VR Technology-based Simulation Training Device and Method for Optoelectronic Reconnaissance Vehicle

Abstract

Disclosed is a simulation training device and method for an optoelectronic reconnaissance vehicle based on VR technology. The decoding and control unit is used to decode and identify operation instructions. The method of using a drone carrying a laser locator to move relative to a positioning sensor is adopted to simulate the position movement of the optoelectronic reconnaissance vehicle. The computer is used to edit and save a virtual scene model. The virtual scene picture is calculated according to the attitude change of the optoelectronic turret and the relative position change of the positioning sensor. The picture is provided to the CCD imaging device through a VR display and an optical lens. The present invention realizes the optoelectronic reconnaissance simulation training in various field scenarios without starting the optoelectronic reconnaissance vehicle.

Description

Technical Field

[0001] The present invention relates to the simulation training of optoelectronic reconnaissance vehicles. Background Art

[0002] The optoelectronic reconnaissance vehicle uses a wheeled or tracked vehicle chassis as a mobile carrier, and applies optoelectronic turrets, CCD imaging devices, laser rangefinders and other devices as well as optoelectronic detection and video tracking technologies to realize the search, reconnaissance and tracking of ground and air targets in field sites, and is widely used in enemy situation reconnaissance and early warning and battlefield situation awareness. Compared with the traditional radar detection method, it has the characteristics of strong anti-electromagnetic interference ability and high measurement accuracy, and plays an important role in modern warfare.

[0003] The main reconnaissance devices on the optoelectronic reconnaissance vehicle, as shown in "Vehicle-mounted Reconnaissance Equipment" of Figure 1 are composed of an optoelectronic equipment control terminal, an optoelectronic turret, a CCD imaging device, and a laser ranging device. Among them, the CCD imaging device and the laser ranging device are installed on the optoelectronic turret, and the axis directions of the three are kept consistent (the azimuth angle and elevation angle are the same). There are RS232 interfaces outside the optoelectronic equipment control terminal and the optoelectronic turret, which are connected by cables. The operator operates the optoelectronic equipment control terminal, and transmits operation instructions through the RS232 serial cable to realize the control of the azimuth, pitch, and lifting movements of the optoelectronic turret and various operation controls of the CCD imaging device and the laser ranging device.

[0004] Usually, when carrying out the simulation training of the optoelectronic reconnaissance vehicle, it is necessary to drive the optoelectronic reconnaissance vehicle to the field site, and at the same time, it is necessary to be equipped with stationary or mobile targets on the ground or in the air. The requirements for the training site and the accompanying test targets are very high. It not only costs a huge amount of money, but also is affected by external environments such as weather and temperature, and the implementation difficulty is great. Moreover, in the actual environment, it is difficult to meet the complex training requirements of various climate environments, various target types and movement modes. In addition, it is difficult to completely reproduce the same training scenario, so targeted multiple repeated trainings cannot be carried out. Summary of the Invention

[0005] The present invention provides an optoelectronic reconnaissance vehicle simulation training device and method based on VR technology, which realizes the optoelectronic reconnaissance simulation training under various field scenarios without starting the optoelectronic reconnaissance vehicle.

[0006] In a first aspect, a simulation training device for an optoelectronic reconnaissance vehicle based on VR technology is provided. The optoelectronic reconnaissance vehicle includes an optoelectronic equipment control terminal, an optoelectronic turret, a CCD imaging device, and a laser ranging device. The CCD imaging device and the laser ranging device are installed on the optoelectronic turret, and the axial directions of the three are kept consistent. The simulation training device includes a comprehensive control module, a scene generation module, and a dynamic positioning module. The comprehensive control module includes a decoding and control unit, a computer, a vehicle body position control terminal, and a drone remote control unit. The scene generation module includes an optical lens, a VR display screen, a positioning sensor, and an attitude sensor. The dynamic positioning module includes a drone and a laser locator arranged on the drone. The scene generation module is installed on the CCD imaging device to keep the axis of the optical lens consistent with the axis of the optical system of the CCD imaging device.

[0007] The drone receives the remote control instructions sent by the drone remote control unit and performs corresponding movements according to the remote control instructions.

[0008] The laser locator emits laser synchronization signals and scanning signals to the positioning sensor at a specific period.

[0009] The positioning sensor receives the laser synchronization signals and the scanning signals emitted by the laser locator, calculates the spatial position information of the scene generation module according to the arrival time and angle of the scanning signals, and transmits the spatial position information to the computer.

[0010] The attitude sensor measures the attitude information of the scene generation module in real time and transmits the attitude information to the computer.

[0011] A variety of virtual scenes for reconnaissance training are configured on the computer. The computer receives the spatial position information sent by the positioning sensor and the attitude information sent by the attitude sensor, converts the spatial position information and the attitude information into the corresponding viewpoint position and viewing direction in the virtual scene, generates a virtual scene picture observed from the viewpoint position, and transmits the virtual scene picture to the VR display screen.

[0012] The VR display screen receives the virtual scene picture output by the computer and displays it on its liquid crystal display screen.

[0013] The optical lens optically transforms the display picture of the liquid crystal display screen to simulate a distant scene picture.

[0014] The decoding and control unit is configured to decode and identify the output instructions of the optoelectronic device control terminal, and send one or more of the azimuth adjustment instruction, elevation angle adjustment instruction, target tracking instruction for the optoelectronic turret, zoom adjustment instruction, focus adjustment instruction, brightness adjustment instruction, contrast adjustment instruction, and target selection instruction for the CCD imaging device to the optoelectronic turret, and send the up and down movement operation instruction for the optoelectronic turret to the UAV remote control unit.

[0015] The vehicle body position control terminal transmits the simulated vehicle body movement operation instruction to the UAV remote control unit.

[0016] The UAV remote control unit receives the up and down movement operation instruction for the optoelectronic turret sent by the decoding and control unit and the simulated vehicle body movement operation instruction sent by the vehicle body position control terminal, converts the up and down movement operation instruction and the simulated vehicle body movement operation instruction into the remote control instruction, and sends it to the UAV to make the UAV perform corresponding movements.

[0017] In some examples, the decoding and control unit is configured to send the ranging operation instruction for the laser ranging device output by the optoelectronic device control terminal to the computer, the computer calculates the distance data between the target corresponding to the center point of the current virtual scene image and the viewpoint position, and the distance data is sent to the optoelectronic device control terminal through the decoding and control unit.

[0018] In some examples, the distance data is sent to the optoelectronic device control terminal after a delay of a set duration.

[0019] In some examples, the attitude information includes: the azimuth angle information of the scene generation module relative to the set direction, and the elevation angle information of the scene generation module relative to the horizontal plane.

[0020] In some examples, the optical lens matches the scene image size with the optical field of view range of the CCD imaging device.

[0021] In some examples, when the optoelectronic device control terminal outputs an instruction to raise the optoelectronic turret, the UAV performs a descending movement; when the optoelectronic device control terminal outputs an instruction to lower the optoelectronic turret, the UAV performs an ascending movement.

[0022] In some examples, when the vehicle body position control terminal sends forward, backward, left, and right movement operation instructions, the UAV performs backward, forward, right, and left movements respectively relative to the vehicle head direction.

[0023] In a second aspect, a simulation training method for an optoelectronic reconnaissance vehicle is provided. Training is carried out using the optoelectronic reconnaissance vehicle simulation training device based on VR technology. The method includes: parking the optoelectronic reconnaissance vehicle on the ground with the vehicle head facing the set direction; operating the optoelectronic equipment control terminal inside the optoelectronic reconnaissance vehicle to adjust the height of the optoelectronic turret to the set height, adjust the elevation angle of the optoelectronic turret to the set mils, and adjust the azimuth angle of the optoelectronic turret to the set direction; operating the vehicle position control terminal to make the UAV hover at the training initial position with the nose facing the opposite direction of the vehicle head of the optoelectronic reconnaissance vehicle; operating the computer to select a virtual scenario for training data initialization; and carrying out optoelectronic reconnaissance simulation training inside the optoelectronic reconnaissance vehicle by operating the optoelectronic equipment control terminal and the vehicle position control terminal.

[0024] The simulation training content includes one or more combinations of the following: observing the image of the simulated scenario transmitted from the CCD imaging device; carrying out azimuth angle adjustment and elevation angle adjustment of the optoelectronic turret; carrying out lifting operation of the optoelectronic turret. By operating the vehicle position control terminal, carrying out simulated operation of the position movement of the optoelectronic reconnaissance vehicle; carrying out ranging operation on the laser ranging device; carrying out target tracking operation for the optoelectronic turret; carrying out zoom adjustment operation, focus adjustment operation, brightness adjustment operation, contrast adjustment operation and target selection operation for the CCD imaging device.

[0025] The present invention has the following beneficial effects:

[0026] 1. The VR display screen and the optical lens are used to provide the training scenario picture for the CCD imaging device. When carrying out training, it is not necessary to drive the optoelectronic reconnaissance vehicle to the field to use the real scenario, getting rid of the dependence on the field test environment of the conventional training method.

[0027] 2. The computer is used to edit and store the virtual scenario and model, which is convenient to provide training scenarios with various climate conditions, various complex backgrounds and various target types according to needs, effectively reducing the training cost. Moreover, the training scenario can be completely reproduced, which is convenient for the users to carry out targeted repeated intensive training.

[0028] 3. The users of this method carry out training based on the actual work positions of the optoelectronic reconnaissance vehicle and the optoelectronic equipment control terminal. Compared with the traditional virtual handle operation mode, it has stronger realism and practicability.

[0029] 4. This method adopts VR technology, uses the attitude sensor to collect the attitude data of the optoelectronic turret in real time, the computer calculates the scenario picture according to the attitude data, and feeds it back to the CCD imaging device through the VR display and the optical lens, realizing the synchronization of the reconnaissance scenario picture and the movement of the optoelectronic turret.

[0030] 5. The conventional VR implementation method fixes the position of the laser locator and changes the position of the positioning sensor to achieve the position change of the virtual viewpoint. This method applies the principle of relative motion. Under the condition that the optoelectronic reconnaissance vehicle and the positioning sensor remain in their original positions, the position change of the virtual viewpoint is achieved by moving the laser locator, simulating the position movement of the optoelectronic reconnaissance vehicle. Similarly, under the condition that the optoelectronic turret maintains a constant height, the height rise and fall of the optoelectronic turret are simulated, which is beneficial to reducing training safety accidents.

[0031] 6. This method utilizes the characteristics of the laser locator being light in weight and small in volume, and uses a rotor unmanned aerial vehicle to carry the laser locator for movement. Compared with the traditional method using rails or brackets, the laser locator has a larger movement range and more flexible hovering positions.

[0032] 7. The decoding and control unit is used to intercept the ranging operation instruction, and the computer returns the target distance data, which can reduce the number of laser emissions, extend the service life of the laser, and is beneficial to avoiding the harm of the laser to personnel. In addition, software delay is used to simulate the time delay of laser ranging, facilitating the simulation of the real ranging effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below.

[0034] Figure 1 It is a block diagram of an optoelectronic reconnaissance vehicle simulation training device based on VR technology provided by an embodiment of the present invention.

[0035] Figure 2 It is a schematic diagram of the implementation principle of an optoelectronic reconnaissance vehicle simulation training based on VR technology provided by an embodiment of the present invention.

[0036] Figure 3 It is a flowchart of an optoelectronic reconnaissance vehicle simulation training method based on VR technology provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] Figure 1 、 Figure 2 A block diagram of an optoelectronic reconnaissance vehicle simulation training device based on VR technology and a schematic diagram of the implementation principle are shown. The device includes an integrated control module, a scene generation module, and a dynamic positioning module.

[0038] The integrated control module includes a decoding and control unit, a computer, a vehicle body position control terminal, and a drone remote control unit. The scene generation module includes an optical lens, a VR display screen, a positioning sensor, and an attitude sensor. The dynamic positioning module includes a rotor unmanned aerial vehicle and a laser locator. The scene generation module is installed on the CCD imaging device, and the axis of its optical lens is kept consistent with the axis of the optical system of the CCD imaging device.

[0039] The rotary-wing UAV is equipped with a laser locator. The rotary-wing UAV receives remote control instructions sent by the UAV remote control unit wirelessly and performs corresponding movements according to the remote control instructions. The corresponding movements include hovering in the air, ascending, descending, and horizontal movements.

[0040] The laser locator emits a laser synchronization signal and a scanning signal to the positioning sensor of the scene generation module at a specific period.

[0041] The positioning sensor receives the laser synchronization signal and the scanning signal emitted by the laser locator, calculates the spatial position information of the scene generation module based on the arrival time and angle of the scanning signal, and transmits the spatial position information to the computer.

[0042] The attitude sensor measures the attitude information of the scene generation module in real time and transmits the attitude information to the computer.

[0043] The attitude information includes the azimuth angle information of the scene generation module relative to the set direction, and also includes the pitch angle information of the scene generation module relative to the horizontal plane. The set direction can be the due north direction, but is not limited to this.

[0044] The decoding and control unit decodes and identifies the output instructions of the optoelectronic equipment control terminal of the optoelectronic reconnaissance vehicle, sends the ranging operation instructions for the laser ranging equipment to the computer, receives the distance data sent by the computer and sends it to the optoelectronic equipment control terminal; it also sends the elevation operation instructions for the optoelectronic turret to the UAV remote control unit; it also sends other instructions except the laser ranging operation instructions and the elevation operation instructions for the optoelectronic turret to the optoelectronic turret. The other instructions include the azimuth angle adjustment instructions, pitch angle adjustment instructions, target tracking instructions for the optoelectronic turret, and the zoom adjustment instructions, focus adjustment instructions, brightness adjustment instructions, contrast adjustment instructions, target selection instructions, etc. for the CCD imaging equipment.

[0045] The computer edits and saves various virtual scenes for reconnaissance training. The computer also receives the position data sent by the positioning sensor and the attitude data sent by the attitude sensor, converts them into the corresponding viewpoint positions and viewing directions in the virtual scene, and then obtains the virtual scene picture observed from this viewpoint through local processing of the computer and transmits the virtual scene picture to the VR display screen. The computer also receives the ranging operation instructions of the laser ranging equipment sent by the decoding and control unit, calculates the distance data between the target corresponding to the center point of the current virtual scene picture and the viewpoint position, and after a software delay of a set duration (such as about 1 second) for the distance data, sends it to the decoding and control unit.

[0046] The virtual scene includes various climate conditions, and one or more static or moving targets for reconnaissance training in various environments.

[0047] The VR display screen receives the virtual scene picture information output by the computer and displays it on the liquid crystal display screen.

[0048] The optical lens not only optically transforms the display picture of the liquid crystal display screen to simulate the scene picture at infinity, but also matches the size of the scene picture with the optical field range of the CCD imaging device.

[0049] The vehicle body position control terminal simulates the movement operation of the vehicle body position in the horizontal direction. The vehicle body position control terminal is used for the lifting, hovering and movement operation in the horizontal direction of the rotor unmanned aerial vehicle. It first transmits the operation instruction of the movement operation to the unmanned aerial vehicle remote control unit, and then the unmanned aerial vehicle remote control unit controls the lifting, hovering and movement of the rotor unmanned aerial vehicle in the horizontal direction.

[0050] The unmanned aerial vehicle remote control unit not only receives the operation instructions sent by the decoding and control unit, but also receives the operation instructions sent by the vehicle body position control terminal. The unmanned aerial vehicle remote control unit converts the received operation instructions into remote control instructions and sends them to the rotor unmanned aerial vehicle wirelessly.

[0051] The following combines Figure 3 A detailed description is given to the simulation training method of the optoelectronic reconnaissance vehicle based on VR technology.

[0052] Step 1: Park the optoelectronic reconnaissance vehicle on a flat ground with the vehicle head facing the set direction, and the set direction can be the due north direction.

[0053] Step 2: Use structural parts and screws to connect and fix the scene generation module and the CCD imaging device, so that the axis of the optical lens is consistent with the axis of the optical system of the CCD imaging device.

[0054] Step 3: Unscrew the RS232 serial port cable between the optoelectronic equipment control terminal and the optoelectronic turret in the vehicle-mounted reconnaissance equipment, and then use the RS232 serial port cable to connect the optoelectronic equipment control terminal and the decoding and control unit, and use the RS232 serial port cable to connect the optoelectronic turret and the decoding and control unit.

[0055] Step 4: The operator operates the optoelectronic equipment control terminal in the optoelectronic reconnaissance vehicle, adjusts the lifting height of the optoelectronic turret to 0 meters, adjusts the elevation angle of the optoelectronic turret to 0-00 mils, and adjusts the azimuth angle of the optoelectronic turret to the set direction (due north direction).

[0056] Step 5: The operator operates the vehicle body position control terminal to make the rotor unmanned aerial vehicle hover at the training initial position with the nose facing the opposite direction of the above set direction. When the set direction is the due north direction, the nose faces the due south direction.

[0057] In one embodiment, the initial training position refers to a position due north of the scene generation module, approximately 20 meters horizontally away from the scene generation module, and approximately 20 m higher than the scene generation module; there are no obstacles within approximately 20 meters around the initial training position.

[0058] Step 6: The user operates the computer to select a virtual scene for initializing training data.

[0059] A variety of virtual scenes for optoelectronic reconnaissance simulation training are stored in the storage medium of the computer.

[0060] The initialization of the training data includes the computer receiving the current position data sent by the positioning sensor and the current attitude data sent by the attitude sensor, and respectively setting them as the initial position and the initial observation direction of the viewpoint in the virtual scene.

[0061] Step 7: The user conducts optoelectronic reconnaissance simulation training in the vehicle by operating the optoelectronic equipment control terminal and the vehicle body position control terminal.

[0062] The specific content and implementation method of the optoelectronic reconnaissance simulation training are as follows:

[0063] 1. The user observes the image of the simulated scene transmitted from the CCD imaging device through the software interface of the optoelectronic equipment control terminal.

[0064] 2. The user adjusts the azimuth angle and elevation angle of the optoelectronic turret by operating the software of the optoelectronic equipment control terminal.

[0065] The optoelectronic equipment control terminal sends the above operation instructions. After being decoded and recognized by the decoding and control unit without interception, they are forwarded to the optoelectronic turret, and the optoelectronic turret performs corresponding actions. The scene generation module is connected to the CCD imaging module on the optoelectronic turret and synchronously performs corresponding actions. The attitude sensor of the scene generation module collects the current attitude data and sends it to the computer. The computer converts the current attitude data into the observation direction of the viewpoint in the virtual scene, obtains the corresponding virtual scene picture through local processing, and transmits it to the VR display screen. The optical lens transmits the display image of the VR display screen into the field of view of the CCD imaging device.

[0066] 3. The user operates the software of the optoelectronic equipment control terminal to raise the optoelectronic turret.

[0067] The photoelectric device control terminal sends the above operation instruction. After being decoded and recognized by the decoding and control unit, it is intercepted and not forwarded to the optoelectronic turret, and the optoelectronic turret does not perform the corresponding action. The decoding and control unit generates an operation instruction to make the rotor unmanned aerial vehicle descend and sends it to the unmanned aerial vehicle remote control unit. The unmanned aerial vehicle remote control unit issues a remote control instruction. After receiving the remote control instruction, the rotor unmanned aerial vehicle carries the laser locator and performs a descending movement. According to the principle of relative motion, the positioning sensor moves upward relative to the laser locator, which is consistent with the operation of raising the optoelectronic turret by the user. The positioning sensor transmits the new position data to the computer. The computer converts the new position data into the new position of the viewpoint in the virtual scene, obtains the corresponding virtual scene picture through local processing, and transmits it to the VR display screen. The optical lens transmits the display image of the VR display screen into the field of view of the CCD imaging device.

[0068] 4. The user operates the software of the photoelectric device control terminal to perform the lowering operation of the optoelectronic turret.

[0069] The implementation principle and process are the same as in 3.

[0070] 5. The user operates the vehicle body position control terminal to perform the position movement operation of the optoelectronic reconnaissance vehicle.

[0071] The vehicle body position control terminal respectively transmits the operation instructions of "forward", "backward", "left", and "right" for the vehicle body in the horizontal direction to the unmanned aerial vehicle remote control unit. The unmanned aerial vehicle remote control unit issues a remote control instruction. Since the front of the optoelectronic reconnaissance vehicle faces due north and the nose of the rotor unmanned aerial vehicle faces due south, and the two are opposite in orientation, the rotor unmanned aerial vehicle carrying the laser locator performs "backward", "forward", "right", and "left" movements relative to the front of the vehicle body respectively. According to the principle of relative motion, the positioning sensor moves "forward", "backward", "left", and "right" relative to the laser locator, which is consistent with the position movement operation of the optoelectronic reconnaissance vehicle performed by the user. The positioning sensor transmits the new position data to the computer. The computer converts the new position data into the new position of the viewpoint in the virtual scene, obtains the corresponding virtual scene picture through local processing, and transmits it to the VR display screen. The optical lens transmits the display image of the VR display screen into the field of view of the CCD imaging device.

[0072] 6. The user operates the software of the photoelectric device control terminal to perform the ranging operation on the laser ranging device.

[0073] The optoelectronic device control terminal sends the above operation instruction. After being decoded and recognized by the decoding and control unit, it is intercepted and not forwarded to the laser ranging device, and the laser ranging device does not perform the ranging action. The decoding and control unit sends this instruction to the computer. The computer calculates the distance data between the target corresponding to the center point of the current virtual scene screen and the viewpoint position. After adding a software delay of about 1 second, the distance data is sent to the decoding and control unit.

[0074] 7. The user operates the software of the optoelectronic device control terminal to perform other operations, including target tracking operations for the optoelectronic turret, and also including zoom adjustment operations, focus adjustment operations, brightness adjustment operations, contrast adjustment operations, target selection operations, etc. for the CCD imaging device.

[0075] The optoelectronic device control terminal sends the above operation instruction. After being decoded and recognized by the decoding and control unit, it is not intercepted and is forwarded to the optoelectronic turret. After receiving the instruction, the optoelectronic turret and the CCD imaging device perform corresponding actions.

[0076] In the vehicle-mounted reconnaissance equipment of the optoelectronic reconnaissance vehicle, there is a DB9 male RS232 interface on the device shell of the optoelectronic device control terminal, and there is a DB9 female RS232 interface on the device shell of the optoelectronic turret. The two are connected by an RS232 serial cable. Before starting the simulation training, the two ends of the cable need to be unscrewed.

[0077] The decoding and control unit consists of a hardware circuit and software. The hardware circuit mainly includes a single-chip microcomputer and a power supply module. The single-chip microcomputer has 4 RS232 serial port units, which are respectively connected to 4 DB9-type RS232 interfaces through level conversion: the first is a DB9 female interface, which is connected to the DB9 male RS232 interface of the optoelectronic device control terminal by an RS232 serial cable; the second is a DB9 male interface, which is connected to the DB9 female 232 interface of the optoelectronic turret by an RS232 serial cable; the third is a DB9 female interface, which is connected to the DB9 male RS232 interface of the computer by an RS232 serial cable; the fourth is a DB9 male interface, which is connected to the DB9 female 232 interface of the UAV remote control unit by an RS232 serial cable.

[0078] The vehicle body position control terminal consists of a hardware circuit and software. The hardware circuit mainly includes an operation handle, a single-chip microcomputer and a power supply module. The single-chip microcomputer has 1 RS232 serial port unit, which is connected to the UAV remote control unit through level conversion. The single-chip microcomputer generates control instructions according to the operation state of the operation handle and sends them to the UAV remote control unit through the RS232 serial port.

[0079] The implementation methods of the software parts of the decoding and control unit and the vehicle body position control terminal refer to the foregoing embodiments and will not be elaborated here.

[0080] During training, the integrated control module is placed outside the optoelectronic reconnaissance vehicle, which is beneficial to the wireless remote control between the UAV remote control unit and the rotary-wing UAV.

[0081] The UAV remote control unit is transformed based on a general-purpose rotary-wing UAV remote controller. It can receive control commands from the decoding and control unit to control the lifting of the rotary-wing UAV. It can also receive control commands from the vehicle position control terminal to control the hovering, lifting, and horizontal movement of the rotary-wing UAV.

[0082] The computer is connected to the scene generation module through a USB cable and an HDMI cable. The USB cable is used for data communication between the positioning sensor, attitude sensor, and the computer. The HMDI cable is used for the computer to transmit virtual scene image data to the VR display screen.

[0083] The optical lens in the scene generation module is fixed to the VR display screen by means of structural parts, screws, and glue. The optical axis of the objective lens of the optical lens is directly opposite to the front of the VR display screen. The positioning sensor and attitude sensor are fixed to the back of the VR display screen by means of structural parts, screws, and glue.

[0084] Before starting training, the scene generation module is connected and fixed to the CCD imaging device by using structural parts and screws, so that the axis of the optical lens is kept consistent with the optical system axis of the CCD imaging device.

[0085] The weight of the laser locator is about 400g, and the volume is about 70mm×60mm×75mm;

[0086] The rotary-wing UAV has an automatic obstacle avoidance function, a load capacity of not less than 1 Kg, a battery life of not less than 20 minutes for a single battery, and a hovering stability of not more than 0.1 meters when the wind force is less than level 4.

[0087] The laser locator is fixed under the fuselage of the rotary-wing UAV by using structural parts, screws, or glue, and the battery of the rotary-wing UAV is used to supply power to the laser locator.

[0088] Since the actual ranging accuracy of the laser ranging device of the optoelectronic reconnaissance vehicle is ±5 meters, after the computer receives the ranging operation command, it calculates the distance data of the target in the virtual scene, approximates the distance data to a multiple value of 5 (the units digit is 0 or 5), and then sends it to the decoding and control unit.

Claims

1. An optoelectronic reconnaissance vehicle simulation training device based on VR technology, the optoelectronic reconnaissance vehicle includes an optoelectronic equipment control terminal, an optoelectronic turret, a CCD imaging device and a laser ranging device, the CCD imaging device and the laser ranging device are installed on the optoelectronic turret, and the axis directions of the three are kept consistent, characterized in that, The simulation training device includes an integrated control module, a scene generation module, and a dynamic positioning module. The integrated control module includes a decoding and control unit, a computer, a vehicle body position control terminal, and a drone remote control unit. The scene generation module includes an optical lens, a VR display screen, a positioning sensor, and an attitude sensor. The dynamic positioning module includes a drone and a laser locator installed on the drone. The scene generation module is installed on the CCD imaging device so that the axis of the optical lens is aligned with the axis of the optical system of the CCD imaging device; The drone receives the remote control instructions sent by the drone remote control unit and performs corresponding movements according to the remote control instructions; The laser locator emits a laser synchronization signal and a scanning signal to the positioning sensor at a specific period; The positioning sensor receives the laser synchronization signal and the scanning signal emitted by the laser locator, calculates the spatial position information of the scene generation module according to the arrival time and angle of the scanning signal, and transmits the spatial position information to the computer; The attitude sensor measures the attitude information of the scene generation module in real time and transmits the attitude information to the computer; A variety of virtual scenes for reconnaissance training are configured on the computer. The computer receives the spatial position information sent by the positioning sensor and the attitude information sent by the attitude sensor, converts the spatial position information and the attitude information into the corresponding viewpoint position and viewing direction in the virtual scene, and generates a virtual scene picture observed from the viewpoint position, and transmits the virtual scene picture to the VR display screen; The VR display screen receives the virtual scene picture output by the computer and displays it on its liquid crystal display screen; The optical lens optically transforms the display picture of the liquid crystal display screen to simulate a distant scene picture; The decoding and control unit is configured to decode and identify the output instructions of the optoelectronic device control terminal, and send one or more of the azimuth angle adjustment instruction, elevation angle adjustment instruction, target tracking instruction for the optoelectronic turret, zoom adjustment instruction, focus adjustment instruction, brightness adjustment instruction, contrast adjustment instruction, target selection instruction for the CCD imaging device to the optoelectronic turret, and send the up and down movement operation instruction for the optoelectronic turret to the drone remote control unit; The vehicle body position control terminal transmits a simulated vehicle movement operation instruction to the drone remote control unit; The drone remote control unit receives the up and down movement operation instruction for the optoelectronic turret sent by the decoding and control unit and the simulated vehicle movement operation instruction sent by the vehicle body position control terminal, converts the up and down movement operation instruction and the simulated vehicle movement operation instruction into the remote control instruction, and sends it to the drone to make the drone perform corresponding movements.

2. The simulated training device for an optoelectronic reconnaissance vehicle based on VR technology according to claim 1, wherein The decoding and control unit is configured to send the ranging operation instruction for the laser ranging device output by the optoelectronic device control terminal to the computer, and the computer calculates the distance data between the target corresponding to the center point of the current virtual scene picture and the viewpoint position, and the distance data is sent to the optoelectronic device control terminal through the decoding and control unit.

3. The optoelectronic reconnaissance vehicle simulation training device based on VR technology according to claim 2, characterized in that, The distance data is sent to the optoelectronic device control terminal after a delay of a set duration.

4. The optoelectronic reconnaissance vehicle simulation training device based on VR technology according to claim 1, characterized in that, The attitude information includes: the azimuth angle information of the scene generation module relative to the set direction, and the pitch angle information of the scene generation module relative to the horizontal plane.

5. The simulated training device for optoelectronic reconnaissance vehicles based on VR technology according to claim 1, characterized in that, The optical lens matches the size of the scene picture with the optical field of view range of the CCD imaging device.

6. The optoelectronic reconnaissance vehicle simulation training device based on VR technology according to claim 1, wherein, When the optoelectronic device control terminal outputs an instruction to raise the optoelectronic turret, the unmanned aerial vehicle executes a descending movement; when the optoelectronic device control terminal outputs an instruction to lower the optoelectronic turret, the unmanned aerial vehicle executes an ascending movement.

7. The optoelectronic reconnaissance vehicle simulation training device based on VR technology according to claim 1, characterized in that, When the vehicle body position control terminal sends forward, backward, left, and right movement operation instructions, the unmanned aerial vehicle executes backward, forward, right, and left movements respectively relative to the vehicle head direction.

8. The optoelectronic reconnaissance vehicle simulation training device based on VR technology according to claim 1, characterized in that The virtual scene includes various climate conditions, and one or more static or moving targets.

9. A simulation training method for an optoelectronic reconnaissance vehicle, characterized in that, Using the optoelectronic reconnaissance vehicle simulation training device based on VR technology according to any one of claims 2 to 8 for training, the method includes: Park the optoelectronic reconnaissance vehicle on the ground with the vehicle head facing the set direction; Operate the optoelectronic device control terminal in the optoelectronic reconnaissance vehicle, adjust the height of the optoelectronic turret to the set height, adjust the elevation angle of the optoelectronic turret to the set mils, and adjust the azimuth angle of the optoelectronic turret to the set direction; Operate the vehicle body position control terminal to make the unmanned aerial vehicle hover at the training initial position with the nose facing the opposite direction of the vehicle head of the optoelectronic reconnaissance vehicle; Operate the computer to select a virtual scene for training data initialization; Conduct optoelectronic reconnaissance simulation training in the optoelectronic reconnaissance vehicle by operating the optoelectronic device control terminal and the vehicle body position control terminal.

10. The optoelectronic reconnaissance vehicle simulation training method according to claim 9, wherein The simulation training content includes one or more of the following combinations: Observe the image of the simulated scene transmitted from the CCD imaging device; Conduct azimuth angle adjustment and elevation angle adjustment of the optoelectronic turret; Conduct lifting operation of the optoelectronic turret; Conduct a position movement simulation operation of the optoelectronic reconnaissance vehicle by operating the vehicle body position control terminal; Conduct a ranging operation on the laser ranging device; Conduct a target tracking operation for the optoelectronic turret; Conduct zoom adjustment operation, focus adjustment operation, brightness adjustment operation, contrast adjustment operation, and target selection operation for the CCD imaging device.

Images