CN117781095A - Compound eye reconnaissance system - Google Patents

Abstract

The embodiment of the application provides a compound eye reconnaissance system, which comprises: a housing and an optical detection assembly. The optical detection assembly comprises a plurality of camera devices, each camera device is sequentially arranged along the circumferential direction of the shell, each camera device comprises a plurality of carrier parts, each carrier part is provided with a plurality of cameras, each camera device is rotatably arranged in the shell, each carrier part is sequentially arranged along the circumferential direction of the rotation axis of the camera device, any one of the carrier parts is exposed out of the shell through rotation of the camera device, and different camera types and/or parameters on the carrier parts are different.

Description

Compound eye reconnaissance system

Technical Field

The application relates to the technical field of reconnaissance, in particular to a compound eye reconnaissance system.

Background

The unmanned on duty/search/strike in the battlefield will become an important mode of future battlefield, portable weapon station is equipped with intelligent sighting device, can realize the quick response in the visual field scope, accurate striking ability is strong, will become the important combat strength composition in future battlefield, and the soldier is kept away from first line battlefield as remote control person, can only be limited in less battlefield visual field scope, and other threat targets in wide area scope can't be fast accurate high-efficient caught under the battlefield environment, in addition, the battlefield environment that represents with city battlefield, building etc. shelter from the sight, also brought huge challenge for portable weapon station target search locking, even if equipped with high-performance ballistic computer or intelligent sight system, also can not adapt to the battlefield scene of three-dimensional big airspace completely. Meanwhile, the enemy targets in the battlefield environment are often camouflaged by land utilization or camouflage equipment, the sudden attack cannot be prevented from being initiated to the my, the current battlefield approach has no effect on the conditions, and huge threat is brought to the fighters on the my, and if the enemy targets in a long distance and a large range can be rapidly positioned and locked by the equipment in the high-intensity battlefield environment, the comprehensive battlefield strength of the my is greatly enhanced. In combination with future war development trend, how to assist the soldier operators to more quickly complete capturing of enemy targets and acquiring of position and orientation under complex battlefield environments under the high intensity battlefield rhythm is a key for improving the accurate battlefield and battlefield viability of the soldier operators, and has wide application and urgent requirements.

Disclosure of Invention

The embodiment of the application provides a compound eye reconnaissance system.

The application provides the following technical scheme:

the application provides a compound eye reconnaissance system, including:

a housing;

the optical detection assembly comprises a plurality of camera devices, each camera device is sequentially arranged along the circumferential direction of the shell, each camera device comprises a plurality of carrier parts, each carrier part is provided with a plurality of cameras, the camera devices are rotatably arranged in the shell, each carrier part is sequentially arranged along the circumferential direction of the rotation axis of the camera device, any one of the carrier parts is exposed out of the shell through rotation of the camera devices, and different camera types and/or parameters on the carrier parts are different.

Optionally, the focal lengths of the cameras on different carrier parts on the same camera device are different.

Optionally, a visible light camera is arranged on a part of carrier parts on the same camera device, an infrared camera is arranged on a part of carrier parts, and a visible light camera and an infrared camera are respectively arranged on a part of carrier parts.

Optionally, the fields of view shot by adjacent camera devices have overlapping areas;

the horizontal view field acquired by the camera devices in a matching way is not smaller than 180 degrees.

Optionally, the carrier portion includes an upper side plate and a lower side plate;

the upper side plate is connected with the lower side plate, and an included angle is formed between the upper side plate and the lower side plate;

cameras are arranged on the upper side plate and the lower side plate;

the shooting view fields of the cameras on the upper side plate and the cameras on the lower side plate are provided with overlapping areas;

the total vertical view field angle of the camera on the upper side plate and the camera on the lower side plate is 45-110 degrees.

Optionally, the compound eye reconnaissance system includes a support;

the bracket is connected with the shell, and a rotating shaft is arranged on the bracket;

the carrier parts of the camera device are enclosed to form a cavity, the rotating shaft extends into the cavity, and the rotating shaft is connected with the carrier parts;

the rotating shaft rotates to drive the carrier parts to rotate.

Optionally, the upper side plate and the lower side plate of each carrier part are connected to the rotating shaft through a stay bar.

Optionally, a locking mechanism is arranged on the bracket;

the locking mechanism is used for locking the rotating shaft so as to fix the image pickup device.

Optionally, an adjusting gear is arranged on the rotating shaft;

the locking mechanism comprises a spring and a bolt which is slidably connected with the bracket, the bolt is slidably connected with the bracket, the spring is sleeved on the bolt, and two ends of the spring respectively prop against the bolt and the bracket, so that the end part of the bolt is inserted into a tooth slot of the adjusting gear.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 shows a state diagram of a compound eye reconnaissance system provided in an embodiment of the present application mounted on a carrier device;

fig. 2 shows a schematic partial structure of a compound eye reconnaissance system according to an embodiment of the present application;

fig. 3 shows a schematic configuration of the image pickup apparatus in fig. 2;

fig. 4 is a schematic structural diagram of a compound eye reconnaissance system according to an embodiment of the present application after deleting each image capturing device;

FIG. 5 shows a partial schematic view of the structure of FIG. 4;

FIG. 6 shows another view of the partial structure of FIG. 4;

FIG. 7 shows a bottom view of FIG. 6;

fig. 8 shows a communication connection diagram of the compound eye reconnaissance system, the portable weapon station and the integrated control terminal according to the embodiment of the present application.

Detailed Description

In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is given with reference to the accompanying drawings, and it is apparent that the described embodiments are only some of the embodiments of the present application and not exhaustive of all the embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

In the description of the present application and its embodiments, it should be understood that the terms "top," "bottom," "height," and the like indicate an orientation or positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.

In this application and in its embodiments, the terms "disposed," "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed, unless otherwise explicitly stated and defined as such; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application and in its embodiments, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.

Example 1

Referring to fig. 1 to 8, an embodiment of the present application provides a compound eye reconnaissance system, including: the camera device comprises a shell and an optical detection assembly, wherein the optical detection assembly comprises a plurality of camera devices 2, the camera devices 2 are sequentially arranged along the circumferential direction of the shell, each camera device 2 comprises a plurality of carrier parts 21, a plurality of cameras 22 are respectively arranged on the carrier parts 21, the camera devices 2 are rotatably arranged in the shell, the carrier parts 21 are sequentially arranged along the circumferential direction of the rotation axis 92 line of the camera device 2, and any one of the carrier parts 21 is exposed to the shell through rotation of the camera devices 2, and different camera 22 on the carrier parts 21 are different in type and/or parameter.

The optical detection component is an optical compound eye and is used for acquiring and transmitting visual information, and the optical detection component is composed of a control component or other control systems for performing visual image splicing, visual information processing, visual target identification, positioning and the like so as to fully acquire the image information of a detected target and perform effective processing. The visual image stitching mainly researches stitching the images output by the plurality of camera devices 2 to form a wide image with a 180-degree view field, so that the functions of displaying, identifying, positioning and the like of a tested target are realized in one image, and meanwhile, the user can observe conveniently.

The optical detection component and the control component of the compound eye reconnaissance system mainly identify and classify the detected target according to the established data set. The main research is to locate the measured object in the field of view based on the principle of binocular vision through the image information of the measured object.

In this embodiment, a plurality of carrier portions 21 can be set up on each camera device 2 of the optical detection assembly of compound eye reconnaissance system, each carrier portion 21 sets gradually along the circumference of camera device 2, and the camera type on each carrier portion 21 is different, and the camera 22 that the rotatory camera device 2 of operating personnel can be adjusted according to the demand is required exposes in the casing, exposes in the camera 22 of casing can gather the image, according to the type and the parameter difference of each camera 22, can satisfy different scene demands.

In some possible embodiments, the focal lengths of the cameras 22 on different carrier parts 21 on the same camera device 2 are different. The camera 22, which is adjustable in demand by the operator according to the shooting distance, is exposed to the housing to collect close-up or far-distance images.

In some possible embodiments, the visible light camera 22 is disposed on a part of the carrier portion 21 of the same camera device 2, the infrared camera 22 is disposed on a part of the carrier portion 21, and the visible light camera 22 and the infrared camera 22 are disposed on a part of the carrier portion 21, respectively.

The visible light camera 22 can be used for collecting patterns in the daytime, and the detection accuracy is high. When night or there is the barrier, the acquisition accuracy of visible light camera 22 is limited, and adjustable infrared camera 22 adopts infrared camera 22 to gather the image this moment to improve and survey the accuracy. Of course, the infrared camera 22 and the visible light camera 22 can be simultaneously adjusted to be exposed out of the shell, so that the environment images can be simultaneously collected, the purpose of multi-azimuth detection of the target object is achieved, and the detection accuracy is improved.

In some possible embodiments, the fields of view taken by adjacent cameras 2 have overlapping areas, and the horizontal field of view acquired by each of said cameras 2 in combination is not less than 180 °.

The carrier portion 21 includes an upper side plate 211 and a lower side plate 212, the upper side plate 211 is connected with the lower side plate 212, an included angle is formed between the upper side plate 211 and the lower side plate 212, and cameras 22 are arranged on the upper side plate 211 and the lower side plate 212. The cameras 22 on the upper side plate 211 and the cameras 22 on the lower side plate 212 may be cameras of different types or parameters.

The shooting fields of view of the cameras 22 on the upper side plate 211 and the cameras 22 on the lower side plate 212 have overlapping areas, and the total vertical field of view angle of the cameras 22 on the upper side plate 211 and the cameras 22 on the lower side plate 212 is 45-110 degrees.

Optionally, the compound eye reconnaissance system includes a bracket 91, the bracket 91 is connected to the housing, a rotating shaft 92 is provided on the bracket 91, each carrier portion 21 of the image capturing device 2 encloses to form a cavity, the rotating shaft 92 extends into the cavity, and the rotating shaft 92 is connected to each carrier portion 21, and the rotating shaft 92 rotates to drive each carrier portion 21 to rotate.

The upper side plate 211 and the lower side plate 212 of each of the carrier portions 21 are connected to the rotation shaft 92 by a stay 93. The bracket 91 is provided with a locking mechanism 94. The lock mechanism 94 is used to lock the rotation shaft 92 to fix the image pickup device 2.

Specifically, the rotating shaft 92 is provided with an adjusting gear 921, the locking mechanism 94 includes a spring 942 and a pin 941 slidably connected to the bracket 91, the pin 941 is slidably connected to the bracket 91, the spring 942 is sleeved on the pin 941, two ends of the spring 942 respectively abut against the pin 941 and the bracket 91, so that an end of the pin 941 is inserted into a tooth slot of the adjusting gear 921, and thus the position of the image capturing device 2 can be locked. Rotating the camera device 2 can drive the adjusting gear 921 to rotate so that the plug 941 can be plugged into different slots to lock the camera device 2 at different rotation angles.

Example two

Referring to fig. 1 to 8, the embodiment of the present application describes in further detail a compound eye reconnaissance system, including: a housing, an optical detection assembly, an acoustic detection assembly 3 and a control assembly. The optical detection assembly is arranged on the shell, the optical detection assembly comprises a plurality of camera devices 2, the camera devices 2 are sequentially arranged along the circumferential direction of the shell, and the optical detection assembly is used for detecting optical position coordinates of a target object. An acoustic detection assembly 3 is arranged in the housing, and the acoustic detection assembly 3 is used for detecting acoustic position coordinates of a target. The control assembly is arranged in the shell, and is respectively and electrically connected with the optical detection assembly and the acoustic detection assembly 3 and used for determining the final coordinates of the target object according to the optical position coordinates and the acoustic position coordinates.

In the embodiment of the application, the reconnaissance system comprises a sound-light compound eye detection array formed by a plurality of groups of camera devices 2 and acoustic detection assemblies 3, an effective field of view is in a hemispherical outwards divergent detection range, and detection of a global target from the ground to the air can be realized. In addition, by combining an image stitching technology of a multi-camera array and a deep learning target detection, identification and positioning technology, typical target information in a complex battlefield environment is detected, identified and positioned in real time and efficiently. The method can acquire effective information in a complex battlefield environment more widely and more 'far', and detect, identify and position typical targets in the complex battlefield environment more 'quasi' and 'faster', and comprises the step of efficiently detecting, identifying and positioning typical targets such as enemy aerial unmanned aerial vehicle targets, sniper targets hidden in high points and building groups, ground enemy defending targets, camouflage targets and the like existing in the complex battlefield environment, thereby providing information support for battlefield environment situation awareness and assessment.

Aiming at the requirements of high-efficiency and accurate identification of targets such as enemy concealment, latency and camouflage in an intelligent battlefield, on the basis of the fact that the achievement has the acousto-optic composite detection capability, the transformation application research of a large airspace multi-target reconnaissance system based on an acousto-optic compound eye is developed, key technologies such as the lightweight design of an acousto-optic reconnaissance load structure, dynamic visual image splicing and autonomous target identification, the characteristic acoustic information capturing processing of a combat weapon, acousto-optic information fusion, the adaptation application of the acousto-optic reconnaissance load and an unmanned combat platform are broken through, the problems that the concealed, latency and camouflage targets are difficult to detect and identify during combat are solved, and the situation accurate perception and prediction capability of the combat field of the user is improved. The technical maturity reaches 4 levels.

In some possible embodiments, as shown with reference to fig. 2 and 3, the shooting fields of view of the cameras 22 on adjacent cameras 2 have overlapping areas. The horizontal view field acquired by the camera devices 2 is not less than 1 degree.

The optical detection component is an optical compound eye and is used for acquiring and transmitting visual information, and the optical detection component is composed of a control component or other control systems for performing visual image splicing, visual information processing, visual target identification, positioning and the like so as to fully acquire the image information of a detected target and perform effective processing. The visual image stitching mainly researches stitching the images output by the plurality of camera devices 2 to form a wide image with a 180-degree view field, so that the functions of displaying, identifying, positioning and the like of a tested target are realized in one image, and meanwhile, the user can observe conveniently.

The optical detection component and the control component mainly identify and classify the detected target according to the established data set. The main research is to locate the measured object in the field of view based on the principle of binocular vision through the image information of the measured object.

In some possible embodiments, referring to fig. 2 and 3, the carrier 21 includes an upper side plate 211 and a lower side plate 212, the upper side plate 211 and the lower side plate 212 are connected, an included angle is formed between the upper side plate 211 and the lower side plate 212, the upper side plate 211 and the lower side plate 212 are provided with cameras 22, the shooting fields of view of the cameras 22 on the upper side plate 211 and the cameras 22 on the lower side plate 212 are coincident, and the total vertical field of view angle of the cameras 22 on the upper side plate 211 and the cameras 22 on the lower side plate 212 is 45 ° to 110 °.

Optionally, the housing includes a top plate 11 and a bottom plate 12, the top plate 11 and the bottom plate 12 are disposed at intervals, each of the image capturing devices 2 is disposed between the top plate 11 and the bottom plate 12, a bracket 91 may be connected to the bottom plate 12, a cavity is formed between the top plate 11, the bottom plate 12 and each of the image capturing devices 2, and the control assembly is disposed in the cavity. And heat dissipation gaps communicated with the cavities are formed between the adjacent camera devices 2, so that heat dissipation of the internal structure of the shell is facilitated.

In some possible embodiments, referring to fig. 2 and 4, the acoustic detection assembly 3 includes a plurality of acoustic sensors 31, and each of the acoustic sensors 31 is disposed on the top plate 11. In the embodiment of the present application, each acoustic sensor 31 forms an acoustic detection array, and a plurality of acoustic sensors 31 may be used to collect sounds from different spatial directions. After the acoustic sensors 31 are arranged according to the specified requirements, the sound source position can be obtained by adding a corresponding algorithm (arrangement+algorithm).

The application also provides a control method of the reconnaissance system, which comprises the following steps:

the control component controls the optical detection component and the acoustic detection component 3 to start working respectively, the optical detection component detects the optical position coordinate of the target object, the acoustic detection component 3 detects the acoustic position coordinate of the target object, and it is noted that the optical position coordinate is the coordinate of the target object detected by the optical detection component, and the acoustic position coordinate is the coordinate of the target object detected by the acoustic detection component 3.

The control component respectively determines the calculation coefficients of the optical position coordinates and the acoustic position coordinates;

the control component determines final coordinates of the object based on the optical position coordinates, the acoustic position coordinates, and the calculated coefficients of the optical position coordinates and the acoustic position coordinates.

For example, the coordinates of the final target object can be obtained by multiplying the optical position coordinates by the corresponding coefficients, multiplying the acoustic position coordinates by the corresponding coefficients, and fusing the two coordinates multiplied by the coefficients.

Specifically, the X-axis coordinate of the final coordinate of the target object may be obtained by multiplying the X-axis coordinate of the optical position coordinate by a corresponding coefficient and adding the X-axis coordinate of the acoustic position coordinate by a corresponding coefficient. The Y-axis and Z-axis coordinates of the final coordinates of the target object can be obtained in the same manner.

In some possible implementations, the control component receives control instructions to determine the calculated coefficients of the optical position coordinates and the acoustic position coordinates. For example, an operator can set the corresponding coefficient by himself according to weather conditions. When the visibility is low (such as in night, in a foggy weather, etc.), the calculation coefficient of the optical position coordinate can be reduced, and when the visibility is low, the calculation coefficient of the optical position coordinate can be reduced, and the calculation coefficient of the acoustic position coordinate can be improved. When the optical detection component does not detect the target, the calculation coefficient of the optical position coordinate can be set to be zero.

The control assembly may also determine the calculation coefficients of the optical position coordinates and the acoustic position coordinates based on the sharpness of the detected object. For example, the reconnaissance system may detect the sharpness of the photographed object, set the calculation coefficient of the optical position coordinate according to the sharpness of the object, and when the visibility is low (such as in the night, in the foggy weather, etc.), the sharpness of the photographed object is low, adaptively reduce the calculation coefficient of the optical position coordinate, and improve the calculation coefficient of the acoustic position coordinate. When the optical detection component does not detect the target, the calculation coefficient of the optical position coordinate can be set to be 0, and the position of the target object is determined mainly by the acoustic detection component 3. Wherein the sum of the calculation coefficient of the optical position coordinates and the calculation coefficient of the acoustic position coordinates is 1.

The working mode of the reconnaissance system e mainly faces two cases, namely, an optical detection assembly can quickly find a target in a visual field range of 180 degrees on the front, and the case is mainly detected by the optical detection assembly; secondly, the device is oriented to objects of concealment (behind the inner wall of a building), darkness (in environments with poor illuminance at night and the like), shielding (behind a business shelter) and camouflage (camouflage equipment), and the objects are not easy to perceive optically, but can be detected and positioned through acoustic signals generated in the weapon firing process, and in this case, the device is mainly detected and positioned through the acoustic detection assembly 3.

Example III

Referring to fig. 2 to 7, the embodiment of the present application further describes in detail a compound eye reconnaissance system e, which includes: a housing, an optical detection assembly, an acoustic detection assembly 3 and a drive mechanism. The optical detection assembly is arranged in the shell, the optical detection assembly comprises a plurality of camera devices 2, the camera devices 2 are sequentially arranged along the circumferential direction of the shell, each camera device 2 comprises an upper side plate 211 and a lower side plate 212, a plurality of cameras 22 are respectively arranged on the upper side plate 211 and the lower side plate 212, and the optical detection assembly is used for detecting optical position coordinates of a target object. The acoustic detection assembly 3 is arranged on the shell, the acoustic detection assembly 3 comprises a plurality of acoustic sensors 31, and the acoustic detection assembly 3 is used for detecting acoustic position coordinates of a target object. The driving mechanism is arranged on the shell, and is in transmission fit with the acoustic detection assembly 3, so that the movement of each acoustic sensor 31 of the acoustic detection assembly 3 is regulated, and the position of each acoustic sensor 31 is regulated.

In the embodiment of the application, the driving mechanism can adjust the position of each acoustic sensor 31, increases or reduces the distance between each acoustic sensor 31, realizes the detection positioning accuracy of the acoustic detection assembly 3, and improves the positioning reliability.

In some possible embodiments, the housing has a top plate 11, a plurality of sliding guides 111 are disposed on the top plate 11, at least a part of the acoustic sensors 31 are slidably connected to the corresponding sliding guides 111, the driving mechanism has a plurality of movable push rods 54, the movable push rods 54 are respectively connected to the corresponding acoustic sensors 31, and the driving mechanism realizes driving each acoustic sensor 31 to slide along the corresponding sliding guide 111 by adjusting the inclination angle of each movable push rod 54, and adjusts the position of the corresponding acoustic sensor 31. The larger the pitch of each acoustic sensor 31, the higher the detection positioning accuracy.

The movable push rods 54 and the image pickup devices 2 are arranged in an avoidance mode, the movable push rods 54 can extend to gaps of two adjacent image pickup devices 2, or the length of the movable push rods 54 is appropriately shortened, and interference between the movable push rods 54 and the image pickup devices 2 is avoided.

The driving mechanism comprises a fixing seat 55, the fixing seat 55 is arranged in the cavity of the shell, the position of the fixing seat 55 is constant, and the fixing seat 55 is fixed relative to the bottom plate 12. Each movable push rod 54 is sequentially arranged at intervals along the circumferential direction of the fixed seat 55, one end of each movable push rod 54 is hinged to the fixed seat 55, the other end of each movable push rod 54 is movably connected to the corresponding acoustic sensor 31, and a driving mechanism is in transmission connection with the top plate 11 to drive the top plate 11 to be close to or far away from the fixed seat 55 so as to adjust the inclination angle of each movable push rod 54, so that the movable push rods 54 push the acoustic sensor 31 to slide.

Each sliding guide portion 111 extends radially to the peripheral edge around the center of the position where the fixing base 55 falls on the top plate 11. When each acoustic sensor 31 moves to the side away from the center of the circle, the pitch of each acoustic sensor 31 increases, and the positioning accuracy of the acoustic detection unit 3 (which may be a microphone array) improves.

The sliding guide part 111 may include a slit groove formed in the top plate 11, the acoustic sensor 31 is disposed through the slit groove, and a hinge seat is disposed at a side of the acoustic sensor 31 located inside the housing. The movable push rod 54 is hinged to the hinge seat. It should be noted that each acoustic sensor 31 can slide along the slit groove without being separated from the slit groove.

In some possible embodiments, the driving mechanism includes a driving rod 51, the top plate 11 is provided with a screw thread groove, the driving rod 51 is rotatably connected for the housing (e.g. connected to the bottom plate 12), and the driving rod 51 has a screw thread section penetrating the screw thread groove and being screw-connected to the screw thread groove. The driving rod 51 rotates to drive the top plate 11 to move up and down, so as to adjust the top plate 11 to approach or separate from the fixing seat 55. In this embodiment, the principle of a screw nut is adopted to realize the lifting and lowering movement of the driving top plate 11. The bottom plate 12 is fixed in position, and the lifting movement of the top plate 11 relative to the bottom plate 12 can be adjusted by the principle of a screw nut. In order to precisely adjust the relative movement of the top plate 11 and the bottom plate 12, a plurality of guide cylinders may be vertically disposed on one of the top plate 11 and the bottom plate 12, and a plurality of guide shafts may be vertically disposed on the other of the top plate 11 and the bottom plate 12, and the guide shafts are inserted into the guide cylinders. Wherein, the guide cylinder and the guide shaft can be positioned at the gap between two adjacent image pickup devices 2 without interfering with the arrangement of the image pickup devices 2.

In some possible embodiments, as shown in fig. 5, the fixing seat 55 is annular, the fixing seat 55 is rotatably sleeved on the driving rod 51, and two ends of the driving rod 51 located on the fixing seat 55 are respectively provided with a limiting part (not shown) for limiting the fixing seat 55 to slide along the driving rod 51. Under the limiting action of the two limiting parts, the height position of the fixing seat 55 is unchanged. The fixing rod can be provided with an annular groove, the fixing seat 55 can be connected in the annular groove, and the side walls on two sides of the annular groove are limiting parts. The fixing seat 55 can be formed by detachably connecting two semi-annular bodies, and is convenient to connect to the driving rod 51. The fixed seat 55 does not rotate around the driving rod 51 under the limiting action of each movable push rod 54. Bearings may be provided between the holder 55 and the driving rod 51.

The bottom plate 12 deviates from the one side of roof 11 is connected with drain pan 14, drain pan 14 with form between the bottom plate 12 and hold the chamber, actuating mechanism includes drive assembly, drive assembly at least partially set up in hold the intracavity, drive assembly with actuating lever 51 transmission is connected, in order to drive actuating lever 51 forward/reverse rotation.

In some possible embodiments, the drive assembly includes a first motor 52 and a gear train 53. The gear trains 53 are all arranged in the accommodating cavity, gears of the gear trains 53 are sequentially arranged, adjacent gears are meshed, a gear at one end of each gear train 53 is connected with the driving rod 51, and the first motor 52 is connected with a gear at the other end of each gear train 53.

Example IV

Referring to fig. 1-8, the present application describes in further detail a compound eye reconnaissance system, a weapon system comprising: the portable weapon comprises a bearing device 6, a compound eye reconnaissance system, a portable weapon war 7 and an integrated control terminal 8. The compound eye reconnaissance system comprises a shell, an optical detection assembly, an acoustic detection assembly 3 and a control assembly, wherein the shell is arranged on the bearing device 6, the optical detection assembly is arranged on the shell and comprises a plurality of camera devices 2, the camera devices 2 are sequentially arranged along the circumferential direction of the shell, the optical detection assembly is used for detecting optical position coordinates of a target object, the acoustic detection assembly 3 is arranged on the shell, the acoustic detection assembly 3 is used for detecting the acoustic position coordinates of the target object, the control assembly is arranged on the shell and is respectively electrically connected with the optical detection assembly and the acoustic detection assembly 3, and the control assembly is used for determining final coordinates of the target object according to the optical position coordinates and the acoustic position coordinates. The portable weapon (7) is communicatively connected to the reconnaissance system (e). The integrated control terminal 8 is in communication with the spying system e and the portable weapon operations 7.

The intelligent integrated control terminal 8 can be selected when the portable weapon war 7 is remotely controlled, and in the information transmission process, the portable weapon war 7 uses the Internet access radio station to send relevant information to the integrated control terminal 8 in real time. Based on this, the information transmission between the reconnaissance system e and the portable weapon war 7 can adopt a network cable transmission mode. A router can be additionally arranged to connect the reconnaissance system e, the portable weapon war 7 and the data transmission radio station, the reconnaissance system e sends information to the portable weapon war 7, and the information is recognized by the computing processing system and then sent to the integrated control terminal 8 in real time to inform the operator of the battlefield condition in real time.

After the portable weapon war 7 is distributed, the scout system e is distributed nearby the portable weapon war, and the portable weapon war can start working after the condition of use is adjusted. The working mode of the reconnaissance system e mainly faces two cases, namely, an optical detection assembly can quickly find a target in a visual field range of 180 degrees on the front, and the case is mainly detected by the optical detection assembly; secondly, the device is oriented to objects of concealment (behind the inner wall of a building), darkness (in environments with poor illuminance at night and the like), shielding (behind a business shelter) and camouflage (camouflage equipment), and the objects are not easy to perceive optically, but can be detected and positioned through acoustic signals generated in the weapon firing process, and in this case, the device is mainly detected and positioned through the acoustic detection assembly 3.

The portable weapon war 7 may comprise a 5.8mm caliber machine gun. In the use, lay portable weapon war 7 fixedly in battlefield somewhere and carry out the situation and observe first, control personnel observe through integration control terminal 8 display device in the rear, once the discovery target, control personnel can confirm target information on integration control terminal 8, after confirming, send the remote control shooting instruction and accomplish shooting operation.

The bearing device 6 can be a tripod or a trolley, and is convenient to move. For example, the carrier device 6 has a running gear. A reconnaissance system is detachably connected to the vehicle body.

Referring to fig. 6 and 7, the compound eye reconnaissance system e may include a mounting plate 15, the housing is connected to the mounting plate 15, a locking mechanism is disposed on the mounting plate 15, and a locking mating portion 61 is disposed on the carrying device 6. In the connected state of the scout system and the carrier 6. The mounting plate 15 is attached to the carrier 6, and the lock mechanism is locked to the lock engagement portion 61.

The locking engagement portion 61 has a plurality of locking engagement sleeves, each of which is provided on the carrying device 6. The locking mechanism includes a first gear 161, a second gear 162, a first directional rack 163, and a second directional rack 164. The first and second directional racks are slidably connected to the mounting plate 15, and the first and second directional racks are perpendicular. The first gear 161 and the second gear 162 are both rotatably provided to the mounting plate 15. The first gear 161 is engaged with the first directional rack, and the second gear 162 is engaged with the second directional rack. The first gear 161 rotates to drive the first direction rack 163 to be inserted into the corresponding locking matching sleeve. The second gear 162 rotates to drive the second direction rack 164 to be inserted into the corresponding locking matching sleeve.

Alternatively, the mounting plate 15 is provided with a first protrusion and a second protrusion. The end part of the first convex part is provided with a first connecting seat, and the end part of the second convex part is provided with a second connecting seat. The first and second connection seats are at different distances from the mounting plate 15. The first direction rack 163 is slidably connected to the first connecting base, and the second direction rack 164 is slidably connected to the second connecting base. The first direction rack and the second direction rack are staggered up and down and do not interfere with each other.

The first gear 161 and the second gear 162 are sequentially disposed in the thickness direction of the mounting plate 15, and the rotation axes of the first gear 161 and the second gear 162 are collinear and perpendicular to the mounting plate 15.

The compound eye reconnaissance system e comprises two first direction racks 163 and two second direction racks 164, wherein the two first direction racks 163 are parallel and are arranged at intervals. The two second direction racks 164 are parallel and spaced apart. The first gear 161 is located between the two first direction racks 163 and is engaged with the two first direction racks 163, respectively. The second gear 162 is located between the two second direction racks 164, and is engaged with the two second direction racks 164, respectively.

Optionally, as shown in fig. 4, 6 and 7, a guide sleeve b and a lead screw nut 1610 are provided on the housing. The mounting plate 15 is provided with a guide post c, and the mounting plate 15 is rotatably provided with a screw 167. The guide sleeve b is sleeved on the guide column c, and the lead screw 167 is in threaded connection with the lead screw nut 1610. The rotation of the lead screw 167 drives the housing up and down.

Referring to fig. 6 and 7, the reconnaissance system e includes a second motor 165, the second motor 165 is disposed on the mounting plate 15, and a third gear 166 is connected to an output shaft of the second motor 165. The screw 167 is provided with a fourth gear 168, and the rotation axes of the third gear 166 and the fourth gear 168 are perpendicular. A drive rack 169 is slidably connected to the mounting plate 15. The drive rack 169 is meshed with the third gear 166 and the fourth gear 168, respectively.

Wherein the first gear 161, the second gear 162 and the fourth gear 168 are connected, and the first gear 161, the second gear 162 and the fourth gear 168 are rotated synchronously. It should be noted that when the scout system needs to be quickly assembled on the carrying device 6, the second motor 165 can be controlled to rotate to drive the first gear 161, the second gear 162 and the fourth gear 168 to rotate, so as to adjust the retraction of the first direction rack 163 and the second direction rack 164. And then the second motor 165 is controlled to rotate reversely, so that the first direction rack 163 and the second direction rack 164 extend out to be respectively inserted into the corresponding locking matching sleeves. And then the second motor 165 can be controlled to rotate forwards or reversely, on the premise of ensuring that the first direction rack 163 and the second direction rack 164 are not separated from the locking matching sleeve, the fourth gear 168 can be driven to drive the screw 167 to rotate, so that the height of the shell is finely adjusted, and an operator can adjust the height adaptively according to actual requirements.

The above disclosure provides many different embodiments or examples for implementing different structures of the present application. The components and arrangements of specific examples are described above in order to simplify the disclosure of this application. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims (9)

1. A compound eye reconnaissance system, comprising:

a housing;

the optical detection assembly comprises a plurality of camera devices, each camera device is sequentially arranged along the circumferential direction of the shell, each camera device comprises a plurality of carrier parts, each carrier part is provided with a plurality of cameras, the camera devices are rotatably arranged in the shell, each carrier part is sequentially arranged along the circumferential direction of the rotation axis of the camera device, any one of the carrier parts is exposed out of the shell through rotation of the camera devices, and different camera types and/or parameters on the carrier parts are different.

2. The compound eye reconnaissance system of claim 1, wherein focal lengths of cameras on different carrier sections on the same camera device are different.

3. The compound eye reconnaissance system according to claim 1 or 2, wherein the same camera device is provided with a visible light camera on a part of the carrier parts, an infrared camera is provided on a part of the carrier parts, and the visible light camera and the infrared camera are respectively provided on a part of the carrier parts.

4. The compound eye reconnaissance system of claim 1, wherein adjacent camera shooting fields of view have overlapping areas;

the horizontal view field acquired by the camera devices in a matching way is not smaller than 180 degrees.

5. The compound eye reconnaissance system of claim 1, wherein said carrier portion comprises an upper side plate and a lower side plate;

the upper side plate is connected with the lower side plate, and an included angle is formed between the upper side plate and the lower side plate;

cameras are arranged on the upper side plate and the lower side plate;

the shooting view fields of the cameras on the upper side plate and the cameras on the lower side plate are provided with overlapping areas;

the total vertical view field angle of the camera on the upper side plate and the camera on the lower side plate is 45-110 degrees.

6. The compound eye reconnaissance system of claim 5, comprising a cradle;

the bracket is connected with the shell, and a rotating shaft is arranged on the bracket;

the carrier parts of the camera device are enclosed to form a cavity, the rotating shaft extends into the cavity, and the rotating shaft is connected with the carrier parts;

the rotating shaft rotates to drive the carrier parts to rotate.

7. The compound eye reconnaissance system of claim 6, wherein the upper and lower side plates of each of said carrier sections are connected to said shaft by a brace.

8. The compound eye reconnaissance system of claim 6, wherein said bracket is provided with a locking mechanism;

the locking mechanism is used for locking the rotating shaft so as to fix the image pickup device.

9. The compound eye reconnaissance system of claim 8, wherein an adjusting gear is provided on the rotating shaft;

the locking mechanism comprises a spring and a bolt which is slidably connected with the bracket, the bolt is slidably connected with the bracket, the spring is sleeved on the bolt, and two ends of the spring respectively prop against the bolt and the bracket, so that the end part of the bolt is inserted into a tooth slot of the adjusting gear.