RU2530185C1 - Ground transport system for detection and recognition of objects - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: ground transport system for detection and recognition of objects includes a ground vehicle, a power supply system and an optoelectronic system. The optoelectronic system comprises a video camera and a thermal imager and is mounted on a rotary support which is mounted on a hoisting-mast tool and can rotate 360 degrees in the azimuthal plane and can move on the elevation angle. The rotary support can rotate in the azimuthal plane at a speed of 120 degrees per second and can move on the elevation angle by ±60 degrees at a speed of up to 100 degrees per second. The optoelectronic system can simultaneously display an image from the camera and the thermal imager on two monitors. Software of the system can operate in Ubuntu Linux operating system.

EFFECT: high speed of detection and recognition of objects.

6 cl, 7 dwg

Description

The invention relates to the field of optoelectronic tracking devices, mainly to a ground-based complex for detecting and recognizing objects, which includes a vehicle (car), inside the base chassis of which there is equipment for technical control and monitoring of the coastal zone and coastal (river, lake, sea) ) areas of protected objects, detection and recognition of tracking objects.

The closest to the totality of existing features, an analogue to the claimed invention (prototype) is a ground transportation complex for the detection and recognition of objects according to the patent of the Russian Federation No. 2352480, B60R 1/00 for the invention with priority from 07.24.2007

The well-known ground transportation complex for detecting and recognizing objects contains a vehicle, mainly made in the form of a car, two sunroofs are formed in the rear part of the roof of the body, and the passenger compartment is divided by a transverse power partition into two compartments: driver and equipment. In the latter, two hoist-mast devices connected to the drives are installed, including racks, the upper parts of which are equipped with slewing gears mounted on them and connected to the power supply system by electronic sensors of the object detection and recognition system, configured to pass through the corresponding hatches and place in working position over a roof of a car body. Manhole covers are fixed above the sensors, and the sensor management tool and data display tool are mounted on the power partition.

One radio-electronic sensor of the complex is made in the form of a radar station equipped with a magnetic compass, and the other combines a thermal imager, a video camera and a laser range finder.

Each rotary support is made with the ability to move in two planes: azimuthal and elevation.

The lower end of each rack is mounted on the floor of the hardware compartment of the passenger compartment of the car through a base plate, and the upper is connected to the power partition through a bracket.

An additional cover is fixed on each rack below the slewing ring to cover the hatch in the working position of the complex.

Sensor control and data display are installed on the power partition either from the driver’s compartment of the passenger compartment, or from the side of its hardware compartment, or embedded in it.

A monitor is built into the front panel of the driver’s compartment of the complex to control the operation of the complex’s systems and the VHF radio station.

The driver’s or hardware compartment of the car’s interior is equipped with an operator’s chair, mounted for rotation around the vertical axis and moving along the longitudinal axis of the car.

The complex can be equipped with a remote searchlight and / or signal-loud-speaking installation, as well as a gas unit and / or an additional battery included in the power supply system of the complex equipment.

The main sensors of the complex - the optoelectronic module (OEM) and the radar module (RLM) are located on two unified structures, which are lifting mast devices with racks (PMU) with support-and-swing means fixed on top of them, controlled by using electric motors.

The radar and optoelectronic modules included in the complex are connected by a single algorithm for controlling, processing, documenting, displaying and transmitting information.

The PMU electric motors are located on the floor of the compartment, the bottom hatch is fixed to the PMU rack, and the rack itself is attached to the floor using a base plate, and to the power partition in the upper part using a bracket.

In addition to the PMU with electric motors, on the reinforced floor in the hardware compartment, the secondary power supply unit is also mounted and mounted on special support racks installed in the cutouts of the wheel housing covers, CT 190 batteries.

The equipment located on the PMU PMU rises from the traveling (non-working) position to the working position with the help of special profile drives and belt drives.

The design of each PMU has two covers: the top and bottom, and is designed so that in the stowed position the hatches in the car roof are tightly closed by the top covers, and in the working position by the lower ones.

The equipment located on the control panel has the ability to rotate at speeds up to 65 degrees in two planes (azimuthal and elevation) within the allowable rotation angles. In addition, the OPU provide scanning equipment placed on them within 360 degrees in azimuth and ± 30 degrees from the horizon in elevation. This is achieved by the presence of two drives in each control unit, consisting of an electric motor, a belt drive, pulleys and an angle sensor, as well as a controller that processes control commands coming to it from the processor units.

RLM is a 3 cm solid-state digital coherent radar station (RLS) with a moving target selection system (SLC). The radar has automatic tracking systems for moving targets with the display of information on the background of a digital map of the area, as well as a mode for listening to Doppler signals from targets on headphones and outputting these signals (spectra) in graphical form to a RMO monitor.

The detection range of a person using the radar included in the proposed complex is 5 km, and that of a truck is 12 km. The station has a high accuracy of coordinate measurement: 5 m in range and 4 degrees in angle.

The radar provides an OEM control mode (target designation mode) in which the optical axis of the optoelectronic module is automatically rotated to the target chosen by the operator of the complex, as well as modes for documenting information about the targets taken for tracking (followed by viewing the situation) and outputting sound signals from the target on headphones.

However, this complex has disadvantages. In particular, a complex and slow deployment system, in which it is necessary to follow a certain algorithm for lifting and the relative operation of the optoelectronic and radar modules in order to avoid damage. In addition, the prototype has a rather low speed of rotation of slewing rings in the azimuthal plane, a narrow range and low speed of their movement along the elevation angle. In addition, the prototype is not reliable due to the high degree of vulnerability of Windows operating systems and is inconvenient to use due to the fact that images from three devices (video cameras, radar stations and thermal imagers) are sent to only two monitors. In this case, a coherent radar station requires specialized training of the operator to recognize targets against the background of false marks that do not allow to separate the real object from the virtual one on the screen. Another disadvantage of the prototype is the lack of the possibility of secretive movement at night. All this leads to the loss of time, which is of great importance for the success of the operation.

The task posed by the authors of this development is the creation of such a small-sized ground transportation complex, with which it would be possible to detect and identify any objects with a high degree of clarity and objectivity. In addition, the task set by the authors is to simplify the design of the complex, increase the efficiency and reliability of its work.

The technical result achieved in solving the problem is to increase the speed of detection and recognition of objects due to the fact that the support-rotary device of the optoelectronic system is configured to rotate in the azimuthal plane at a higher speed and move around the elevation angle also at a higher speed and in a wider range. In addition, the technical result is to simplify the design and increase the speed of deployment of the complex due to the possibility of using only one lifting-mast device. At the same time, the technical result achieved in solving this problem is to increase the convenience and efficiency of the complex by optimizing and rationalizing the combined operation of the optoelectronic system and related devices, as well as by the ability to transmit information via Ethernet to external consumers. In addition, the technical result is to ensure the secrecy of the movement of the complex at night.

The essence of the invention lies in the fact that in a ground transportation complex for detecting and recognizing objects, including a land vehicle, a power supply system and an optoelectronic system comprising a video camera and a thermal imager and mounted on a rotary support device mounted on a mast mast and made with the possibility of rotation 360 degrees in the azimuthal plane, as well as the ability to move around the elevation angle, the rotary support device is made to rotate in the azimuthal plane with a speed of up to 120 degrees per second and moving along the elevation angle of ± 60 degrees with a speed of up to 100 degrees per second, and the optoelectronic system is configured to simultaneously output images from the camera and the thermal imager to two monitors, and the software of the complex made with the possibility of its functioning under the control of the operating system Ubuntu Linux.

Also, the invention consists in the fact that the ground transportation complex for detecting and recognizing objects is arranged to place the lifting mast device in the stowed position inside the vehicle.

However, the invention consists in the fact that the ground transportation complex for detecting and recognizing objects is configured to transmit video information to external consumers.

In addition, the invention consists in the fact that a night-driving system based on an uncooled thermal imager is included in the ground transportation complex for detecting and recognizing objects.

Also, the invention consists in the fact that the ground transportation complex for detecting and recognizing objects is configured to automatically switch to battery power.

However, the essence of the invention lies in the fact that the ground transportation complex for detecting and recognizing objects is configured to automatically recharge the battery.

Evidence of the possibility of implementing a ground transportation complex for the detection and recognition of objects with the implementation of this purpose is given below on a specific example of a land transportation complex. This characteristic example of a specific ground transportation complex according to the invention does not in any way limit its scope of legal protection. In this example, only a specific illustration of the proposed ground transportation complex is given. The invention is illustrated graphically, where:

figure 1 shows the structure of the ground transportation complex;

figure 2 shows a ground transportation complex in axonometric projection, rear view;

figure 3 shows the technological compartment of the complex;

figure 4 shows the technological compartment of the complex in axonometric projection with the removed gasoline power station;

figure 5 shows the compartment of the operator;

figure 6 shows the compartment of the operator in axonometric projection;

Fig.7 shows a vehicle in axonometric projection indicating the placement of uncooled thermal imager and video monitor of the night driving system.

The ground transportation complex consists of a vehicle (TS) 1, an optoelectronic system (ECO) 2, a mast device 3, a night driving system 4, a communication and warning system 5, and a power supply system 6.

ECO 2 consists of a rotary support device (OPU) 7, on which a video camera module 8 and a thermal imager module 9 are installed. In addition, ECO 2 includes a computing module 10 and a video converter 11. The Ethernet channel input-output of the RAM 7 is connected to the first input-output Ethernet Channel Switch 12.

Ethernet (from the English ether - “ether”) is a packet data transfer technology of mainly local computer networks. Ethernet standards define wired connections and electrical signals at the physical layer, frame format and media access control protocols - at the data link layer of the OSI model. Ethernet is mainly described by IEEE 802.3 standards. Data transmission can be carried out using a coaxial cable, or using a twisted pair cable or optical cable. The use of the latter provides a number of advantages, the main of which is the ability to work in duplex mode (a node can transmit and receive data at any time).

The output of the thermal imaging module 9 is connected to the first video input of the OPU 7. The output of the video camera 8 is connected to the second video input of the OPU 7. The video outputs of the OPU 7 are connected to the input of the video monitor 13 and to the input of the video converter 11. The input-output of the Ethernet channel of the video converter And is connected to the second input-output of the Ethernet channel switch 12. The third input / output of the Ethernet channel of the switch 12 is connected to the input / output of the Ethernet channel of the computing module 10. The video output of the computing module 10 is connected to the video input of the video monitor 14. In addition, the computing module 10 is connected Ended with a GPS / GLONASS 15 navigation system receiver, trackball 16 and joystick 17.

The night driving system 4 consists of an uncooled thermal imager 18 installed in the front bumper of the vehicle 1 and a video monitor 19 installed in the field of view of the driver of the vehicle 1. The video signal input of the video monitor 19 is connected to the video output of the uncooled thermal imager 18. The DC voltage input of the video monitor 19 is connected to the output vehicle battery (ABTS) 20 having a voltage of 12 V.

The communication and warning system 5 consists of a signal installation 21 and VHF radio station 22. The DC voltage inputs of the signal installation 21 and VHF radio station 22 are connected to the output of ABTS 20.

Also, the small-sized ground transportation complex contains a roll gauge 23 and an air heater 24. Moreover, the DC voltage input of the air heater 24 is directly connected to the ABTS output 20, and the DC voltage input of the roll heater 23 is connected to the ABTS output 20 through the control panel 25.

The power supply system 6 consists of a control panel 25, a gasoline power station 26, a rechargeable battery 27 with a voltage of 24 V DC, and a secondary power supply 28. The AC voltage input of the control panel 25 is connected to the AC voltage output of the gasoline power station 26, and the AC voltage output the control panel 25 - with the input of the AC voltage of the secondary power source 28. The DC voltage input of the control panel 25 is connected to the output of the battery 27, and with the DC voltage house of the secondary power source 28. The control panel 25 includes a controller 29, which is configured to automatically switch the secondary power source 28 to power from the battery 27. The control output of the controller 29 is also connected to the input of the lifting mast 3.

A small-sized ground transportation complex operates as follows. When reaching a given observation point, use a roll gauge 23 to select a position at which the inclination of the vehicle 1 does not exceed 5 degrees. AC voltage ~ 50 Hz 220 V is supplied from a gasoline power station 26, taken outside the complex, or from an industrial network. Using the remote control 25 transmit this voltage to the secondary power source 28, where it is converted to a voltage of 27 V DC, which then produce power to all systems of the complex. When working from a gasoline power station 26 or from an industrial network, using the controller 29 from the control panel 25, recharge the battery 27.

During short interruptions in the power supply from the gasoline power station 26 or from the industrial network, using the controller 29, the secondary power supply 28 is automatically switched to the power supply from the rechargeable battery 27 with a voltage of 24 V DC in order to avoid loss of information and restart the computing module 10. If it is impossible to work from the gasoline power plants 26 or from the industrial network, using the controller 29 automatically switch the secondary power source 28 to power from the battery 27.

Using the receiver of the GPS / GLONASS 15 navigation system, one determines the complex’s own location, provides information in the form of coordinates to the computing module 10, with the help of which the complex is topographically linked and the complex’s own coordinates are displayed on the video monitor 14.

Using the controller 29 from the control panel 25 at the command of the operator, the lifting-mast device 3 is raised from the stowed position to the working position.

Using the OPU 7, the camera module 8 and the imager module 9 installed on it are rotated to the desired position in azimuth and elevation according to the operator’s commands using the trackball 15 and joystick 17. The image from the imager module 9 in the form of analog signals is transmitted via the OPU 7 to video converter 11. Using a video converter 11, the image signals are converted to digital form and the processed signals are transmitted via the Ethernet channel to the switch 12. Using the switch 12, the signals are transmitted to the computational channel via the Ethernet channel modulus 10, where they are converted into television picture format. Then, the resulting image is transmitted to the video monitor 14. The image from the video camera module 8 in the form of analog signals through the SDA 7 is transmitted to the video monitor 13. At the command of the operator, it is possible to switch the image from the video camera module 8 to the video monitor 14, and the image from the thermal imaging module 9 to the video monitor 13.

Since the image from the camera module 8 and from the thermal imager module 9 is simultaneously output to various video monitors, the operator is more likely to detect, recognize and identify the tracking object.

The motion control of the control board 7 is carried out using the computing module 10 by transmitting the appropriate commands to the control board 7 through the switch 12 via Ethernet.

Management of the operating modes of the OES 2 is carried out using the trackball 15 and the joystick 17.

Computing module 10 provides the following functions:

- switching information in the field of view of the camera module 8 or the imager module 9 for display on the video monitor 14 or video monitor 13;

- implementation of the scanning mode along the path programmed by the operator;

- creation of terrain panoramas with the ability to quickly transfer the field of view of the camera module 8 or the imager module 9 to the desired panorama points (up to 15 points);

- documentation of video and thermal imaging information in the form of individual frames or a video with the possibility of subsequent viewing;

- functioning of the “motion detector” mode in the entire field of view or in the “windows” selected by the operator with automatic documentation of only moving targets;

- the operation of the automatic display of images with maximum magnification on the object registered by the motion detector;

- automatic output of sound or voice signals about the presence in the field of view of moving targets.

Optoelectronic system has the following characteristics:

In the infrared range using the thermal imaging module 9,

per person (1.8 × 0.5 m):

- detection - up to 12.6 km;

- recognition - up to 4.5 km;

- identification - up to 2.4 km.

on the object (2.3 × 2.3 m):

- detection - up to 19.3 km;

- recognition - up to 9 km;

- identification - up to 5.3 km.

Three fixed fields of view:

- narrow 1.2 ° × 0.9 °;

- average 5 ° × 4 °;

- wide 17 ° × 13.6 °.

In the visible range using the camcorder module 8,

target detection:

- for large purposes, at least - up to 20.2 km;

- for average goals - up to 11.7 km;

- for small targets - up to 6.3 km;

- for ultra-small targets - up to 3.5 km;

target recognition:

- for large purposes - up to 16.5 km;

- for average goals - up to 9.8 km;

- for small targets - up to 5.5 km;

- for ultra-small targets - up to 3.1 km.

The characteristics of the optoelectronic system of the described ground-based transport system for detecting and recognizing objects far exceed the characteristics of most of the known and currently used optoelectronic systems. For example, these characteristics are higher than the characteristics of the optoelectronic system according to the patent of the Russian Federation No. 2427006, G01S 17/66 for the invention with priority from 02.09.2009.

The switch 12 provides the ability to transmit video information over an Ethernet channel to external consumers.

If you need covert traffic at night, use a night driving system 4. Using an uncooled thermal imager 18 installed in the front bumper of TC 1, an infrared image of the terrain in front of TC 1 is obtained and transmitted to a video monitor 19 installed in the driver’s field of view TC 1 , which allows the driver to drive TC 1 without the use of external lighting devices.

Claims (6)

1. Terrestrial transport complex for detecting and recognizing objects, including a land vehicle, power supply system, and an optoelectronic system containing a video camera and a thermal imager and mounted on a rotary support device mounted on a mast and lifting device that can rotate 360 degrees in the azimuthal plane, as well as with the ability to move around the elevation angle, characterized in that the rotary support device is made to rotate in the azimuthal plane speed with a speed of up to 120 degrees per second and moving around elevation of ± 60 degrees with a speed of up to 100 degrees per second, and the optoelectronic system is configured to simultaneously output images from the camera and thermal imager to two monitors, and the software of the complex is made with the possibility of its functioning under the control of the Ubuntu Linux operating system. 2. The ground transportation complex for detecting and recognizing objects according to claim 1, characterized in that it is arranged to accommodate the mast mast in the stowed position inside the vehicle. 3. The ground transportation complex for detecting and recognizing objects according to claim 1, characterized in that it is configured to transmit video information to external consumers. 4. The ground transportation complex for detecting and recognizing objects according to claim 1, characterized in that it includes a night driving system based on an uncooled thermal imager. 5. The ground transportation complex for detecting and recognizing objects according to claim 1, characterized in that it is configured to automatically switch to battery power. 6. The ground transportation complex for detecting and recognizing objects according to claim 1, characterized in that it is configured to automatically recharge the battery.

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