CN209821632U

CN209821632U - Air-ground cooperative unmanned attack system

Info

Publication number: CN209821632U
Application number: CN201920806799.1U
Authority: CN
Inventors: 陈星钱; 侯守创; 张玉乐; 黄晋川; 宋国浩
Original assignee: Bengbu Campus Of Pla Army Armored Army College
Current assignee: Bengbu Campus Of Pla Army Armored Army College
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2019-12-20
Anticipated expiration: 2029-05-29

Abstract

The embodiment of the utility model discloses an air-ground cooperative unmanned attack system, which comprises an unmanned aerial vehicle for high-altitude patrol and an intelligent vehicle for receiving instructions and attacking, the unmanned aerial vehicle comprises a body, an identification system for identifying the intelligent vehicle and the beacon on the ground and a signal sending module for sending the identified signal to the intelligent vehicle, the intelligent vehicle comprises a signal receiving module for receiving the signal sent by the signal sending module, a control decision module for processing the received signal and a power system controlled by the control decision module, can realize through the cooperation of unmanned aerial vehicle and intelligent car that unmanned aerial vehicle fixes a position the beacon, again with the instruction transmission to the control decision module of intelligent car in, the corresponding instruction of control decision module reaches the beacon position automatically, has realized that unmanned aerial vehicle reconnoiters and fixes a position fast, the function that the beacon position was look for to automatic control intelligent car.

Description

Air-ground cooperative unmanned attack system

Technical Field

The embodiment of the utility model provides a ground and air are unmanned attack technical field in coordination, concretely relates to air and ground is unmanned attack system in coordination.

Background

Because modern wars are more and more intelligent and unmanned, the direction of future development is to cooperate various unmanned platforms, reconnaissance and attack are integrated, the killing chain period can be obviously shortened, quick response can be made to some objects which are fleeting in the future, and the attack efficiency is improved. The casualties can be reduced to a great extent, the air-ground cooperative large-scale battle can be realized, and the battle efficiency is effectively improved. The unmanned aerial vehicle is used as an air platform, and the guidance of ground fire striking is the development trend of future war, so that an air-ground cooperative unmanned attack system is urgently needed to achieve the purpose.

SUMMERY OF THE UTILITY MODEL

Therefore, the embodiment of the utility model provides an air-ground is unmanned attack system in coordination to solve the problem that can't look for the target fast and carry out accurate striking that leads to because lack the air-ground is attack system in coordination among the prior art.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: the utility model provides an air-ground is unmanned attack system in coordination, is including the unmanned aerial vehicle that is used for carrying out high altitude patrol and the intelligent car that accepts the instruction and attack, unmanned aerial vehicle includes the organism, is used for discerning the identification system of subaerial intelligent car and beacon and is used for the signal transmission module of signal transmission to the intelligent car after discerning, the intelligent car is including the signal reception module that is used for receiving signal transmission module send signal, the control decision module that is used for handling the signal that receives and the driving system by control decision module control.

Further, the identification system includes a central processing unit for performing signal processing, a power circuit module coupled to the central processing unit, a pressure sensor coupled to the central processing unit, a digital compass module coupled to the central processing unit, a motion processing module coupled to the central processing unit, a memory coupled to the central processing unit, a SWD circuit module coupled to the central processing unit, a USB circuit module coupled to the central processing unit, a RST circuit module coupled to the central processing unit, an OSC circuit module coupled to the central processing unit, a CON circuit module coupled to the central processing unit, a PWM circuit module coupled to the central processing unit, an LED circuit module coupled to the central processing unit, and a register coupled to the central processing unit.

Furthermore, the intelligent vehicle further comprises an indicator light which is arranged on the head of the intelligent vehicle and used for the identification system to find the position.

Further, the central processing unit is a single chip microcomputer with the model of STM32F103VCT 6.

Further, the digital compass module is a digital compass module with the model number of HMC 5883L.

Further, the model of the air pressure sensor is MS 5611.

The embodiment of the utility model provides a have following advantage: can realize through the cooperation of unmanned aerial vehicle and intelligent car that unmanned aerial vehicle fixes a position the beacon, again with the instruction transmission to the control decision module of intelligent car in, the corresponding instruction of control decision module reaches the beacon position automatically, has realized that unmanned aerial vehicle reconnoiters and fixes a position fast, the function that the beacon position was look for to automatic control intelligent car.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.

Fig. 1 is a schematic block diagram of signal transmission between an unmanned aerial vehicle and an intelligent vehicle of an air-ground cooperative unmanned attack system provided by an embodiment of the present invention;

fig. 2 is a block diagram of a circuit connection system of an identification system according to an embodiment of the present invention.

In the figure: 11. an identification system; 12. a signal transmitting module; 21. a signal receiving module; 22. a control decision module; 23. a power system; 31. a camera; 32. a central processing unit; 33. a power supply module; 34. an air pressure sensor; 35. a digital compass module; 36. a motion processing component; 37. a reservoir; 38. an SWD circuit module; 39. a USB circuit module; 40. an RST circuit module; 41. an OSC circuit module; 42. a CON circuit module; 43. a PWM circuit module; 44. a register; 45. an LED circuit module.

Detailed Description

The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example (b): an air-ground cooperative unmanned attack system is shown in fig. 1 and comprises an unmanned aerial vehicle for high-altitude patrol and an intelligent vehicle for receiving instructions and attacking, wherein the unmanned aerial vehicle comprises a body, an identification system 11 for identifying the intelligent vehicle and beacons on the ground and a signal sending module 12 for sending identified signals to the intelligent vehicle, and the intelligent vehicle comprises an indicator lamp arranged on the intelligent vehicle and used for enabling the identification system 11 to search for a position, a signal receiving module 21 for receiving the signals sent by the signal sending module 12, a control decision module 22 for processing the received signals and a power system 23 controlled by the control decision module 22. In this embodiment, unmanned aerial vehicle chooses for use the unmanned aerial vehicle of four rotors, guarantees that the flight is stable, and control flight is simple, only needs to adjust lift change through changing motor speed to change the gesture and the position of aircraft.

The recognition system 11 includes a camera 31 for collecting images, a central processing unit 32, a power supply module 33, an air pressure sensor 34, a digital compass module 35, a motion processing component 36, a storage 37, an SWD circuit module 38, a USB circuit module 39, a RST circuit module 40, an OSC circuit module 41, a CON circuit module 42, a PWM circuit module 43, a register 44, an LED circuit module 45, and a signal transmission module 12 for transmitting signals, where the camera 31 is disposed on the body, the camera 31 is used for collecting ground images, the camera 31 is further connected to the central processing unit 32, and the central processing unit 32 is used for processing images collected by the camera 31, extracting features, determining the head and tail of the smart vehicle, and determining the position of a beacon. In this embodiment, the distortion of the image captured by the camera 31 is small, does not affect the flight of the drone, and requires a large field of view. And the camera 31 is the key for extracting information by the unmanned aerial vehicle system, and the quality of the output information of the camera firstly determines the performance of the trolley. Therefore, the selection of the camera 31 must be careful, so as to ensure good image quality, meet the requirements of subsequent processing and ground identification, and consider the acquisition and processing capabilities of the image processing module. Therefore, the model of the mos digital camera 31 is selected to be ov7620, and the resolution of the camera 31 is set to be 320x240, so that good acquisition of the beacon signal can be realized, and the acquisition rate of eight frames per second can be achieved.

In this embodiment, the central processing unit 32 is a single chip microcomputer of a model STM32F103VCT6, the power circuit module, the SWD circuit module 38, the USB circuit module 39, the RST circuit module 40, the OSC circuit module 41, the CON circuit module 42, the PWM circuit module 43, the register 44, and the LED circuit module 45 are all connected to the central processing unit 32 by conventional modules, and since the technology and the connection method are conventional technical means in the art, no further description is given here, the digital compass module 35 in this embodiment is a digital compass module 35 of a model HMC58 5883L, an SCL pin on the digital compass module 35 is connected to an SCL pin in the central processing unit 32, an SDA pin is connected to a central processing unit pin in the central processing unit 32, and a DRDY pin is connected to a MAG DRDY pin in the central processing unit 32; the motion processing component 36 is a 6-axis motion processing component 36 with a model number of MPU6050, an INT pin of the motion processing component 36 is connected with an INT pin of an MPU in the central processing unit 32, an SCL pin is connected with an SCL pin of the central processing unit 32, and an SDA pin is connected with an SDA pin of the central processing unit 32; the air pressure sensor 34 is an air pressure sensor 34 with a model number of MS5611, an SDA pin of the air pressure sensor 34 is connected with an SDA pin of the central processing unit 32, an SCLK pin of the air pressure sensor 34 is connected with an SCL pin of the central processing unit 32, and the digital compass module 35, the air pressure sensor 34 and the motion processing component 36 are core components for establishing a coordinate system and positioning, and are used for acquiring beacon position coordinates. Wherein, the main program finishes the following steps in turn: the method comprises the steps of single chip microcomputer initialization, image acquisition, beacon position extraction and data sending to the intelligent vehicle.

In order to facilitate the better position of looking for the intelligent car of unmanned aerial vehicle, install an pilot lamp on the locomotive of intelligent car, foretell decision-making module is the treater of intelligent car promptly, this treater is connected on the driving system 23 of intelligent car, move according to the instruction that unmanned aerial vehicle sent, the driving system 23 of intelligent car is including the steering wheel that is used for driving the direct current motor of intelligent car motion and is used for controlling intelligent car moving direction, the treater is according to the rotational speed of the instruction control direct current motor that unmanned aerial vehicle sent and the rotation angle of steering wheel.

The unmanned aerial vehicle also needs the tail coordinate of the intelligent vehicle after obtaining the target point coordinate and the head coordinate of the intelligent vehicle, so that the intelligent vehicle can judge the target direction and the steering engine deflection angle.

In this embodiment, signal receiving module 21 and signal transmission module all adopt the bluetooth template, and two bluetooth templates realize being connected of unmanned aerial vehicle and intelligent car.

Wherein unmanned aerial vehicle's the program control unmanned aerial vehicle of predetermineeing establishes rectangular coordinate system, fixes a position intelligent car position and beacon position, if will realize that intelligent car motion in-process finds the beacon, adopts in this embodiment to obtain beacon position, car self position and three parameters of car deflection angle. After the position of the beacon is known, the vehicle deflection angle is calculated by acquiring the position of the vehicle head and the position of the vehicle tail. Because the singlechip has limited computing power, an indicator lamp is arranged at the head of the vehicle to obtain the coordinates of the head of the vehicle, and the unmanned aerial vehicle scans images and acquires data frame by frame, so that the coordinates of the head of the vehicle at the previous moment are used for replacing the coordinates of the tail of the vehicle, and the deflection angle of the vehicle is obtained. And finally, the intelligent vehicle automatically searches for the beacon.

Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. An air-ground cooperative unmanned attack system is characterized in that: including the unmanned aerial vehicle that is used for carrying out high altitude patrol and accepts the instruction and carry out the intelligent car of attacking, unmanned aerial vehicle includes the organism, is used for discerning identification system (11) of subaerial intelligent car and beacon and is used for signal transmission module (12) to the intelligent car after the discernment, the intelligent car is including signal reception module (21) that are used for receiving signal transmission module (12) transmission signal, control decision module (22) that are used for handling the signal of receiving and power system (23) by control decision module (22) control.

2. The air-ground cooperative unmanned attack system according to claim 1, wherein: the identification system (11) comprises a central processing unit (32) for performing signal processing, a power circuit module coupled to the central processing unit (32), an air pressure sensor (34) coupled to the central processing unit (32), a digital compass module (35) coupled to the central processing unit (32), a motion processing component (36) coupled to the central processing unit (32), a storage (37) coupled to the central processing unit (32), an SWD circuit module (38) coupled to the central processing unit (32), a USB circuit module (39) coupled to the central processing unit (32), a RST circuit module (40) coupled to the central processing unit (32), an OSC circuit module (41) coupled to the central processing unit (32), a CON circuit module (42) coupled to the central processing unit (32), a PWM circuit module (43) coupled to the central processing unit (32), and a controller (c), An LED circuit module (45) coupled to the CPU (32) and a register (44) coupled to the CPU (32).

3. The air-ground cooperative unmanned attack system according to claim 1, wherein: the intelligent vehicle further comprises an indicator light which is arranged on the head of the intelligent vehicle and used for the identification system (11) to find the position.

4. The air-ground cooperative unmanned attack system according to claim 2, wherein: the central processing unit (32) is a single chip microcomputer with the model of STM32F103VCT 6.

5. The air-ground cooperative unmanned attack system according to claim 2, wherein: the digital compass module (35) is a digital compass module (35) with the model number of HMC 5883L.

6. The air-ground cooperative unmanned attack system according to claim 2, wherein: the air pressure sensor (34) is an air pressure sensor (34) with the model number of MS 5611.