CN116107247A - Control method for controlling photoelectric turret and automatic gun turret - Google Patents
Control method for controlling photoelectric turret and automatic gun turret Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 66
- 230000005693 optoelectronics Effects 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention belongs to the technical field of photoelectric reconnaissance, and discloses a control method for controlling a photoelectric turret and an automatic gun turret, which is used for completing the control of an operator on the photoelectric turret and the automatic gun turret through one handle based on a handle communication module, a system scheduling module, a photoelectric turret control module and an automatic gun turret control module; compared with the prior art, the invention provides a control method for controlling the photoelectric turret and the automatic gun turret, wherein an operator can finish the control of the photoelectric turret and the automatic gun turret through one handle, so that the operator can find out the function of immediately guiding the automatic gun turret when the photoelectric turret is controlled, and the control method has great application prospect and military value.
Description
Technical Field
The invention belongs to the technical field of photoelectric reconnaissance, and relates to a control method for controlling a photoelectric turret and an automatic gun turret.
Background
Armored reconnaissance is mainly used for reconnaissance of enemy, topography and ability of observing battlefield, and has certain shooting ability.
The ability to detect enemy, topography and observe battlefield is achieved by the optoelectronic turret; shooting capability is achieved by the gun turret.
Under the normal condition, an operator of the photoelectric turret realizes the control of the photoelectric turret through a handle and a control computer so as to finish the purposes of detecting enemy conditions, topography and observing a battlefield; the automatic gun tower operator realizes the control of the automatic gun tower through the control console so as to fulfill the aim of shooting targets.
However, in the case of scout guidance, the operator of the turret finds that the target is required to guide the turret immediately when the turret is operated, and the turret is operated to aim at the target, which poses some challenges to the control method described above: in the control method, 2 operators are required to control the photoelectric turret and the automatic gun turret respectively, but under the condition of reconnaissance guiding, the 2 operators control the photoelectric turret and the automatic gun turret respectively, so that the operation delay is overlarge, and even the possibility that the reconnaissance guiding task cannot be completed occurs.
Therefore, there is a need to devise a control method for controlling an optoelectronic turret and an automatic gun turret, which can satisfy the requirement that an optoelectronic turret operator can complete the control of the optoelectronic turret and the automatic gun turret through one handle.
Disclosure of Invention
Object of the invention
The purpose of the invention is that: aiming at the defects in the prior art, a control method for controlling the photoelectric turret and the automatic gun turret is provided, and the control method can meet the requirement that an operator of the photoelectric turret can finish the control of the photoelectric turret and the automatic gun turret through one handle, and finish the reconnaissance guiding function.
(II) technical scheme
In order to solve the technical problems, the invention provides a control method for controlling an optoelectronic turret and an automatic gun turret, which comprises the following steps:
step 1: a handshake link;
after the control system works, the handle communication module sends a handshake instruction to the handle, and the handle communication module receives handshake information returned by the handle; the photoelectric turret control module sends a handshake instruction to the photoelectric turret, and receives handshake information returned by the photoelectric turret; the automatic gun tower control module sends a shaking instruction to the automatic gun tower, and the automatic gun tower control module receives shaking information returned by the automatic gun tower.
Step 2: system scheduling link
The handle communication module receives a control instruction sent by a handle, wherein the control instruction comprises a focus turret instruction, handle azimuth data, handle pitching data, a focus television instruction, a zoom instruction, a focus fine adjustment instruction, a focus thermal image instruction, a ranging instruction, an automatic gun tower instruction and other instructions, the handle communication module sends the control instruction to the system dispatching module, and the system dispatching module judges whether the control instruction is a focus turret instruction or an automatic gun tower instruction, if the control instruction is a focus turret instruction, the system dispatching module records that the current control system is in a focus turret state; if the automatic gun tower command is concerned, the system scheduling module records that the current control system is in the state of the automatic gun tower; the system dispatching module judges that the control instruction is handle azimuth data and handle pitching data, and if the control system is in a turret focusing state, the step 3 is executed; if the control system is in the state of paying attention to the automatic gun tower, executing the step 7; the system scheduling module judges whether the control instruction is a television instruction or a thermal image instruction, if the control instruction is the television instruction, and the control system is in a turret state, the step 4 is executed; if the thermal image instruction is focused and the control system is in a focusing turret state, executing the step 5; if the system scheduling module judges that the control instruction is a distance measurement instruction and the control system is in a state of paying attention to the turret, the step 6 is executed.
Step 3: a two-axis turntable link of the photoelectric turret is controlled;
the handle communication module receives a focus turret instruction, handle azimuth data and handle pitching data of the handle, the handle communication module sends the focus turret instruction to the system dispatching module, if the system dispatching module judges that the instruction is the focus turret instruction, the system dispatching module receives the handle azimuth data and the handle pitching data sent by the handle communication module and sends the handle azimuth data and the handle pitching data to the photoelectric turret control module, the photoelectric turret control module sends the handle azimuth data and the handle pitching data to the photoelectric turret again, and the two-axis turntable of the photoelectric turret is controlled to rotate according to the handle azimuth data and the handle pitching data, so that the two-axis turntable function of the photoelectric turret is controlled;
step 4: a visible photoelectric visual link of the photoelectric turret is controlled;
the handle communication module receives a focus turret instruction, a focus television instruction, a zoom instruction and a focus fine adjustment instruction of the handle, the handle communication module sends the focus turret instruction and the focus television instruction to the system scheduling module, if the system scheduling module judges that the instruction is the focus turret instruction and the focus television instruction, the system scheduling module receives the zoom instruction and the focus fine adjustment instruction sent by the handle communication module and sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret control module, the photoelectric turret control module sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret, and the visible photoelectric vision of the photoelectric turret is controlled to be adjusted according to the zoom instruction and the focus fine adjustment instruction, so that the visible photoelectric vision function of the photoelectric turret is controlled;
step 5: a thermal imager link of the photoelectric turret is controlled;
the handle communication module receives a focus turret instruction, a focus thermal image instruction, a zoom instruction and a focus fine adjustment instruction of the handle, the handle communication module sends the focus turret instruction and the focus television instruction to the system dispatching module, if the system dispatching module judges that the instruction is the focus turret instruction and the focus television instruction, the system dispatching module receives the zoom instruction and the focus fine adjustment instruction sent by the handle communication module and sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret control module, the photoelectric turret control module sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret, and the thermal imager controlling the photoelectric turret adjusts according to the zoom instruction and the focus fine adjustment instruction;
step 6: a laser range finder link of an optoelectronic turret is controlled;
the handle communication module receives a focus turret instruction and a range finding instruction of the handle, the handle communication module sends the focus turret instruction and the range finding instruction to the system dispatching module, if the system dispatching module judges that the instruction is the focus turret instruction, the system dispatching module receives the range finding instruction sent by the handle communication module and sends the range finding instruction to the photoelectric turret control module, and the photoelectric turret control module sends the range finding instruction to the photoelectric turret to control a laser range finder of the photoelectric turret to perform the range finding action;
step 7: controlling a two-axis turntable link of the automatic gun tower;
the handle communication module receives the attention automatic gun tower instruction, the handle azimuth data and the handle pitching data of the handle, the handle communication module sends the attention automatic gun tower instruction to the system dispatching module, if the system dispatching module judges that the instruction is the attention automatic gun tower instruction, the system dispatching module receives the handle azimuth data and the handle pitching data sent by the handle communication module and sends the handle azimuth data and the handle pitching data to the automatic gun tower control module, the automatic gun tower control module sends the handle azimuth data and the handle pitching data to the automatic gun tower, and the two-axis turntable of the automatic gun tower is controlled to rotate according to the handle azimuth data and the handle pitching data.
(III) beneficial effects
According to the control method for controlling the photoelectric turret and the automatic gun turret, provided by the technical scheme, under the condition of meeting the detection guide, an operator can control the photoelectric turret and the automatic gun turret through one handle; the control method can enable the user to realize the function of reconnaissance guidance by utilizing the photoelectric turret and the automatic gun turret, and has great application prospect and military value.
Drawings
FIG. 1 is a schematic diagram of the control system of the photovoltaic turret and the automatic gun turret of the present invention.
FIG. 2 is a connection diagram of the control system of the photovoltaic turret and the automatic gun turret of the present invention.
FIG. 3 is a flow chart of a method of controlling an optoelectronic turret and an automatic gun turret according to the present invention.
Detailed Description
To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to the accompanying drawings and examples.
As shown in fig. 1 and 2, the control system for controlling the photoelectric turret and the automatic gun turret according to the present embodiment includes: the system comprises a handle communication module, a system dispatching module, a photoelectric turret control module and an automatic gun turret control module; the handle communication module, the system dispatching module, the photoelectric turret control module and the automatic gun turret control module are used for completing the control of an operator on the photoelectric turret and the automatic gun turret through one handle, so that a reconnaissance guiding function is realized.
In the control system, the system scheduling module is a core module, and is respectively in information interaction with the handle communication module, the photoelectric turret control module and the automatic gun turret control module, so that constraint conditions are established, and a control instruction and equipment state information are scheduled;
the handle communication module is connected with the handle through a wire, receives a control instruction sent by the handle, and simultaneously sends a handshake instruction to the handle;
the photoelectric turret control module is connected with the photoelectric turret equipment through a wire, sends a control command to the photoelectric turret, and collects state information of the photoelectric turret;
the automatic gun tower control module is connected with the automatic gun tower equipment through a wire, sends a control instruction to the automatic gun tower, and simultaneously collects state information of the automatic gun tower.
In the control system, the system scheduling module utilizes a time-sharing multiplexing technology to realize that one handle is used for controlling the photoelectric turret and the automatic gun turret, and lays a technical foundation for quickly realizing a reconnaissance guiding function.
As shown in fig. 3, based on the control system, the control method for controlling the optoelectronic turret and the automatic gun turret according to the embodiment includes the following steps:
step 1: a handshake link;
after the control system works, the handle communication module sends a handshake instruction to the handle, and the handle communication module receives handshake information returned by the handle; the photoelectric turret control module sends a handshake instruction to the photoelectric turret, and receives handshake information returned by the photoelectric turret; the automatic gun tower control module sends a shaking instruction to the automatic gun tower, and the automatic gun tower control module receives shaking information returned by the automatic gun tower.
Step 2: system scheduling link
The handle communication module receives a control instruction sent by a handle, wherein the control instruction comprises a focus turret instruction, handle azimuth data, handle pitching data, a focus television instruction, a zoom instruction, a focus fine adjustment instruction, a focus thermal image instruction, a ranging instruction, an automatic gun tower instruction and other instructions, the handle communication module sends the control instruction to the system dispatching module, and the system dispatching module judges whether the control instruction is a focus turret instruction or an automatic gun tower instruction, if the control instruction is a focus turret instruction, the system dispatching module records that the current control system is in a focus turret state; if the automatic gun tower command is concerned, the system scheduling module records that the current control system is in the state of the automatic gun tower; the system dispatching module judges that the control instruction is handle azimuth data and handle pitching data, and if the control system is in a turret focusing state, the step 3 is executed; if the control system is in the state of paying attention to the automatic gun tower, executing the step 7; the system scheduling module judges whether the control instruction is a television instruction or a thermal image instruction, if the control instruction is the television instruction, and the control system is in a turret state, the step 4 is executed; if the thermal image instruction is focused and the control system is in a focusing turret state, executing the step 5; if the system scheduling module judges that the control instruction is a distance measurement instruction and the control system is in a state of paying attention to the turret, the step 6 is executed.
Step 3: a two-axis turntable link of the photoelectric turret is controlled;
the handle communication module receives a focus turret instruction, handle azimuth data and handle pitching data of the handle, the handle communication module sends the focus turret instruction to the system dispatching module, if the system dispatching module judges that the instruction is the focus turret instruction, the system dispatching module receives the handle azimuth data and the handle pitching data sent by the handle communication module and sends the handle azimuth data and the handle pitching data to the photoelectric turret control module, the photoelectric turret control module sends the handle azimuth data and the handle pitching data to the photoelectric turret again, and the two-axis turntable of the photoelectric turret is controlled to rotate according to the handle azimuth data and the handle pitching data, so that the two-axis turntable function of the photoelectric turret is controlled;
step 4: a visible photoelectric visual link of the photoelectric turret is controlled;
the handle communication module receives a focus turret instruction, a focus television instruction, a zoom instruction and a focus fine adjustment instruction of the handle, the handle communication module sends the focus turret instruction and the focus television instruction to the system scheduling module, if the system scheduling module judges that the instruction is the focus turret instruction and the focus television instruction, the system scheduling module receives the zoom instruction and the focus fine adjustment instruction sent by the handle communication module and sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret control module, the photoelectric turret control module sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret, and the visible photoelectric vision of the photoelectric turret is controlled to be adjusted according to the zoom instruction and the focus fine adjustment instruction, so that the visible photoelectric vision function of the photoelectric turret is controlled;
step 5: a thermal imager link of the photoelectric turret is controlled;
the handle communication module receives a focus turret instruction, a focus thermal image instruction, a zoom instruction and a focus fine adjustment instruction of the handle, the handle communication module sends the focus turret instruction and the focus television instruction to the system dispatching module, if the system dispatching module judges that the instruction is the focus turret instruction and the focus television instruction, the system dispatching module receives the zoom instruction and the focus fine adjustment instruction sent by the handle communication module and sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret control module, the photoelectric turret control module sends the zoom instruction and the focus fine adjustment instruction to the photoelectric turret, and the thermal imager controlling the photoelectric turret adjusts according to the zoom instruction and the focus fine adjustment instruction;
step 6: a laser range finder link of an optoelectronic turret is controlled;
the handle communication module receives a focus turret instruction and a range finding instruction of the handle, the handle communication module sends the focus turret instruction and the range finding instruction to the system dispatching module, if the system dispatching module judges that the instruction is the focus turret instruction, the system dispatching module receives the range finding instruction sent by the handle communication module and sends the range finding instruction to the photoelectric turret control module, and the photoelectric turret control module sends the range finding instruction to the photoelectric turret to control a laser range finder of the photoelectric turret to perform the range finding action;
step 7: controlling a two-axis turntable link of the automatic gun tower;
the handle communication module receives the attention automatic gun tower instruction, the handle azimuth data and the handle pitching data of the handle, the handle communication module sends the attention automatic gun tower instruction to the system dispatching module, if the system dispatching module judges that the instruction is the attention automatic gun tower instruction, the system dispatching module receives the handle azimuth data and the handle pitching data sent by the handle communication module and sends the handle azimuth data and the handle pitching data to the automatic gun tower control module, the automatic gun tower control module sends the handle azimuth data and the handle pitching data to the automatic gun tower, and the two-axis turntable of the automatic gun tower is controlled to rotate according to the handle azimuth data and the handle pitching data.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. A control system for manipulating an optoelectronic turret and an automated gun turret, comprising: the system dispatching module, the handle communication module, the photoelectric turret control module and the automatic gun turret control module are connected with the system dispatching module; the handle communication module, the system dispatching module, the photoelectric turret control module and the automatic gun turret control module are used for completing the control of an operator on the photoelectric turret and the automatic gun turret through one handle, so that a reconnaissance guiding function is realized.
2. The control system for controlling an optoelectronic turret and an automatic gun turret according to claim 1, wherein the system scheduling module is used as a core module for respectively carrying out information interaction with the handle communication module, the optoelectronic turret control module and the automatic gun turret control module, establishing constraint conditions, scheduling control instructions and equipment state information; the handle communication module is connected with the handle through a wire, receives a control instruction sent by the handle, and simultaneously sends a handshake instruction to the handle; the photoelectric turret control module is connected with photoelectric turret equipment through a wire, sends a control instruction to the photoelectric turret, and collects state information of the photoelectric turret; the automatic gun tower control module is connected with the automatic gun tower equipment through wires, sends a control instruction to the automatic gun tower, and simultaneously collects state information of the automatic gun tower.
3. A control method for controlling an optoelectronic turret and an automatic gun turret based on the control system of claim 2, comprising the steps of:
step 1: a handshake link;
step 2: system scheduling link
Step 3: a two-axis turntable link of the photoelectric turret is controlled;
step 4: a visible photoelectric visual link of the photoelectric turret is controlled;
step 5: a thermal imager link of the photoelectric turret is controlled;
step 6: a laser range finder link of an optoelectronic turret is controlled;
step 7: and controlling a two-axis turntable link of the automatic gun tower.
4. The control method for controlling an optoelectronic turret and an automatic gun turret according to claim 3, wherein in step 1, after the control system works, the handle communication module sends a handshake instruction to the handle, and the handle communication module receives handshake information returned by the handle; the photoelectric turret control module sends a handshake instruction to the photoelectric turret, and receives handshake information returned by the photoelectric turret; the automatic gun tower control module sends a shaking instruction to the automatic gun tower, and the automatic gun tower control module receives shaking information returned by the automatic gun tower.
5. The control method for controlling an optoelectronic turret and an automatic gun turret according to claim 4, wherein in step 2, the handle communication module receives a control command sent by a handle, the control command includes a focus turret command, handle azimuth data, handle pitch data, a focus television command, a zoom command, a focus fine adjustment command, a focus thermal image command, a ranging command and an automatic gun turret command, the handle communication module sends the control command to the system scheduling module, and the system scheduling module determines whether the control command is a focus turret command or an automatic gun turret command, if the control command is a focus turret command, the system scheduling module records that the current control system is in a focus turret state; if the automatic gun tower command is concerned, the system scheduling module records that the current control system is in the state of the automatic gun tower; the system dispatching module judges that the control instruction is handle azimuth data and handle pitching data, and if the control system is in a turret focusing state, the step 3 is executed; if the control system is in the state of paying attention to the automatic gun tower, executing the step 7; the system scheduling module judges whether the control instruction is a television instruction or a thermal image instruction, if the control instruction is the television instruction, and the control system is in a turret state, the step 4 is executed; if the thermal image instruction is focused and the control system is in a focusing turret state, executing the step 5; if the system scheduling module judges that the control instruction is a distance measurement instruction and the control system is in a state of paying attention to the turret, the step 6 is executed.
6. The control method for controlling an optoelectronic turret and an automatic gun turret according to claim 5, wherein in step 3, the handle communication module receives a command of a handle for focusing on the optoelectronic turret, handle azimuth data and handle elevation data, the handle communication module sends the command of focusing on the turret to the system dispatching module, if the system dispatching module judges that the command is the command of focusing on the turret, the system dispatching module receives the handle azimuth data and the handle elevation data sent by the handle communication module and sends the handle azimuth data and the handle elevation data to the optoelectronic turret control module, the optoelectronic turret control module sends the handle azimuth data and the handle elevation data to the optoelectronic turret, and the two-axis turntable controlling the optoelectronic turret rotates according to the handle azimuth data and the handle elevation data.
7. The control method for controlling an electro-optical turret and an automatic gun turret according to claim 6, wherein in step 4, the handle communication module receives a focus turret command, a focus television command, a zoom command and a focus fine adjustment command of the handle, the handle communication module transmits the focus turret command and the focus television command to the system scheduling module, and if the system scheduling module determines that the command is the focus turret command and the focus television command, the system scheduling module receives the zoom command and the focus fine adjustment command transmitted by the handle communication module and transmits the zoom command and the focus fine adjustment command to the electro-optical turret control module, and the electro-optical turret control module transmits the zoom command and the focus fine adjustment command to the electro-optical turret, so that the visible electro-optical vision of the electro-optical turret is controlled to be adjusted according to the zoom command and the focus fine adjustment command.
8. The control method for controlling an electro-optical turret and an automatic gun turret according to claim 7, wherein in step 5, the handle communication module receives a focus turret command, a focus thermal image command, a zoom command and a focus trimming command of the handle, the handle communication module transmits the focus turret command and the focus trimming command to the system dispatch module, and if the system dispatch module determines that the command is the focus turret command and the focus trimming command, the system dispatch module receives the zoom command and the focus trimming command transmitted by the handle communication module and transmits the zoom command and the focus trimming command to the electro-optical turret control module, and the electro-optical turret control module transmits the zoom command and the focus trimming command to the electro-optical turret, so that the thermal imager controlling the electro-optical turret adjusts according to the zoom command and the focus trimming command, thereby realizing the thermal imager function for controlling the electro-optical turret.
9. The control method for controlling an electro-optical turret and an automatic gun turret according to claim 8, wherein in step 6, the handle communication module receives the command of the turret focused on and the command of the range finding of the handle, the handle communication module sends the command of the turret focused on and the command of the range finding to the system dispatching module, and if the system dispatching module judges that the command is the command of the turret focused on, the system dispatching module receives the command of the range finding sent by the handle communication module and sends the command of the range finding to the electro-optical turret control module, and the electro-optical turret control module sends the command of the range finding to the electro-optical turret to control the laser range finder of the electro-optical turret to perform the range finding operation, so that the function of the laser range finder for controlling the electro-optical turret is realized.
10. The control method for controlling an optoelectronic turret and an automatic gun turret according to claim 9, wherein in step 7, the handle communication module receives an attention automatic gun turret instruction, handle azimuth data and handle elevation data of the handle, the handle communication module sends the attention automatic gun turret instruction to the system dispatching module, if the system dispatching module judges that the instruction is the attention automatic gun turret instruction, the system dispatching module receives the handle azimuth data and the handle elevation data sent by the handle communication module and sends the handle azimuth data and the handle elevation data to the automatic gun turret control module, the automatic gun turret control module sends the handle azimuth data and the handle elevation data to the automatic gun turret, and the two-axis turntable of the automatic gun turret is controlled to rotate according to the handle azimuth data and the handle elevation data, so that the two-axis turntable function of the automatic gun turret is controlled.
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