a device which utilizes the night light of natural world such as weak moonlight and starlight at night as illumination, amplifies the weak light signal reflected by a target by means of a light intensifier, and converts the amplified weak light signal into a visible image so as to realize night observation.
The existing low-light night vision device is generally held by hands or fixed on a hunting gun to be directly observed by human eyes when used for hunting, sometimes meets complex terrains when used for hunting in the field at night, and after a hunter cannot observe distant hunters or is shielded by obstacles, the hunter cannot search the escape direction and position of the hunters.
Disclosure of Invention
In view of the above, embodiments of the present invention are intended to provide a low-light night vision device target positioning method and a method for using the same.
The technical scheme of the invention is as follows: a target positioning method using a low-light-level night vision device, the low-light-level night vision device is arranged in the air to position a target, and is characterized in that: according to the pulse type laser ranging positioning technology and a resolving method based on geographical positioning, the high-precision real-time positioning of the target by the airborne low-light level night vision device is realized by combining laser ranging, Beidou positioning and an electronic compass module;
geographic positioning: in order to realize the geographic positioning of a target by a target indicating system, the position of a night vision device is required to be firstly positioned and the accurate position of a display map is indicated, the target is positioned in an electronic map indicating system, and a geographic positioning auxiliary coordinate system is adopted and comprises a geodetic coordinate system, a geodetic rectangular coordinate system, a geographic coordinate system and a direction coordinate system;
geodetic coordinate system: the Beidou positioning module in the night vision device positioning system can detect geodetic coordinates of the position of the night vision device local machine, and the geodetic coordinates are usually expressed by longitude and latitude and height;
a geodetic rectangular coordinate system, a geographical coordinate system and a direction coordinate system: when the coordinates of the microwave night vision device are positioned, the coordinates are used for indicating a geodetic coordinate system where a target is positioned step by step according to a coordinate system conversion method through mathematical calculation and indicating a relative position and a relative height coordinate;
and a coordinate system conversion method comprises the following steps: the established mathematical model is solved by means of a geographical positioning calculation method to obtain the position coordinates of the target under a geodetic coordinate system, and the adopted target positioning algorithm is divided into the following three steps:
and Sl, calculating the coordinates of the target in the coordinate system of the night vision device by utilizing the distance R measured by a laser ranging module of the night vision device and the direction angle and the height angle of the target relative to the night vision device measured by an electronic compass module through the sine-cosine relation of the triangle.
And S2, according to the attitude parameters and the coordinate rotation relation of the night vision device, calculating the coordinates of the target under a geographic coordinate system through homogeneous matrix transformation.
And S3, measuring the position of the night vision device under a geodetic coordinate system by using a Beidou satellite positioning module measured by the night vision device, and solving the coordinate of the target under a geodetic rectangular coordinate system through the geodetic position relation.
S4, obtaining the coordinates of the target under the rectangular coordinate system of the earth through inverse solution of the coordinates of the target under the rectangular coordinate system of the earth, namely completing the resolving of the geographic positioning of the target;
the S2 homogeneous coordinate transformation method is a common coordinate transformation method, and mainly adopts matrix transformation methods such as translation, rotation and shearing to realize transformation among coordinate systems; the method has the characteristics that the mathematical model is simple and visual, the conversion process efficiency is high, and the real-time and efficient work of the system can be ensured.
The mathematical model obtains the target position coordinate under a geodetic coordinate system of the target through solving the relative distance space angle between the position coordinate of the night vision device and the target positioning point, and the mathematical model specifically comprises the following steps:
according to the target positioning method, a microwave radar module and an infrared module are arranged on the low-light night vision device main body; the wind speed detector is also provided with a level gauge, a wind speed detector and a wireless mobile network module; meanwhile, a speed sensor and a two-way distance measuring sensor for detecting the movement speed are also arranged;
s1, mounting the low-light-level night vision device main body at the designated position of the unmanned aerial vehicle through a damping bracket; after the unmanned aerial vehicle ascends to the designated position in the air, the unmanned aerial vehicle is connected to an external display screen or a mobile phone APP through a wireless network to perform image signal transmission;
s2, remotely controlling to remotely start the night vision device, remotely controlling to select a menu and determining the use function;
s3, animal searching step: the microwave radar module is used for life detection and the infrared module is used for life detection and positioning of the animal; the position of the microwave night vision device is positioned through a level meter and an air speed detector, the advancing direction and the advancing speed of the animal are measured through a speed sensor, and the distance of the animal and the relative flying height of the unmanned aerial vehicle are detected through a two-way distance measuring sensor;
s5, observing image information through a night vision device, wherein the image information enters an image intensifier through an objective lens to realize light sensation intensifying signal imaging;
s5, starting a compass, determining an azimuth, starting a positioning module, determining a current position coordinate, starting a ranging brightness sensor and a temperature sensor, determining the current environment temperature and brightness, detecting the target distance by a ranging module, and sending a signal into a central processing module;
s6, the photosensitive module is started to observe and present images in three light wave ranges of visible light, dim light and infrared light, and sends signals to the central processing module, and the central processing module sends image signals to an external display screen or a mobile phone APP through the wireless network module or the wireless communication network;
s7, remotely controlling by an external worker, starting an acceleration module, detecting the inclination angle of the night vision device through a level meter by a microwave radar, and simultaneously automatically recording a video;
s8, video storage, through Type C interface access night-time vision device, export built-in EMCC video data and can transmit to the cloud space through wireless network simultaneously.
In the step S5, the infrared module is used as an infrared thermal imaging collimator to detect wild animals; s7, arranging a hunting weapon on the low-light night vision device, and shooting by matching the infrared thermal imaging sighting device with the hunting weapon; meanwhile, a pneumatic buffer device is arranged behind the weapon and is used for buffering recoil force during shooting; the infrared thermal imaging collimator adopts a passive infrared receiving induction device; at the moment, the radar module is used as a radar detector and matched with a hunting weapon to start radar positioning and shoot.
The infrared life detection instrument adopts an infrared thermal imaging collimator to match with a life detection function of a microwave radar, and then adjusts an angle to aim at the position of a detected animal to realize infrared life detection; the wireless communication module is used as a Beidou positioning and electronic compass module, so that the high-precision real-time positioning of the target by the aerial low-light-level night vision device is realized.
The low-light-level night vision device is provided with an overexposure protection mechanism and a photosensitive module, the photosensitive module is started while the night vision device is started and is used for sensing the current ambient illuminance and transmitting the current ambient illuminance to an intense light protection circuit, the brightness entering an image tube is sensed through a power supply to complete high-speed cut-off and conduction, a cathode gating technology is used for protecting an image intensifier, and the brightness stability of an image output by a fluorescent screen is ensured.
The animal search step S3: the microwave radar is used as a life detector, a microwave radar probe is fixed through a micro-electro-mechanical system, and the probe is used for carrying out microwave scanning to explore the position of an animal by adjusting an angle; the infrared module is used for infrared life detection and is also fixed through a micro-electro-mechanical system adjusting system, and can be used for adjusting the angle to scan and search the position of an animal; automatically prompting a life detector adopting a microwave radar or an infrared life detector to search according to the environment condition system; the life detection of the microwave radar can realize the positioning and tracking of animals.
The animal search step S3: and judging whether the animals are detected and positioned and tracked by independently adopting a microwave radar and a life detector or independently adopting an infrared life detector according to the weather environment condition.
In step S6, the central processing module processes the data and displays the position and distance of the observer on the map on the remote external display screen in real time.
The invention also provides a low-light level night vision device for implementing the method for using the low-light level night vision device, wherein: the intelligent photographing device comprises a main body, an objective lens and an eyepiece, wherein the objective lens is arranged on one side of the main body, the eyepiece (3) is arranged on the other side of the main body, a WIFI module, a power switch and a spiral encoder are arranged on the upper surface of the main body, and an interface module and a power module are arranged on one side of the WIFI module;
a speed sensor and an acceleration sensor for detecting the movement speed of the main body, and a two-way distance measuring sensor for measuring the distance between the main body and a target are embedded in the main body; a life detector of a microwave radar and a radar speed measuring detector are also arranged;
further comprising: the processor, the photosensitive module and the image intensifier are embedded in the main body; the processor comprises a central processing module, a sensor module and a positioning module;
the central processing module is interactively connected with the photosensitive module, the central processing module is interactively connected with the image intensifier, the central processing module is interactively connected with the sensor module, the central processing module is connected with the wireless WIFI module, the central processing module is connected with the positioning module, and the central processing module is connected with the interface module; the central processing module is used for comprehensively processing signals;
the sensor module is used for detecting the external environment condition; the photosensitive module is used for detecting an external light source; the image intensifier is used for intensifying the brightness of the optical image; the interface module is used for connecting an external display screen and video recording; the WIFI module is used for being in communication connection with the outside, transmitting signals and displaying coordinates on the electronic map after the target is positioned; and the positioning module is used for positioning the current coordinate and judging the direction.
Preferably, the sensor module comprises an acceleration module, a brightness sensor, a temperature sensor and a compass;
the acceleration module is an accelerometer and is used for detecting a shot and automatically recording videos before and after the shot, and the videos are recorded; the distance measuring module is used for detecting the target distance;
the brightness sensor and the temperature sensor are used for detecting the brightness and the temperature of the environment;
the compass is used for determining the azimuth by utilizing the magnetic needle and measuring the magnetic azimuth angle or the magnetic quadrant angle of a straight line on the ground; the photosensitive module comprises a white light imaging module, an infrared imaging module and a low-light sensing module and is used for presenting images in three light wave ranges of visible light, low light and infrared.
The invention has the beneficial effects that: controlling the remote start of the night vision device; detecting the position of an animal by combining a microwave radar with an infrared module; through spirit level and wind speed detector location microwave night-time vision device, through direction and the speed that speed sensor surveys the animal and marchs, surveys the distance at animal place and unmanned aerial vehicle's flight relative altitude through two-way range sensor.
According to the scheme, the low-light night vision device is arranged on an unmanned aerial vehicle, a hunter is observed and searched in the high altitude of the unmanned aerial vehicle, the orientation is determined by starting a compass, a positioning module is started to determine a current position coordinate, a ranging brightness sensor and a temperature sensor are started to determine the current environment temperature and brightness, a ranging module detects a target distance and sends a signal to a central processing module, the central processing module sends an image signal to an external display screen or a mobile phone APP through a wireless network module, the position coordinate is displayed on an electronic map, external workers remotely control the system, an acceleration module is started, shooting weapons for hunting can be simultaneously set, accuracy of shooting can be kept during shooting, video recording before and after automatic recording is realized, and the operation is convenient.
Because the high altitude construction still is provided with the instrument and prevents falling protection device, is provided with compression gasbag protection device: when this night-time vision device was judged to appear falling the condition, the solenoid valve switch-on that high-pressure gas pitcher and compression gasbag are connected, and the compression gasbag expands in the twinkling of an eye, props up the bottom of this night-time vision device, and this night-time vision device is protected not to receive the damage, and simultaneously, when this shock absorber support was out of work, the compression gasbag was in the compression state, can not enlarge this night-time vision device volume, and is small and exquisite convenient, and aesthetic measure is high.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or technical descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a perspective view of a low-light night vision device of the present invention;
FIG. 2 is a schematic diagram of the low-light level night vision device of the present invention connected to an unmanned aerial vehicle;
fig. 3 is a schematic diagram of the principle of the geographical positioning coordinates in the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-2, an embodiment of the present invention provides a target positioning method using a low-light night vision device, where the low-light night vision device is arranged in the air to position a target, where: according to the pulse type laser ranging positioning technology and a resolving method based on geographical positioning, the high-precision real-time positioning of the target by the airborne low-light level night vision device is realized by combining laser ranging, Beidou positioning and an electronic compass module;
geographic positioning: in order to realize the geographic positioning of a target by a target indicating system, the position of a night vision device is required to be firstly positioned and the accurate position of a display map is indicated, the target is positioned in an electronic map indicating system, and a geographic positioning auxiliary coordinate system is adopted and comprises a geodetic coordinate system, a geodetic rectangular coordinate system, a geographic coordinate system and a direction coordinate system;
geodetic coordinate system: the Beidou positioning module in the night vision device positioning system can detect geodetic coordinates of the position of the night vision device local machine, and the geodetic coordinates are usually expressed by longitude and latitude and height;
a geodetic rectangular coordinate system, a geographical coordinate system and a direction coordinate system: when the coordinates of the microwave night vision device are positioned, the coordinates are used for indicating a geodetic coordinate system where a target is positioned step by step according to a coordinate system conversion method through mathematical calculation and indicating a relative position and a relative height coordinate;
and a coordinate system conversion method comprises the following steps: the established mathematical model is solved by means of a geographic positioning calculation method, the mathematical model is solved through the solution of the relative distance space angle between the position coordinate of the night vision device and the target positioning point, and fig. 3 is a geographic positioning coordinate principle schematic diagram in the invention, so that the target position coordinate under a geodetic coordinate system where the target is located is obtained, and the method specifically comprises the following steps:
and Sl, measuring the distance R between the night vision device and the positioning target by using a laser ranging module of the night vision device, measuring the direction angle and the height angle of the target relative to the night vision device by using an electronic compass module, and calculating the coordinate of the target under a coordinate system of the night vision device through the sine-cosine relation of the triangle.
And S2, according to the attitude parameters and the coordinate rotation relation of the night vision device, calculating the coordinates of the target under a geographic coordinate system through homogeneous matrix transformation.
And S3, measuring the position of the night vision device in a geodetic coordinate system by using a Beidou satellite positioning module measured by the night vision device, and solving a coordinate standard of the target in a geodetic rectangular coordinate system according to the geodetic position relation.
S4, obtaining the coordinates of the target under the geodetic coordinate system through inverse solution of the coordinates of the target under the geodetic rectangular coordinate system, namely completing the solution of the geographic positioning of the target;
the S2 homogeneous coordinate transformation method is a common coordinate transformation method, and realizes transformation among coordinate systems by adopting matrix transformation methods such as translation, rotation and shearing in a rectangular coordinate system where a target positioning point is located, and the position coordinates of a target positioning point in another coordinate system are solved; the method has the characteristics that the mathematical model is simple and visual, the conversion process efficiency is high, and the real-time and efficient work of the system can be ensured.
According to the target positioning method, a microwave radar module and an infrared module are arranged on the low-light night vision device main body; the wind speed detector is also provided with a level gauge, a wind speed detector and a wireless mobile network module; meanwhile, a speed sensor and a two-way distance measuring sensor for detecting the movement speed are also arranged;
s1, mounting the low-light-level night vision device main body at the designated position of the unmanned aerial vehicle through a damping bracket; after the unmanned aerial vehicle ascends to the designated position in the air, the unmanned aerial vehicle is connected to an external display screen or a mobile phone APP through a wireless network to perform image signal transmission;
s2, remotely controlling to remotely start the night vision device, remotely controlling to select a menu and determining the use function;
s3, animal searching step: the microwave radar module is used for life detection and the infrared module is used for life detection and positioning of the animal; the position of the microwave night vision device is positioned through a level meter and an air speed detector, the advancing direction and the advancing speed of the animal are measured through a speed sensor, and the distance of the animal and the relative flying height of the unmanned aerial vehicle are detected through a two-way distance measuring sensor;
s5, observing image information through a night vision device, wherein the image information enters an image intensifier through an objective lens to realize light sensation intensifying signal imaging;
s5, starting a compass, determining an azimuth, starting a positioning module, determining a current position coordinate, starting a ranging brightness sensor and a temperature sensor, determining the current environment temperature and brightness, detecting the target distance by a ranging module, and sending a signal into a central processing module;
s6, the photosensitive module is started to observe and present images in three light wave ranges of visible light, dim light and infrared light, and sends signals to the central processing module, and the central processing module sends image signals to an external display screen or a mobile phone APP through the wireless network module or the wireless communication network;
s7, remotely controlling by an external worker, starting an acceleration module, detecting the inclination angle of the night vision device through a level meter by a microwave radar, and simultaneously automatically recording a video;
s8, video storage, through Type C interface access night-time vision device, export built-in EMCC video data and can transmit to the cloud space through wireless network simultaneously.
In step S5, an infrared thermal imaging collimator is adopted to detect wild animals in a matching way; in the S7, shooting is carried out by matching the infrared thermal imaging sighting device with a hunting weapon; the infrared thermal imaging collimator adopts a passive infrared receiving induction device.
The infrared life detection instrument adopts an infrared thermal imaging collimator to match with the life detection instrument of the microwave radar to adjust the angle to aim at the position of the detected animal so as to realize infrared life detection.
The low-light-level night vision device is provided with an overexposure protection mechanism and a photosensitive module, the photosensitive module is started while the night vision device is started and is used for sensing the current ambient illuminance and transmitting the current ambient illuminance to an intense light protection circuit, the brightness entering an image tube is sensed through a power supply to complete high-speed cut-off and conduction, a cathode gating technology is used for protecting an image intensifier, and the brightness stability of an image output by a fluorescent screen is ensured.
The animal search step S3: the microwave radar probe of the life detector of the microwave radar is fixed through a Micro Electro Mechanical System (MEMS), and the angle can be adjusted to search the position of an animal through microwave scanning; the infrared life detector is also fixed through a micro-electro-mechanical system adjusting system and can be used for adjusting the angle to scan and search the position of an animal; automatically prompting a life detector adopting a microwave radar or an infrared life detector to search infrared according to the environment condition system; the life detector of the microwave radar can realize the positioning and tracking of animals.
The existing low-light level night vision device generally comprises a main body 1, an objective lens 2 and an eyepiece lens 3, wherein the objective lens 2 is installed on one side of the main body 1, the eyepiece lens 3 is installed on the other side of the main body 1, a WIFI module 4, a power switch 5 and a spiral encoder 6 are installed on the upper surface of the main body 1, an interface module 7 and a power module 8 are arranged on one side of the WIFI module 4, and a lens protection cover 21 is arranged at the front end of the objective lens 2;
a speed sensor and an acceleration sensor for detecting the movement speed of the main body 1 and a two-way distance measuring sensor for measuring the distance between the main body 1 and a target are embedded in the main body 1; a life detector of a microwave radar and a radar speed measuring detector are also arranged;
further comprising: a processor, a photosensitive module and an image intensifier embedded in the main body 1; the processor includes a central processing module.
In the process of searching and hunting by using the low-light-level night vision device, in order to meet the effect, the existing low-light-level night vision device needs to be improved and upgraded, and a damping bracket 9 is arranged on the main body 1 of the original low-light-level night vision device; the low-light-level night vision device main body 1 is arranged at a designated position of the unmanned aerial vehicle through a damping bracket 9; the wireless image acquisition system is generally arranged at the bottom of the unmanned aerial vehicle and is connected to an external display screen or a mobile phone APP through a wireless network module (wifi module 4) to perform image signal transmission;
a fixed link structure is arranged on the damping support 9, a speed sensor and an acceleration sensor for detecting the movement speed of the main body 1 and a two-way distance measuring sensor for measuring the distance between the main body 1 and a target are embedded in the main body 1; the life detector of the microwave radar is also arranged (the radar ultra-wideband technology (UWB) is applied to the field of safety lifesaving), and a radar speed measuring detector is also arranged; the device comprises a sensor module and a positioning module;
the central processing module is interactively connected with the photosensitive module, the central processing module is interactively connected with the image intensifier, the central processing module is interactively connected with the sensor module, the central processing module is connected with the wifi module 4, the central processing module is connected with the positioning module, and the central processing module is connected with the interface module 7; the central processing module is used for comprehensively processing signals;
the sensor module is used for detecting the external environment condition; the photosensitive module is used for detecting an external light source; the image intensifier is used for intensifying the brightness of the optical image; the interface module 7 is used for connecting an external display screen and video recording; the wifi module 4 is used for connecting with the outside and transmitting signals; and the positioning module is used for positioning the current coordinate and judging the direction.
The sensor module comprises an acceleration module, a distance measuring module, a brightness sensor, a temperature sensor and a compass; the acceleration module is an accelerometer, and realizes automatic recording of videos before and after the target is searched, and video recording; the distance measuring module is used for detecting the target distance; the brightness sensor and the temperature sensor are used for detecting the brightness and the temperature of the environment; the compass is used for determining the azimuth by utilizing the magnetic needle and measuring the magnetic azimuth angle or the magnetic quadrant angle of a straight line on the ground; the photosensitive module comprises a white light imaging module, an infrared imaging module and a low-light sensing module and is used for presenting images in three light wave ranges of visible light, low light and infrared.
Because high altitude construction still is provided with the instrument and prevents falling protection device, is provided with compression gasbag protection device: when this night-time vision device was judged to appear falling the condition, the solenoid valve switch-on that high-pressure gas pitcher and compression gasbag are connected, and the compression gasbag expands in the twinkling of an eye, props up the bottom of this night-time vision device, and this night-time vision device is protected not to receive the damage, and simultaneously, when this shock absorber support was out of work, the compression gasbag was in the compression state, can not enlarge this night-time vision device volume, and is small and exquisite convenient, and aesthetic measure is high.
The wifi module 4 can be connected with an intelligent terminal, comprises a mobile phone App, can be used for real-time video observation and storage, and can be connected with external display observation, wherein recorded EMCC video data can be exported through a Type C interface; one side of the high-pressure gas tank is provided with a one-way valve for supplying gas to the high-pressure gas tank.
In this embodiment: the optical system of the low-light night vision device adopts a three-light optical scheme, namely, images in three light wave ranges of visible light, low light and infrared light can be observed and presented, namely, two-channel imaging is that light with different wave bands passes through respective objective lenses and is imaged on respective detectors respectively, the low-light lens group G1 is used for specially imaging the low-light wave band, the infrared lens group G2 is used for specially imaging the infrared wave band, the dual-band simultaneous imaging can be realized by using the dual-objective optical system, and the low-light night vision device has the characteristics of high imaging quality and good image quality, improves the utilization efficiency of light energy, and has the characteristics of small volume and light weight;
in this embodiment: the spiral encoder 6 is used for menu selection: meanwhile, only one spiral encoder 6 is installed, and a plurality of spiral encoders 6 can be added for quick functional operation; the strong light protection circuit is arranged on the circuit board, the circuit board is fixedly arranged in the shell, and the operation of the low-light night vision device is controlled by the power switch 5; the power supply module 8 is used for supplying power for the operation of the low-light night vision device; remote network remote control is adopted during high-altitude operation;
the working principle is as follows: the scheme of the invention is that a low-light night vision device is arranged on an unmanned aerial vehicle, a hunter is observed and searched over the high altitude of the unmanned aerial vehicle, the orientation is determined by starting a compass, a positioning module is started to determine the coordinate of the current position, a ranging brightness sensor and a temperature sensor are started to determine the temperature and the brightness of the current environment, a ranging module detects the distance of a target and sends a signal to a central processing module, the central processing module sends an image signal to an external display screen or a mobile phone APP through a wireless network module, an external worker searches the position of the hunter through remote control, and then the position of the hunter is positioned and a search route is planned through a mobile phone map or a map of other mobile equipment.
A shooting weapon is arranged on the unmanned aerial vehicle in advance, and a pneumatic buffer device is arranged behind the weapon and is used for buffering recoil during shooting; when the searched prey is not a very long distance, namely within the range, shooting can be carried out through positioning, the scheme of the invention can keep the accuracy of shooting, can realize automatic recording of video before and after shooting, and is convenient to operate.
The objective lens group is adopted to simultaneously receive low-light, visible light and infrared light, light splitting is realized inside the objective lens group to present different light wave forming systems, images presented by different light waves are displayed in a specific area of a screen, the visible light is not clear or even can not be seen in a blacker environment, low-light imaging is relatively clear (light sensation enhanced signal imaging is realized through an image intensifier), and when an object with better thermal imaging effect is presented, the system can realize conversion image display; the size of the display of the main screen can be manually converted; the picture-in-picture function can adjust the size of each picture of the picture-in-picture to realize the conversion of the main picture and the auxiliary contrast picture, and the image acquisition quality is high;
the glimmer night vision device optical system adopts a three-light optical scheme, namely images in three light wave ranges of visible light, glimmer light and infrared light can be observed and presented, the glimmer night vision device optical system has the characteristics of high imaging quality and good image quality, the light energy utilization efficiency is improved, and meanwhile, the whole system has the characteristics of small volume and light weight;
the use of an infrared module and a microwave radar module each have advantages; when dust, smoke or underwater occurs in the environment where a prey is sought, in which case the infrared must be the farthest detected distance, the penetration is the strongest. The microwave radar module has the advantages of longer sensing distance, wider angle, no dead zone lens and lens aging problem than the infrared sensing module, and is not influenced by temperature, humidity, airflow, dust, noise, brightness and the like. The radar module integrates a high-performance MCU, has strong performance, can be used as a rich algorithm, has strong expansibility and is suitable for scenes with high performance requirements.
In the scheme of the invention, one microwave radar module can be adopted, so that the scanning search, the distance detection and the accurate positioning of a prey can be realized; an infrared imaging system is adopted, so that an infrared photosensitive module can be realized, and the infrared photosensitive module can be used for realizing infrared distance measurement and infrared life detection; the infrared distance measurement, the infrared life detection and the infrared sensitization can be realized by using an infrared imaging system of the night vision device; namely a life detector of a microwave radar and an infrared life detector; the computer algorithm realizes multiple functions, and the weight and the cost of the product can be reduced.
Further, the method for accurately positioning the searched target finally realizes the functions from target searching to positioning. According to the pulse type laser ranging positioning technology and the resolving method based on geographical positioning, the high-precision real-time positioning of the aerial night vision device on the target is realized by combining laser ranging, Beidou positioning (positioning of the night vision device can be realized through a mobile network) and an electronic compass module.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A use method of a low-light night vision device is characterized by comprising the following steps:
the low-light night vision device main body is provided with a microwave radar module and an infrared module; the wind speed detector is also provided with a level gauge, a wind speed detector and a wireless mobile network module; meanwhile, a speed sensor and a distance measuring sensor for detecting the movement speed are also arranged;
s1, mounting the low-light-level night vision device main body at the designated position of the unmanned aerial vehicle through a damping bracket; after the unmanned aerial vehicle ascends to the designated position in the air, the unmanned aerial vehicle is connected to an external display screen or a mobile phone APP through a wireless network to perform image signal transmission;
s2, remotely controlling and remotely starting, starting a night vision device, remotely controlling a selection menu and determining a use function;
s3, animal searching step: the microwave radar module is used for life detection and the infrared module is used for life detection and positioning of the animal; the position of the microwave night vision device is positioned through a level meter and an air speed detector, the advancing direction and the advancing speed of the animal are detected through a speed sensor, and the distance of the animal and the relative flying height of the unmanned aerial vehicle are detected through a two-way distance measuring sensor;
s4, observing image information through a night vision device, wherein the image information enters an image intensifier through an objective lens to realize light sensation intensifying signal imaging;
s5, starting a compass, determining an azimuth, starting a positioning module, determining a current position coordinate, starting a ranging brightness sensor and a temperature sensor, determining the current environment temperature and brightness, detecting the target distance by a bidirectional ranging module, and sending a signal into a central processing module;
s6, the photosensitive module is started to observe and present images in three light wave ranges of visible light, dim light and infrared light, and sends signals to the central processing module, and the central processing module sends image signals to an external display screen or a mobile phone APP through the wireless network module or the wireless communication network;
s7, remotely controlling by an external worker, starting an acceleration module, detecting the inclination angle of the night vision device through a level meter by a microwave radar, and simultaneously automatically recording a video;
s8, video storage, through Type C interface access night-time vision device, export built-in EMCC video data and can transmit to the cloud space through wireless network simultaneously.
2. The method of using a low-light night vision device as claimed in claim 1, wherein: in the step S5, the infrared module is used as an infrared thermal imaging collimator and is matched with wild animals for detection; s7, arranging a hunting weapon on the low-light level night vision device, and shooting by matching the infrared thermal imaging sighting device with the hunting weapon; meanwhile, a pneumatic buffer device is arranged behind the weapon and is used for buffering recoil force during shooting; the infrared thermal imaging collimator adopts a passive infrared receiving induction device; at the moment, the radar module is used as a radar detector and matched with a hunting weapon to start radar positioning and shoot.
3. A method of using a low-light night vision device as claimed in claim 2, wherein: the infrared life detection instrument adopts an infrared thermal imaging collimator to match with a life detection function of a microwave radar, and then adjusts an angle to aim at the position of a detected animal to realize infrared life detection; the wireless communication module is used as a Beidou positioning and electronic compass module, so that the high-precision real-time positioning of the target by the airborne low-light-level night vision device is realized.
4. A method of using a low-light night vision device as claimed in claim 2, wherein: the low-light-level night vision device is provided with an overexposure protection mechanism and a photosensitive module, the photosensitive module is started while the night vision device is started and is used for sensing the current ambient illuminance and transmitting the current ambient illuminance to an intense light protection circuit, the brightness entering an image tube is sensed through a power supply to complete high-speed cut-off and conduction, a cathode gating technology is used for protecting an image intensifier, and the brightness stability of an image output by a fluorescent screen is ensured.
5. A method of using a low-light night vision device as claimed in claim 2, wherein: the animal search step S3: the microwave radar is used as a life detector, a microwave radar probe is fixed through a micro-electro-mechanical system, and the probe is used for carrying out microwave scanning to explore the position of an animal by adjusting an angle; the infrared module is used for infrared life detection and is also fixed through a micro-electro-mechanical system adjusting system, and can be used for adjusting an angle to scan and search the position of an animal; automatically prompting a life detector adopting a microwave radar or an infrared life detector to search according to the environment condition system; the life detection of the microwave radar can realize the positioning and tracking of animals.
6. A method of using a low-light night vision device as claimed in claim 2, wherein: the animal search step S3: and judging whether the life detector which singly adopts the microwave radar detects and positions and tracks the animal or whether the infrared life detector detects and positions singly according to the weather environment condition.
7. A method of using a low-light night vision device according to claim 2, wherein: in step S6, the central processing module processes the data and displays the position on the map on the remote display screen and displays the position and distance relative to the viewer in real time.
8. A method of using a low-light night vision device as claimed in claim 2, wherein: the sensor module comprises an acceleration module, a brightness sensor, a temperature sensor and a compass;
the acceleration module is an accelerometer and is used for detecting a shot and automatically recording videos before and after the shot, and the videos are recorded; the distance measuring module is used for detecting the target distance;
the brightness sensor and the temperature sensor are used for detecting the brightness and the temperature of the environment;
the compass is used for determining the azimuth by utilizing the magnetic needle and measuring the magnetic azimuth angle or the magnetic quadrant angle of a straight line on the ground; the photosensitive module comprises a white light imaging module, an infrared imaging module and a low-light sensing module and is used for presenting images in three light wave ranges of visible light, low light and infrared.
9. A target positioning method using a low-light-level night vision device, the low-light-level night vision device is arranged in the air to position a target, and is characterized in that: according to the pulse type laser ranging positioning technology and a resolving method based on geographical positioning, the high-precision real-time positioning of the target by the airborne low-light level night vision device is realized by combining laser ranging, Beidou positioning and an electronic compass module;
geographic positioning: in order to realize the geographic positioning of a target by a target indicating system, firstly, the position of a night vision device is positioned and the accurate position of a displayed map is indicated, and an auxiliary coordinate system of geographic positioning is adopted by positioning the target in an electronic map indicating system, wherein the auxiliary coordinate system comprises a geodetic coordinate system, a geodetic rectangular coordinate system, a geographic coordinate system or a direction coordinate system;
the geodetic coordinate system and a Beidou positioning module in the night vision device positioning system can detect the geodetic coordinate of the local position of the night vision device, and the geodetic coordinate is usually expressed by longitude and latitude and height;
the geodetic rectangular coordinate system, the geographic coordinate system or the direction coordinate system: when the coordinates of the microwave night vision device are positioned, the coordinates are used for indicating a geodetic coordinate system where a target is positioned step by step through mathematical calculation according to a coordinate system conversion method and indicating a relative position and a relative height coordinate;
and a coordinate system conversion method comprises the following steps: the method comprises the following steps of calculating an established mathematical model by means of a geographic positioning calculation method, wherein the mathematical model obtains a target position coordinate under a geodetic coordinate system where a target is located by solving a relative distance space angle between a position coordinate of a night vision device and a target positioning point coordinate, and the method specifically comprises the following steps:
and Sl, calculating the coordinates of the target in the coordinate system of the night vision device by utilizing the distance R measured by a laser ranging module of the night vision device and the direction angle and the height angle of the target relative to the night vision device measured by an electronic compass module through the sine-cosine relation of the triangle.
And S2, according to the attitude parameters and the coordinate rotation relation of the night vision device, calculating the coordinates of the target under a geographic coordinate system through homogeneous matrix transformation.
And S3, measuring the position of the night vision device in a geodetic coordinate system by using a Beidou satellite positioning module measured by the night vision device, and calculating the coordinate of the target in a geodetic rectangular coordinate system according to the geodetic position relationship.
S4, obtaining the coordinates of the target under the geodetic coordinate system through inverse solution of the coordinates of the target under the geodetic rectangular coordinate system, namely completing the solution of the geographic positioning of the target;
the S2 homogeneous coordinate transformation method is a common coordinate transformation method, and mainly adopts matrix transformation methods such as translation, rotation and shearing to realize transformation among coordinate systems; the method has the characteristics that the mathematical model is simple and visual, the conversion process efficiency is high, and the real-time and efficient work of the system can be ensured.
10. A low-light level night vision device, comprising: the unmanned aerial vehicle is characterized by comprising a main body (1), an objective lens (2) and an eyepiece lens (3), wherein the objective lens (2) is installed on one side of the main body (1), the eyepiece lens (3) is installed on the other side of the main body (1), a WIFI module (4), a power switch (5) and a spiral encoder (6) are installed on the upper surface of the main body (1), an interface module (7) and a power module (8) are arranged on one side of the WIFI module (4), a damping support (9) is movably connected to the upper end of the main body (1), and the main body (1) is connected with an unmanned aerial vehicle through the damping support (9);
a speed sensor and an acceleration sensor for detecting the movement speed of the main body (1) and a two-way distance measuring sensor for measuring the distance between the main body (1) and a target are embedded in the main body (1); a life detector of a microwave radar and a radar speed measuring detector are also arranged;
further comprising: a processor, a photosensitive module and an image intensifier embedded in the main body (1); the processor comprises a central processing module, a sensor module and a positioning module;
the central processing module is interactively connected with the photosensitive module, the central processing module is interactively connected with the image intensifier, the central processing module is interactively connected with the sensor module, the central processing module is connected with the wireless WIFI module (4), the central processing module is connected with the positioning module, and the central processing module is connected with the interface module (7); the central processing module is used for comprehensively processing signals;
the sensor module is used for detecting the external environment condition; the photosensitive module is used for detecting an external light source; the image intensifier is used for intensifying the brightness of the optical image; the interface module (7) is used for connecting an external display screen and video recording; the WIFI module (4) is used for being in communication connection with the outside, transmitting signals and displaying coordinates on the electronic map after positioning the target; and the positioning module is used for positioning the current coordinate and judging the direction.
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