A high-precision portable stable sighting system

Abstract

The application provides a high-precision portable stable sighting system, and belongs to the technical field of photoelectric stable sighting. The system comprises a first tracking platform which comprises a user and a first sighting device. The first sighting device is rotated by the flexible joint of the human body to point to a tracking target, so that the real-time closed-loop tracking and sighting of the sighting center of the first sighting device to the tracking target within a certain angular error range is realized. The heavy two-dimensional holder device in common equipment is replaced, and the miniaturization of the high-precision stable sighting device is realized. Meanwhile, the system comprises a second tracking platform which comprises a second sighting device and a high-precision processing module. The high-precision automatic closed-loop tracking and sighting of the sighting center of the second sighting device to the tracking target within the error range of the first tracking platform is realized by using the platform. The whole device has a simple structure and is convenient to carry, and can meet the demand of a single person using the device for high-precision stable sighting of a dynamic tracking target.

Description

Technical Field

[0001] This invention relates to the field of photoelectric aiming technology, and in particular to a high-precision portable stabilized aiming system. Background Technology

[0002] High-precision stabilization devices typically use an optoelectronic turntable to aim and track the target. A wide-field-of-view television detects the target, and then the turntable is driven to continuously track the target based on the target miss distance in the image. Afterward, the target is further observed through a narrow-field-of-view television, and finally, image stabilization technology is used to achieve stable aiming at the tracked target.

[0003] Currently, high-precision stabilization devices are usually fixedly mounted on different platforms. In order to track the target and ensure the accuracy of the turntable, the device is large and heavy, making it difficult for a single person to carry.

[0004] Therefore, there is an urgent need for a new high-precision portable stabilization system in the field of high-precision stabilization devices. Summary of the Invention

[0005] The present invention provides a high-precision portable stabilization aiming system to solve at least one of the technical defects in the prior art. It has the advantages of small size, light weight, suitability for single-person carrying and use, and high-precision stable aiming at dynamically tracked targets.

[0006] In a first aspect, the present invention provides a high-precision portable stabilized aiming system, comprising: a first aiming sight, a second aiming sight, and a high-precision stabilized aiming processing module, wherein the high-precision processing module includes a measurement module and an execution module;

[0007] The first sight is used to aim at the tracking target;

[0008] The second sight is used to receive the control command and synchronize the tracked target onto the second aiming axis;

[0009] The measurement module is used to acquire the miss distance of the second sight and send it to the execution module, wherein the miss distance is the pixel number deviation between the tracking target and the second aiming axis of the second sight;

[0010] The execution module is used to convert the miss distance into the deflection of the second aiming axis and generate control commands to send to the second sight;

[0011] The user moves the first sight to align the first aiming axis of the first sight with the target being tracked.

[0012] According to the high-precision portable stabilized aiming system, the first aiming axis of the first sight is parallel to the second aiming axis of the second sight.

[0013] The high-precision portable stabilization system also includes a drive mechanism connected to the first sight.

[0014] The drive mechanism is used to control the rotation and translation of the first sight to achieve tracking and stabilization of the target.

[0015] According to the high-precision portable stabilization system, the measurement module includes an image acquisition unit and an image processing unit;

[0016] The image acquisition unit is used to acquire first image data of the first sight and second image data of the second sight and send them to the image processing unit;

[0017] The image processing unit is used to perform image processing on the first image data and the second image data, generate the miss distance of the second sight, and send it to the execution module.

[0018] According to the high-precision portable stabilized aiming system, the execution module is a fast-reflecting mirror.

[0019] According to the high-precision portable stabilized aiming system, the first aiming device is a wide-angle camera.

[0020] According to the high-precision portable stabilized aiming system, the second sight is a high-resolution camera.

[0021] The high-precision portable stabilized aiming system also includes a display device connected to the first sight and / or the second sight.

[0022] The display device is used to display the image of the tracked target acquired after the first sight and / or the second sight has been focused.

[0023] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0024] The high-precision portable stabilization system provided by this invention includes a primary tracking platform consisting of a user and a first sight. By utilizing the flexible joint rotation of the user's body to drive the first sight to point at the tracking target, the system can achieve real-time closed-loop tracking of the target within a certain angular error range by the aiming center of the first sight. This replaces the heavy two-dimensional gimbal device in common equipment and realizes the miniaturization of the high-precision stabilization device.

[0025] The high-precision portable stabilization system provided by this invention includes a two-stage tracking platform consisting of a second sight and a high-precision processing module. This platform enables high-precision automatic closed-loop tracking of the target by the second sight's aiming center within the error range of the first-stage tracking platform. The entire high-precision portable stabilization system has a simple structure, is easy to carry, and possesses technical advantages such as miniaturization, flexibility, real-time closed-loop tracking, and high-precision stability. It can meet the high-precision stable aiming requirements of a single person for dynamically tracked targets. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is one of the structural schematic diagrams of the high-precision portable stabilized aiming system provided by the present invention;

[0028] Figure 2 This is the second structural schematic diagram of the high-precision portable stabilized aiming system provided by the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0030] It should be noted that in the description of the embodiments of the present invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more.

[0032] Currently, in the field of optoelectronic stabilization technology, high-precision stabilization devices are usually fixedly mounted on different platforms. In order to track the target and ensure the accuracy of the turntable, the devices are large in size, heavy in weight, and difficult for a single person to carry.

[0033] Based on this, the present invention proposes a high-precision portable stabilization system, comprising a first sight, a second sight, and a high-precision stabilization processing module, wherein the high-precision stabilization processing module includes a measurement module and an execution module;

[0034] A first sight is used to align with and track a target; a second sight is used to receive the control command and synchronize the tracked target onto a second aiming axis; a measurement module is used to acquire the miss distance of the second sight and send it to the execution module, wherein the miss distance is the pixel number deviation between the tracked target and the second aiming axis of the second sight; the execution module is used to convert the miss distance into the deflection of the second aiming axis and generate a control command to send to the second sight.

[0035] The user moves the first sight to align the first aiming axis of the first sight with the target being tracked.

[0036] Optionally, the first sight is a camera system or sensor with a large field of view and low angular resolution, such as a wide-angle camera.

[0037] Optionally, the second sight is a high frame rate, small field of view, and high angular resolution camera system or sensor, such as a high-resolution camera, a high frame rate camera, and a high angular resolution lens.

[0038] Optionally, the measurement module includes an image acquisition unit and an image processing unit;

[0039] An image acquisition unit is used to acquire first image data of the first sight and second image data of the second sight and send them to the image processing unit;

[0040] The image processing unit is used to perform image processing on the first image data and the second image data, generate the miss distance of the second sight, and send it to the execution module.

[0041] It should be noted that the image processing unit can be configured as an image analysis-based processing board module, or as a digital processing system based on computing hardware.

[0042] Optionally, the execution module can be configured as a quick-reflection mirror based on the aiming axis reflection principle, or a prism based on the aiming axis refraction principle, or other similar devices.

[0043] Optionally, in the initial state of the system, the first aiming axis of the first sight is parallel to the second aiming axis of the second sight.

[0044] Optionally, the high-precision portable stabilization system also includes a drive mechanism connected to the first sight, including a turntable or drive structure.

[0045] As an optional embodiment, the high-precision portable stabilized aiming system provided by the present invention further includes: a display device connected to the first sight and / or the second sight; the display device is used to display an image of the tracked target acquired after the first sight and / or the second sight has focused. The display device can be a display device with storage function, such as a liquid crystal display, an OLED display, or an LED display.

[0046] Figure 1 This is one of the structural schematic diagrams of the high-precision portable stabilized aiming system provided by the present invention. See below for reference. Figure 1 An optional embodiment of the present invention will be further described. As shown in the figure, the system includes a first sight 11, a second sight 22, and a high-precision stabilization processing module, which includes a measurement module 13 and an execution module 14.

[0047] Specifically, the user 15 moves the first sight 11 to align the first aiming axis of the first sight 11 with the target being tracked.

[0048] User 15 and first sight 11 constitute a primary tracking platform. User 15 can use the rotation of body parts such as arms, shoulders, and head to dynamically aim and track the first sight 11 within a certain angular error range.

[0049] The second sight 12 and the high-precision stabilization processing module constitute a secondary tracking platform.

[0050] Furthermore, the high-precision processing module includes a measurement module 13 and an execution module 14.

[0051] In the initial state of the system, the first aiming axis of the first sight 11 is aligned with the second aiming axis of the second sight 12. When the first-level tracking platform continuously and dynamically aims at the tracking target within a certain angular error range, the tracking target appears synchronously in the field of view of the second sight 12.

[0052] Furthermore, the measurement module 13 measures in real time the miss distance between the tracked target and the second aiming axis of the second sight 12;

[0053] The miss distance is the pixel count deviation between the tracking target and the second aiming axis of the second sight 12.

[0054] Furthermore, the execution module 14 quickly converts the miss distance into the deviation of the second aiming axis of the second sight, and generates a control command to send to the second sight to deflect the second aiming axis, so that the second aiming axis of the second sight always points to the tracking target within the error range of the first-level tracking platform, thereby enabling the user to achieve high-precision and stable aiming at the dynamically tracked target.

[0055] Figure 2This is the second structural schematic diagram of the high-precision portable stabilized aiming system provided by the present invention, as shown below. Figure 2 An optional embodiment of the present invention will be further described. As shown in the figure, in this embodiment, the drive mechanism connected to the first sight is the sight body 26.

[0056] Specifically, the first sight 21, the second sight 22, and the high-precision stabilization processing module 23 are mounted on the main body of the sight 24.

[0057] The first sight 1 is a camera system or sensor with a large field of view and low angular resolution. The deviation of the tracking target position relative to the first aiming axis of the first sight can be viewed in real time through the observation screen.

[0058] The user and the first sight 21 constitute a primary tracking platform.

[0059] As the execution unit of the closed-loop control loop of the first sight 21, the user can stabilize the high-precision portable stabilization system by hand, shoulder, or head-mounted means, thereby controlling the movement of the first sight 21 and stabilizing the tracked target in the first sight 21 within a specific range of the observation screen according to the system design parameters, thus completing the coarse tracking closed loop of the first-level tracking platform.

[0060] The second sight 22 is a camera system or sensor with high frame rate, small field of view, and high angular resolution. The optical axis of the second sight 22 is parallel to the optical axis of the first sight. When the first sight 21 continuously aims at and tracks the target within a certain angular error range, the tracked target appears synchronously in the field of view of the second sight 22. The second sight 22 can further observe the details of the tracked target, but at this time the tracked target cannot be stably centered in the image.

[0061] The second sight 22 and the high-precision stabilization processing module 23 constitute the secondary tracking platform.

[0062] Specifically, the high-precision stabilization processing module 23 includes a measurement module and an execution module.

[0063] The measurement module is an image processing board that calculates in real time the number of pixels in two dimensions relative to the image center of the target in the first sight camera image.

[0064] The execution module is a two-dimensional fast-reflecting mirror module based on a voice coil motor. It takes the number of pixels and the miss distance of the image processing board as input, and quickly deflects the imaging optical path in the second sight, so that the position of the tracked target in the second sight camera image is approximately coincident with the image center in real time. Thus, within the tracking error range of the first-level tracking platform, the tracked target is stabilized in the image center of the second sight, achieving high-precision stabilization.

[0065] In summary, this invention provides a high-precision portable stabilization system, comprising a user and a first sight forming a primary tracking platform. Utilizing the user's flexible joint rotation, the first sight is driven to point at the tracking target, achieving real-time closed-loop tracking of the target within a certain angular error range. Compared to the heavy two-dimensional gimbal devices in traditional equipment, this system achieves miniaturization of the high-precision stabilization device.

[0066] Furthermore, this invention comprises a secondary tracking platform consisting of a second sight and a high-precision processing module. Within the error range of the primary tracking platform, the system achieves high-precision automatic closed-loop tracking of the second sight's aiming center towards the tracked target. The entire device has a simple structure, is easy to carry, suitable for single-person use, and meets the requirements for high-precision and stable aiming at dynamically tracked targets. This invention utilizes the user's flexible joint rotation to drive the sight to aim at the tracked target, offering high flexibility and ease of operation. The combination of the primary and secondary tracking platforms achieves real-time closed-loop tracking, enabling the sight to accurately and stably aim at the tracked target. The high-precision processing module provides even more precise and stable aiming capabilities by achieving high-precision automatic closed-loop tracking of the tracked target.

[0067] Therefore, the high-precision portable stabilization system of the present invention has technical advantages such as miniaturization, flexibility, real-time closed-loop tracking and aiming, and high-precision stability, which can meet the high-precision stable aiming needs of a single person for dynamically tracked targets.

[0068] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0069] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision portable stabilized aiming system, characterized in that, include: The system comprises a first sight, a second sight, and a high-precision stabilized aiming processing module, which includes a measurement module and an execution module. The first sight is used to aim at the tracking target; The second sight is a high frame rate, small field of view, and high angular resolution camera system or sensor, used to receive control commands to synchronize the tracked target onto the second aiming axis; The measurement module is used to acquire the miss distance of the second sight and send it to the execution module, wherein the miss distance is the pixel number deviation between the tracking target and the second aiming axis of the second sight; In this process, the user moves the first sight to align the first aiming axis of the first sight with the target being tracked. The user and the first sight constitute a primary tracking platform. The user acts as the execution unit of the closed-loop control loop of the first sight. The user stabilizes the high-precision portable stabilization system by hand, shoulder-mounted, or head-mounted means, thereby controlling the movement of the first sight. According to the system design parameters, the user stabilizes the target being tracked in the first sight within a specific range on the observation screen, thus completing the coarse tracking closed loop of the primary tracking platform. When the first sight continuously aims at the target within a certain angular error range, the target simultaneously appears in the field of view of the second sight, allowing for further observation of the target's details. The second sight and the high-precision stabilization processing module constitute the secondary tracking platform; The execution module is a two-dimensional fast-reflection mirror module based on a voice coil motor, used to convert the miss distance into the deflection of the second aiming axis and generate control commands to deflect the imaging optical path in the second sight; so that the position of the tracked target in the second sight camera image is approximately coincident with the image center in real time, thereby stabilizing the tracked target in the center of the second sight image within the tracking error range of the first-level tracking platform, and achieving high-precision stable aiming.

2. The high-precision portable stabilization system according to claim 1, characterized in that, The first aiming axis of the first sight is parallel to the second aiming axis of the second sight.

3. The high-precision portable stabilization system according to claim 1, characterized in that, It also includes a drive mechanism connected to the first sight. The drive mechanism is used to control the rotation and translation of the first sight to achieve tracking and stabilization of the target.

4. The high-precision portable stabilization system according to claim 1, characterized in that, The measurement module includes an image acquisition unit and an image processing unit; The image acquisition unit is used to acquire first image data of the first sight and second image data of the second sight and send them to the image processing unit; The image processing unit is used to perform image processing on the first image data and the second image data, generate the miss distance of the second sight, and send it to the execution module.

5. The high-precision portable stabilization system according to claim 1, characterized in that, The first sight is a wide-angle camera.

6. The high-precision portable stabilization system according to claim 1, characterized in that, It also includes a display device connected to the first sight and / or the second sight; The display device is used to display the image of the tracked target acquired after the first sight and / or the second sight has been focused.

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