CN114910919B - Use and target positioning method and device of low-light night vision device - Google Patents
Use and target positioning method and device of low-light night vision device Download PDFInfo
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- CN114910919B CN114910919B CN202210419438.8A CN202210419438A CN114910919B CN 114910919 B CN114910919 B CN 114910919B CN 202210419438 A CN202210419438 A CN 202210419438A CN 114910919 B CN114910919 B CN 114910919B
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- G—PHYSICS
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- 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 use and target positioning method and device of a low-light night vision device, the low-light night vision device is arranged on an unmanned plane, a search object is observed and searched through the high altitude of the unmanned plane, the position is determined by starting a compass, starting a positioning module, determining the current position coordinate, starting a ranging brightness sensor and a temperature sensor, determining the current environment temperature and brightness, detecting the target distance by the ranging module, sending a signal into a central processing module, sending an image signal to an external display screen or a mobile phone APP by the central processing module through a wireless network module, displaying the position coordinate on an electronic map, and the acceleration module is started, and can also set shooting weapons, keep shooting accuracy when shooting, record videos before and after shooting automatically, and realize convenient operation.
Description
Technical Field
The invention relates to the technical field of night vision devices, in particular to a method and a device for using and positioning targets of a low-light night vision device.
Background
The low-light night vision device is an instrument which uses the night light of the nature such as the weak moon light, starlight and the like at night as illumination, amplifies the weak light signal reflected by the target by means of the light amplifier and converts the weak light signal into a visible image so as to realize night observation.
The prior low-light night vision device is generally held or fixed on a hunting gun by human eyes for direct observation when in use, sometimes encounters complex topography when hunting in the field at night, the hunting person can not observe remote hunting objects or can not search the escaping direction and position of the hunting objects after blocking the hunting objects, and the prior night vision device can not meet the use requirement of the complex topography in the field.
Disclosure of Invention
Accordingly, embodiments of the present invention are directed to a method and apparatus for low-light level night vision device.
The technical scheme of the invention is as follows: a target positioning method using a low-light night vision device, wherein the low-light night vision device is arranged in the air to position a target, is characterized in that: according to a pulse laser ranging and positioning technology and a resolving method based on geographic positioning, combining a laser ranging, beidou positioning and an electronic compass module, high-precision real-time positioning of an aerial low-light night vision device on a target is realized;
geographic positioning: in order to realize the geographic positioning of the target by the target indication system, the position of the night vision device is needed to be positioned and the accurate position of the display map is indicated, and the target is positioned in the electronic map indication system by adopting an auxiliary coordinate system for geographic positioning, which comprises a geodetic coordinate system, a geodetic rectangular coordinate system, a geographic coordinate system and a directional coordinate system;
geodetic coordinate system: the Beidou positioning module in the night vision device positioning system can detect the geodetic coordinates of the local position of the night vision device, and the geodetic coordinates are usually expressed by longitude, latitude and height;
geodetic rectangular coordinate system, geographic coordinate system and directional coordinate system: when the low-light night vision device coordinate is positioned, the coordinate system is used for indicating the geodetic coordinate system where the target is positioned step by step according to a coordinate system conversion method through mathematical calculation, and meanwhile, the relative position and the relative height coordinate are indicated;
the coordinate system conversion method comprises the following steps: the established mathematical model is resolved by means of a geolocation resolving method to obtain the position coordinates of the target in the geodetic coordinate system, and the adopted target location algorithm comprises the following three steps:
s1, calculating the coordinates of the target under a night vision device coordinate system through a triangular sine and cosine relation 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.
S2, according to the attitude parameters and the coordinate rotation relation of the night vision device, calculating the coordinates of the target under the geographic coordinate system through homogeneous matrix transformation.
And S3, measuring the position of the night vision device under the ground coordinate system by using the Beidou satellite positioning module measured by the night vision device, and calculating the coordinate of the target under the ground rectangular coordinate system by using the ground position relationship.
S4, obtaining the coordinates of the target in the geodetic coordinate system through inverse solution of the coordinates of the target in the geodetic rectangular coordinate system, namely completing the solution of the geographic positioning of the target;
the S2 homogeneous coordinate conversion method is a common coordinate system conversion method, and mainly adopts matrix conversion methods such as translation, rotation, shearing and the like to realize conversion between coordinate systems; the method is characterized in that the mathematical model is simple and visual, the conversion process is efficient, and the real-time and efficient operation of the system can be ensured.
The mathematical model obtains the target position coordinate under the geodetic coordinate system of the target by solving the relative distance space angle between the position coordinate of the night vision device and the target positioning point, and the method 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 system is also provided with a level meter, a wind speed detector and a wireless mobile network module; meanwhile, a speed sensor for detecting the movement speed and a two-way distance measurement sensor are also arranged;
s1, mounting the low-light night vision device main body at a designated position of an unmanned aerial vehicle through a damping bracket; after the unmanned aerial vehicle is lifted into an air designated position, the unmanned aerial vehicle is connected to an external display screen or a mobile phone APP through a wireless network to transmit image signals;
s2, remotely starting the night vision device by remote control, remotely controlling a selection menu, and determining a use function;
s3, exploring animals: the microwave radar module is used for carrying out life detection and the infrared module is combined for carrying out life detection and positioning the animal; positioning the position of the low-light night vision device through a level meter and an air velocity detector, measuring the advancing direction and speed of the animal through a speed sensor, and detecting the distance of the animal and the flying relative height of the unmanned aerial vehicle through a two-way distance measuring sensor;
s5, observing image information through a night vision device, and enabling the image information to enter an image intensifier through an objective lens to achieve light sensation intensification signal imaging;
s5, starting a compass, determining an azimuth, starting a positioning module, determining a current position coordinate, starting a brightness sensor and a temperature sensor, determining the current environment temperature and brightness, detecting a target distance by a ranging module, and transmitting a signal into a central processing module;
s6, starting a photosensitive module, observing and presenting images in three light wave ranges of visible light, low light and infrared light, transmitting signals to a central processing module, and transmitting the image signals to an external display screen or a mobile phone APP by the central processing module through a wireless network module or a wireless communication network;
s7, remote control by external staff, starting an acceleration module, detecting the inclination angle of the night vision device by a microwave radar through a level meter, and simultaneously realizing automatic video recording and video recording;
s8, video storage is carried out, the night vision device is accessed through a Type C interface, built-in EMCC video data are exported, and meanwhile the built-in EMCC video data can be transmitted to the cloud space through a wireless network.
The infrared module in the step S5 is used as an infrared thermal imaging collimator to detect wild animals in a matching way; s7, a hunting weapon is equipped on the low-light night vision device, and shooting is carried out by matching the infrared thermal imaging collimator with the hunting weapon; meanwhile, a pneumatic buffer device is arranged at the rear of the weapon and is used for buffering recoil during shooting; the infrared thermal imaging collimator adopts a passive infrared receiving sensing device; at this time, the microwave radar module is used as a radar detector and is matched with a hunting weapon to start radar positioning and shooting.
The infrared life detector is used for realizing infrared life detection by matching an infrared thermal imaging collimator with the position of an animal to be detected by adjusting the angle after detection through the life detection function of a microwave radar; the wireless communication module is used for being matched with the electronic compass module in Beidou positioning, and high-precision real-time positioning of the target by the aerial low-light night vision device is achieved.
The low-light night vision device is simultaneously provided with an overexposure protection mechanism and a photosensitive module, the photosensitive module is started to sense the current ambient illuminance when the night vision device is started, the ambient illuminance is transmitted to a strong light protection circuit, the brightness entering an image tube is sensed through a power supply to finish high-speed cutting-off and switching-on, a cathode gating technology is used for protecting an image intensifier, and the brightness stability of an output image of a fluorescent screen is ensured.
The exploring animal step S3: the microwave radar is used as a life detector, the microwave radar probe is fixed through a micro-electromechanical adjusting system, and the angle is adjusted to perform microwave scanning to explore the position of the animal; the infrared module is used for infrared life detection and is also fixed through a micro-electromechanical adjusting system, and can be used for adjusting the position of the animal in the angle scanning search; automatically prompting a life detector or an infrared life detector adopting a microwave radar to search according to the environmental condition system; the life detection of the microwave radar can realize the positioning and tracking of animals.
The exploring animal step S3: and the system judges whether the microwave radar is adopted singly to detect and position and track animals by adopting a life detector or the infrared life detector is adopted singly to detect and position according to weather environment conditions.
In the step S6, the central processing module processes the data, and then displays the position on the map on the remote external display screen and displays the position and distance relative to the observer in real time.
The invention also provides a low-light night vision device for realizing the method for using the low-light night vision device, wherein: the novel lens 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 are embedded in the main body, and a two-way distance measuring sensor for measuring the distance between the main body and a target is arranged in the main body; the system is also provided with a life detector of a microwave radar and a radar speed measuring detector;
further comprises: a processor, a photosensitive module and an image intensifier embedded in the main body; the processor comprises a central processing module, a sensor module and a positioning module;
the central processing module is in interactive connection with the photosensitive module, the central processing module is in interactive connection with the image intensifier, the central processing module is in interactive connection 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 connected with the outside in a communication mode, transmitting signals and displaying coordinates on the electronic map after the target is positioned; and the positioning module is used for positioning the current coordinates and judging the azimuth.
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 one shot and realizing automatic recording of videos before and after shooting 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 limit angle of the straight line on the ground; the photosensitive module comprises a white light imaging module, an infrared imaging module and a micro light sensing module and is used for displaying images in three light wave ranges of visible light, micro light and infrared light.
The invention has the beneficial effects that: controlling a remote start night vision device; detecting the position of the animal by combining a microwave radar with an infrared module; the low-light night vision device is positioned through the level gauge and the wind speed detector, the traveling direction and the traveling speed of the animal are detected through the speed sensor, and the distance of the animal and the flying relative height of the unmanned aerial vehicle are detected through the two-way distance measuring sensor.
According to the scheme, the low-light night vision device is arranged on the unmanned aerial vehicle, a hunter is observed and searched through the high altitude of the unmanned aerial vehicle, the shooting weapon for hunting can be simultaneously arranged, the shooting accuracy can be kept during shooting, the video recording before and after shooting can be automatically recorded, and the operation is convenient.
Because of the high-altitude operation, the device is also provided with an instrument anti-falling protection device, and a compression air bag protection device is arranged: when the night vision device is judged to be in a falling condition, the electromagnetic valve connected with the high-pressure air tank and the compression air bag is communicated, the compression air bag is expanded instantly to prop up the bottom of the night vision device, the night vision device is protected from being damaged, and meanwhile, when the damping support does not work, the compression air bag is in a compression state, the volume of the night vision device cannot be enlarged, and the night vision device is small, exquisite, convenient and high in aesthetic degree.
The foregoing summary is for the purpose of the specification 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 become apparent by reference to the drawings and the 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 that are required in the embodiments or the technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a low-light night vision device according to the present invention;
FIG. 2 is a schematic diagram illustrating operation of the low-light night vision attachment drone of the present invention;
FIG. 3 is a schematic diagram of the principle of the geographic positioning coordinates in the present invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways 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, the embodiment of the invention provides a target positioning method using a low-light night vision device, wherein the low-light night vision device is arranged in the air to position a target, and the method comprises the following steps: according to a pulse laser ranging and positioning technology and a resolving method based on geographic positioning, combining a laser ranging, beidou positioning and an electronic compass module, high-precision real-time positioning of an aerial low-light night vision device on a target is realized;
geographic positioning: in order to realize the geographic positioning of the target by the target indication system, the position of the night vision device is needed to be positioned and the accurate position of the display map is indicated, and the target is positioned in the electronic map indication system by adopting an auxiliary coordinate system for geographic positioning, which comprises a geodetic coordinate system, a geodetic rectangular coordinate system, a geographic coordinate system and a directional coordinate system;
geodetic coordinate system: the Beidou positioning module in the night vision device positioning system can detect the geodetic coordinates of the local position of the night vision device, and the geodetic coordinates are usually expressed by longitude, latitude and height;
geodetic rectangular coordinate system, geographic coordinate system and directional coordinate system: when the low-light night vision device coordinate is positioned, the coordinate system is used for indicating the geodetic coordinate system where the target is positioned step by step according to a coordinate system conversion method through mathematical calculation, and meanwhile, the relative position and the relative height coordinate are indicated;
the coordinate system conversion method comprises the following steps: the built mathematical model is resolved by means of a geographic positioning resolving method, the mathematical model is obtained by solving the relative distance space angle between the position coordinates of the night vision device and the target positioning points, fig. 3 is a schematic diagram of the geographic positioning coordinates in the invention, and the target position coordinates under the geodetic coordinate system where the target is located are obtained, specifically the following steps:
s1, measuring the distance R between the night vision device and a positioning target by using a laser ranging module of the night vision device, and 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 the coordinate system of the night vision device by using a triangular sine and cosine relation.
S2, according to the attitude parameters and the coordinate rotation relation of the night vision device, calculating the coordinates of the target under the geographic coordinate system through homogeneous matrix transformation.
And S3, measuring the position of the night vision device under the geodetic coordinate system by using the Beidou satellite positioning module measured by the night vision device, and calculating the coordinate standard of the target under the geodetic rectangular coordinate system by using the geodetic position relation.
S4, obtaining the coordinates of the target in the geodetic coordinate system through inverse solution of the coordinates of the target in the geodetic rectangular coordinate system, namely completing the solution of the geographic positioning of the target;
the S2 homogeneous coordinate conversion method is a common coordinate system conversion method, wherein transformation among coordinate systems is realized by adopting matrix transformation methods such as translation, rotation, shearing and the like in a rectangular coordinate system where a target positioning point is located, and the position coordinate of the target positioning point under another coordinate system is solved; the method is characterized in that the mathematical model is simple and visual, the conversion process is efficient, and the real-time and efficient operation 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 system is also provided with a level meter, a wind speed detector and a wireless mobile network module; meanwhile, a speed sensor for detecting the movement speed and a two-way distance measurement sensor are also arranged;
s1, mounting the low-light night vision device main body at a designated position of an unmanned aerial vehicle through a damping bracket; after the unmanned aerial vehicle is lifted into an air designated position, the unmanned aerial vehicle is connected to an external display screen or a mobile phone APP through a wireless network to transmit image signals;
s2, remotely starting the night vision device by remote control, remotely controlling a selection menu, and determining a use function;
s3, exploring animals: the microwave radar module is used for carrying out life detection and the infrared module is combined for carrying out life detection and positioning the animal; positioning the position of the low-light night vision device through a level meter and an air velocity detector, measuring the advancing direction and speed of the animal through a speed sensor, and detecting the distance of the animal and the flying relative height of the unmanned aerial vehicle through a two-way distance measuring sensor;
s5, observing image information through a night vision device, and enabling the image information to enter an image intensifier through an objective lens to achieve light sensation intensification signal imaging;
s5, starting a compass, determining an azimuth, starting a positioning module, determining a current position coordinate, starting a brightness sensor and a temperature sensor, determining the current environment temperature and brightness, detecting a target distance by a ranging module, and transmitting a signal into a central processing module;
s6, starting a photosensitive module, observing and presenting images in three light wave ranges of visible light, low light and infrared light, transmitting signals to a central processing module, and transmitting the image signals to an external display screen or a mobile phone APP by the central processing module through a wireless network module or a wireless communication network;
s7, remote control by external staff, starting an acceleration module, detecting the inclination angle of the night vision device by a microwave radar through a level meter, and simultaneously realizing automatic video recording and video recording;
s8, video storage is carried out, the night vision device is accessed through a Type C interface, built-in EMCC video data are exported, and meanwhile the built-in EMCC video data can be transmitted to the cloud space through a wireless network.
In the step S5, an infrared thermal imaging collimator is adopted to detect wild animals in a matching way; s7, shooting by matching an infrared thermal imaging collimator with a hunting weapon; the infrared thermal imaging collimator adopts a passive infrared receiving sensing device.
The infrared life detector aims at the position of the detected animal by adopting the infrared thermal imaging collimator to match with the life detector through the microwave radar to detect and then adjusting the angle.
The low-light night vision device is simultaneously provided with an overexposure protection mechanism and a photosensitive module, the photosensitive module is started to sense the current ambient illuminance when the night vision device is started, the ambient illuminance is transmitted to a strong light protection circuit, the brightness entering an image tube is sensed through a power supply to finish high-speed cutting-off and switching-on, a cathode gating technology is used for protecting an image intensifier, and the brightness stability of an output image of a fluorescent screen is ensured.
The exploring animal step S3: the microwave radar probe of the life detector of the microwave radar is fixed through a micro-electromechanical adjusting system, and the angle can be adjusted to perform microwave scanning to explore the position of the animal; the infrared life detector is also fixed through a micro-electromechanical adjusting system and can be used for adjusting the position of the animal in the angle scanning search; automatically prompting a life detector or an infrared life detector adopting a microwave radar to search infrared according to the environmental condition system; the life detector of the microwave radar can realize the positioning and tracking of animals.
The existing low-light night vision device generally comprises a main body 1, an objective lens 2 and an eyepiece 3, wherein the objective lens 2 is arranged on one side of the main body 1, the eyepiece 3 is arranged on the other side of the main body 1, a WIFI module 4, a power switch 5 and a spiral encoder 6 are arranged 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 are embedded in the main body 1, and a two-way distance measuring sensor for measuring the distance between the main body 1 and a target is arranged in the main body; the system is also provided with a life detector of a microwave radar and a radar speed measuring detector;
further comprises: a processor, a photosensitive module and an image intensifier which are embedded in the main body 1; the processor includes a central processing module.
In the hunting process of using the low-light night vision device, in order to meet the above effects, the existing low-light 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 night vision device; the low-light night vision device main body 1 is arranged at a designated position of the unmanned aerial vehicle through a damping bracket 9; the system is generally arranged at the bottom of the unmanned aerial vehicle, is connected to an external display screen or a mobile phone APP through a wireless network module (wifi module 4) and is used for transmitting image signals;
the damping bracket 9 is provided with a fixed link structure, a speed sensor and an acceleration sensor for detecting the movement speed of the main body 1 are embedded in the main body 1, and a two-way distance measurement sensor for measuring the distance between the main body 1 and a target is arranged in the main body 1; the life detector of the microwave radar (the ultra wide band technology (UWB) of the radar is applied to the field of safety lifesaving) is also arranged, and the radar speed measuring detector is also arranged; a sensor module and a positioning module;
the central processing module is in interactive connection with the photosensitive module, the central processing module is in interactive connection with the image intensifier, the central processing module is in interactive connection 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 being connected with the outside to transmit signals; and the positioning module is used for positioning the current coordinates and judging the azimuth.
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 is used for automatically recording videos before and after searching the target, and recording the videos; 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 limit angle of the straight line on the ground; the photosensitive module comprises a white light imaging module, an infrared imaging module and a micro light sensing module and is used for displaying images in three light wave ranges of visible light, micro light and infrared light.
Because of the high-altitude operation, the anti-falling protection device of the instrument is also arranged, and the compression air bag protection device is arranged: when the night vision device is judged to be in a falling condition, the electromagnetic valve connected with the high-pressure air tank and the compression air bag is communicated, the compression air bag is expanded instantly to prop up the bottom of the night vision device, the night vision device is protected from being damaged, and meanwhile, when the damping support does not work, the compression air bag is in a compression state, the volume of the night vision device cannot be enlarged, and the night vision device is small, exquisite, convenient and high in aesthetic degree.
The wifi module 4 can be connected with an intelligent terminal, comprises a mobile phone App, can perform 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 air tank is provided with a one-way valve for supplying air to the high-pressure air tank.
In this embodiment: the low-light night vision device optical system 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, the two-channel imaging is that light in different wave bands passes through respective objective lenses and is respectively imaged on respective detectors, the low-light wave bands are specially imaged by utilizing the low-light lens group G1, the infrared wave bands are specially imaged by utilizing the infrared lens group G2, the two-wave band simultaneous imaging can be realized by utilizing the double-objective optical system, the imaging quality is high, the image quality is good, the light energy utilization efficiency is improved, and meanwhile, the whole system has the characteristics of small volume and light weight;
in this embodiment: the spiral encoder 6 is used for menu selection: meanwhile, the method is not limited to only installing one spiral encoder 6, and a plurality of spiral encoders 6 can be added for quick function operation; the strong light protection circuit is arranged on the circuit board, and the circuit board is fixedly arranged in the shell and controls the operation of the low-light night vision device under the control of the power switch 5; the power module 8 is used for providing power supply for the operation of the low-light night vision device; remote control is adopted in high-altitude operation;
working principle: according to the scheme, the low-light night vision device is arranged on the unmanned aerial vehicle, the unmanned aerial vehicle is used for observing and searching the hunting object at high altitude, the compass is used for starting, the azimuth is determined, the positioning module is used for starting, the current position coordinate is determined, the brightness sensor and the temperature sensor are used for starting, the current environment temperature and the brightness are determined, the distance measuring module detects the target distance and sends signals into the central processing module, the central processing module sends image signals to an external display screen or a mobile phone APP through the wireless network module, the external staff can search the position of the hunting object through remote control, and then the position of the hunting object is positioned and a searching route is planned through a mobile phone map or maps of other mobile equipment.
It is conceivable to provide a firing weapon on the unmanned aerial vehicle in advance, and at the same time to provide a pneumatic cushioning device behind the weapon for cushioning recoil during firing; when the searched prey is not a particularly long distance, namely in the range, the shooting can be performed by positioning, the scheme of the invention can keep the shooting accuracy, realize the automatic video recording before and after shooting, and is convenient to operate.
According to the invention, the objective lens group is adopted to simultaneously receive low light, visible light and infrared light, the light splitting is realized to display different light wave forming systems, and images displayed by different light waves are displayed in specific areas of a screen, so that the visible light is not clear or even invisible in a darker environment, the low light imaging is relatively clear (the light sense enhancement signal imaging is realized through the image enhancer), and when an object with better thermal imaging effect is displayed, the system can realize the conversion image display; the size of the main screen display can be manually converted; that is, the picture-in-picture function can adjust the size of each picture of the picture-in-picture to realize the conversion between the main picture and the auxiliary contrast picture, and the image acquisition quality is high;
the low-light night vision device optical system 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, the low-light 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 is advantageous; when dust, smoke or water is present in the environment where the prey is sought, the infrared must be the furthest detected distance and the penetration is the strongest. The microwave radar module has a longer sensing distance and a wider angle than the infrared sensing module, has no dead zone lens and lens aging problem, and is not influenced by temperature, humidity, airflow, dust, noise, brightness, darkness 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, a microwave radar module can be adopted, so that the scanning searching, the distance detection and the accurate positioning of the hunting can be realized; an infrared imaging system is adopted, so that an infrared sensing optical module can be realized, and the infrared sensing optical module can be used for realizing infrared ranging 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 and an infrared life detector of the microwave radar; the algorithm of the computer realizes multiple functions, so that the weight and cost of the product can be reduced.
The accurate positioning method for searching the target is further realized, and the function of searching and positioning the target is finally realized. According to the pulse laser ranging and positioning technology and the resolving method based on geographical positioning, the high-precision real-time positioning of the air night vision device on the target is realized by combining laser ranging, beidou positioning (positioning the position of the night vision device, which can be realized through a mobile network) and an electronic compass module.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The application method of the low-light night vision device is characterized by comprising the following steps of:
a microwave radar module and an infrared module are arranged on the low-light night vision device main body; the system is also provided with a level meter, a wind speed detector and a wireless mobile network module; meanwhile, a speed sensor for detecting the movement speed and a two-way distance measurement sensor are also arranged;
s1, mounting the low-light night vision device main body at a designated position of an unmanned aerial vehicle through a damping bracket; after the unmanned aerial vehicle is lifted into an air designated position, the unmanned aerial vehicle is connected to an external display screen or a mobile phone APP through a wireless network to transmit image signals;
s2, remote control is started remotely, a night vision device is started, a menu is selected through remote control, and the using function is determined;
s3, exploring animals: the microwave radar module is used for carrying out life detection and the infrared module is combined for carrying out life detection and positioning the animal; positioning the position of the low-light night vision device through a level meter and an air velocity detector, detecting the advancing direction and speed of the animal through a speed sensor, and detecting the distance of the animal and the flying relative height of the unmanned aerial vehicle through a two-way distance measuring sensor; the microwave radar is used as a life detector, the microwave radar probe is fixed through a micro-electromechanical adjusting system, and the angle is adjusted to perform microwave scanning to explore the position of the animal; the infrared module is used for infrared life detection and is also fixed through a micro-electromechanical adjusting system and used for adjusting the position of the animal in the angle scanning search; automatically prompting a life detector or an infrared life detector adopting a microwave radar to search according to the environmental condition system; the life detection of the microwave radar is used for realizing the positioning and tracking of animals;
s4, observing image information through a night vision device, and enabling the image information to enter an image intensifier through an objective lens to achieve light sensation intensification signal imaging;
s5, starting a compass, determining an azimuth, starting a positioning module, determining a current position coordinate, starting a brightness sensor and a temperature sensor, determining the current environment temperature and brightness, detecting a target distance by a two-way distance measuring sensor, and transmitting a signal into a central processing module; the infrared module is used as an infrared thermal imaging collimator to detect wild animals in a matching way;
s6, starting a photosensitive module, observing and presenting images in three light wave ranges of visible light, low light and infrared light, transmitting signals to a central processing module, and transmitting the image signals to an external display screen or a mobile phone APP by the central processing module through a wireless network module or a wireless communication network; the objective lens group is adopted to simultaneously receive low light, visible light and infrared light, the light splitting is realized inside to present different light wave forming systems, images presented by different light waves are presented in specific areas of the screen, and the image display is converted through the system, or the size of the main screen display is manually converted; the size of each picture of the picture-in-picture is adjusted through the picture-in-picture function, so that the conversion of the main picture and the auxiliary contrast picture is realized;
s7, remote control by external staff, starting an acceleration module, detecting the inclination angle of the night vision device by a microwave radar through a level meter, and simultaneously realizing automatic video recording and video recording; a hunting weapon is equipped on the low-light night vision device, and shooting is carried out by matching the infrared thermal imaging collimator with the hunting weapon; meanwhile, a pneumatic buffer device is arranged at the rear of the weapon and is used for buffering recoil during shooting; the infrared thermal imaging collimator adopts a passive infrared receiving sensing device; at the moment, the microwave radar module is used as a radar detector and is matched with a hunting weapon to start radar positioning and shooting; shooting by positioning, and automatically recording videos before and after shooting;
s8, video storage is carried out, the night vision device is accessed through a Type C interface, built-in EMCC video data are exported, and meanwhile, the data are transmitted to the cloud space through a wireless network.
2. The use method of the low-light night vision device according to claim 1, wherein: the infrared life detector is used for realizing infrared life detection by matching an infrared thermal imaging collimator with the position of an animal to be detected by adjusting the angle after detection through the life detection function of a microwave radar; the wireless communication module is used for being matched with the electronic compass module in Beidou positioning, and high-precision real-time positioning of the target by the aerial low-light night vision device is achieved.
3. The use method of the low-light night vision device according to claim 1, wherein: the low-light night vision device is simultaneously provided with an overexposure protection mechanism and a photosensitive module, the photosensitive module is started to sense the current ambient illuminance when the night vision device is started, the ambient illuminance is transmitted to a strong light protection circuit, the brightness entering an image tube is sensed through a power supply to finish high-speed cutting-off and switching-on, a cathode gating technology is used for protecting an image intensifier, and the brightness stability of an output image of a fluorescent screen is ensured.
4. The use method of the low-light night vision device according to claim 1, wherein: the exploring animal step S3: and the system judges whether the life detector singly adopts the microwave radar to detect and position and track animals or singly adopts the infrared life detector to detect and position according to weather environment conditions.
5. The use method of the low-light night vision device according to claim 1, wherein: in the step S6, the central processing module processes the data, and then displays the position on the map on the remote display screen and displays the position and distance relative to the observer in real time.
6. The use method of the low-light night vision device according to claim 1, wherein:
the acceleration module is an accelerometer and is used for detecting one shot and realizing automatic recording of videos before and after shooting and video recording; the two-way distance measuring sensor 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 limit angle of the straight line on the ground; the photosensitive module comprises a white light imaging module, an infrared imaging module and a micro light sensing module and is used for displaying images in three light wave ranges of visible light, micro light and infrared light.
7. A method for positioning a target using a low-light night vision device, based on the method for using a low-light night vision device according to any one of claims 1 to 6, wherein the low-light night vision device is arranged in the air to position the target, and the method is characterized in that: according to a pulse laser ranging and positioning technology and a resolving method based on geographic positioning, combining a laser ranging, beidou positioning and an electronic compass module, high-precision real-time positioning of an aerial low-light night vision device on a target is realized;
geographic positioning: in order to realize the geographic positioning of the target by the target indication system, firstly, positioning the position of the night vision device and indicating the accurate position of the display map, and positioning the target in the electronic map indication system by adopting an auxiliary coordinate system of geographic positioning, wherein the auxiliary coordinate system comprises a geodetic coordinate system, a geodetic rectangular coordinate system, a geographic coordinate system or a directional coordinate system;
the Beidou positioning module in the night vision device positioning system is used for detecting the geodetic coordinates of the local position of the night vision device, and the geodetic coordinates are expressed by longitude, latitude and height;
the earth rectangular coordinate system, the geographic coordinate system or the direction coordinate system: when the low-light night vision device coordinate is positioned, the coordinate system is used for indicating the geodetic coordinate system where the target is positioned step by step according to a coordinate system conversion method through mathematical calculation, and meanwhile, the relative position and the relative height coordinate are indicated;
the coordinate system conversion method comprises the following steps: the established mathematical model is resolved by means of a geolocation resolving method, and the mathematical model obtains the target position coordinate under the geodetic coordinate system of the target by solving the relative distance space angle between the position coordinate of the night vision device and the coordinate of the target locating point, specifically comprising the following steps:
s1, calculating the coordinate of the target under a night vision device coordinate system through a triangular sine and cosine relation by utilizing a distance R measured by a two-way distance measuring sensor of the night vision device and a direction angle and a height angle of the target relative to the night vision device measured by an electronic compass module;
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;
s3, measuring the position of the night vision device under the ground coordinate system by using a Beidou satellite positioning module measured by the night vision device, and calculating the coordinate of the target under the ground rectangular coordinate system by the ground position relationship;
and S4, obtaining the coordinates of the target in the geodetic coordinate system through inverse solution of the coordinates of the target in the geodetic rectangular coordinate system, namely finishing the solution of the geographic positioning of the target.
8. A low-light night vision device for implementing the use method of the low-light night vision device according to any one of claims 1 to 6, characterized in that: the novel unmanned aerial vehicle comprises a main body (1), an objective lens (2) and an eyepiece (3), wherein the objective lens (2) is arranged on one side of the main body (1), the eyepiece (3) is arranged on the other side of the main body (1), a WIFI module (4), a power switch (5) and a spiral encoder (6) are arranged 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) are embedded in the main body (1), and a two-way distance measuring sensor for measuring the distance between the main body (1) and a target is arranged in the main body; the system is also provided with a life detector of a microwave radar and a radar speed measuring detector;
further comprises: a processor, a photosensitive module and an image intensifier which are 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 in interactive connection with the photosensitive module, the central processing module is in interactive connection with the image intensifier, the central processing module is in interactive connection 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 connected with the outside in a communication mode, transmitting signals and displaying coordinates on the electronic map after the target is positioned; and the positioning module is used for positioning the current coordinates and judging the azimuth.
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