Flapping-wing aircraft reconnaissance system

Abstract

According to the ornithopter reconnaissance system disclosed by the invention, a lightweight dual-light pod is adopted, so that the reconnaissance capability is enhanced compared with a traditional pod while the load weight of a ornithopter flying robot is reduced; the three-axis pod adapting to the motion form of the flapping-wing flying robot is adopted, so that jitter of a reconnaissance video during flying of the flapping-wing flying robot is greatly improved; a pod reconnaissance system combining long and short focuses is adopted, so that the accurate searching capability is improved; algorithms of airborne target detection, recognition, tracking and the like are integrated, and the problem that a small-sized flapping-wing flying robot cannot carry out airborne reconnaissance video real-time processing is solved; by adopting the cluster reconnaissance method, the target positioning precision is improved, and accurate target positioning and cooperative reconnaissance capability can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of bionic flapping-wing flying robots, in particular to a flapping-wing aircraft reconnaissance system based on a dual-light pod. Background Art

[0002] Bionic flapping-wing flying robot field. As a new type of aircraft, the bionic flapping-wing aircraft has the characteristics of high bionic degree, low noise, good concealment, etc., so it is often used in the fields of civil and military reconnaissance. In particular, in the military field, it can carry cameras, pods and other equipment for military reconnaissance, patrols, etc., and locate enemy targets and carry out target guidance tasks, thereby improving the intelligence level of equipment and having high application value.

[0003] Currently, bionic flapping-wing flying robots are often used in the field of reconnaissance. They can carry reconnaissance and detection equipment such as cameras and single-point radars. However, due to the limitation of the load weight that can be carried, flapping-wing flying robots can carry small cameras, pods, etc., and the imaging effect is not good. In addition, flapping-wing flying robots achieve ascent, descent and steering by flapping their wings. This special form of movement causes severe shaking in the video collected by the camera reconnaissance equipment, which is not conducive to video reconnaissance.

[0004] The patent with publication number CN118145010A, entitled “An optoelectronic system stabilization device and flapping-wing aircraft”, adopts a two-axis gimbal, but the two-axis gimbal only eliminates jitters for the pitch axis and yaw axis, does not process the roll axis, and does not have the ability to process airborne video online; the patent with publication number CN110498039A, entitled “An intelligent monitoring system based on a bionic flapping-wing aircraft”, is equipped with a gimbal camera, but only processes jitters in the pitch and roll directions, and also does not have the ability to process airborne video online. Currently, the video acquisition and reconnaissance methods commonly used by flapping-wing flying robots include ordinary cameras and small gimbals, which have disadvantages such as severe video jitter, lack of online processing capabilities, and narrow reconnaissance range.

[0005] It can be seen that the flapping-wing flying robot reconnaissance equipment in the prior art has the following problems to be solved:

[0006] 1. Due to the movement of flapping-wing flying robots, reconnaissance videos are subject to severe shaking, which is not conducive to real-time video analysis.

[0007] 2. The reconnaissance range is limited, and better reconnaissance effects can only be achieved within a certain viewing angle range and a certain distance range.

[0008] 3. Limited by the weight of the equipment that can be carried, the onboard real-time algorithm processing is limited and the reconnaissance function is single.

[0009] 4. The collaborative reconnaissance capability of flapping-wing flying robot clusters is weak and they are unable to accurately locate targets. Summary of the invention

[0010] In view of the above problems, the present invention provides a flapping-wing aircraft reconnaissance system for overcoming the above problems or at least partially solving the above problems.

[0011] The present invention provides the following scheme:

[0012] A flapping-wing aircraft reconnaissance system, comprising:

[0013] A plurality of flapping-wing aircrafts, each of which is equipped with a dual-optical pod and an onboard algorithm processing board; the dual-optical pod includes an optoelectronic payload and a three-axis stabilized platform;

[0014] The optoelectronic payload includes a long-focus visible light camera and a short-focus visible light camera, wherein the short-focus visible light camera is used to perform a rough search of a wide field of view to determine a target range to be detected, and the long-focus visible light camera is used to perform a precise search of a narrow field of view within the target range to obtain a video to be processed;

[0015] The three-axis stable platform is connected to the photoelectric load and the flapping-wing aircraft respectively, and the three-axis stable platform is used to drive the photoelectric load to move by a brushless DC motor direct drive to eliminate the jitter in the three directions of azimuth, pitch and roll;

[0016] The onboard algorithm processing board is used to perform online processing of at least target detection, target recognition, target locking, target tracking and target positioning on the video to be processed.

[0017] Preferably, the three-axis stable platform drives the photoelectric load to move in the following three directions: azimuth, pitch and roll:

[0018] Yaw angle: -90°~+90°, pitch angle: -120°~+30°, roll angle: -60°~+60°.

[0019] Preferably, the optoelectronic payload further comprises a shell, the long-focus visible light camera and the short-focus visible light camera are both connected to the shell, and the shell is connected to the three-axis stable platform.

[0020] Preferably: the three-axis stable platform includes an inner frame, a middle frame and an outer frame, the inner frame includes a C-shaped structure, the shell is connected to the inner frame through a first rotating shaft, the inner frame is provided with a first brushless DC motor connected to the first rotating shaft, the first brushless DC motor is used to drive the photoelectric load to realize pitch direction motion adjustment; the middle frame is connected to the inner frame through a second brushless DC motor, the second brushless DC motor is used to drive the photoelectric load and the inner frame to realize roll direction motion adjustment; the middle frame is connected to the outer frame through a third brushless DC motor, the third brushless DC motor is used to drive the photoelectric load, the inner frame and the middle frame to realize azimuth direction motion adjustment; the top of the outer frame is used to realize connection with the flapping-wing aircraft.

[0021] Preferably, the outer frame is connected to the flapping-wing aircraft via a vertical floating mechanism.

[0022] Preferably: the three-axis stabilized platform is also connected to a controller, the controller includes a preset circuit, a stabilization circuit and an angle tracking circuit; the preset circuit is used to realize the electric locking function control of the dual-optical pod; the stabilization circuit is used to eliminate the influence of the body disturbance on the pod optical axis coupling; the angle tracking circuit is used to realize automatic angle tracking.

[0023] Preferably, the preset circuit realizes the electric lock function control of the dual-light pod by performing the following operations:

[0024] The preset loop input terminal receives the digital value u corresponding to the preset angle instruction p ;

[0025] The digital quantity u p The resolver signal reflects the actual angular position of the optical axis Subtract and get the error signal;

[0026] The controller calculates a control signal from the error signal and sends the control signal to the control end of the three-axis stable platform. The three-axis stable platform rotates at a specified speed until the angular error is zero.

[0027] Preferably, the stabilization loop eliminates the influence of the body disturbance on the pod optical axis coupling by performing the following operations:

[0028] The controller outputs a control instruction to the control end of the three-axis stable platform according to the difference between the speed input and the rate gyro measurement value, driving the optical axis to rotate in the opposite direction of the disturbance, so as to minimize the angular velocity of the optical axis in space.

[0029] Preferably, the angle tracking circuit includes an angle measuring device and an optical axis stabilization circuit, and the angle tracking circuit realizes automatic angle tracking by performing the following operations:

[0030] The optical axis stabilization circuit is used to achieve isolation of the disturbing motion of the body;

[0031] The angle measuring device is used to measure the angular deviation between the target sight angle and the optical axis, and amplify it and send it to the optical axis stabilization circuit, so that the optical axis moves in the direction of reducing the angular deviation, thereby realizing automatic angle tracking.

[0032] Preferably: a plurality of the flapping-wing aircraft and the ground integrated control terminal are all equipped with a self-organizing network module, and the flapping-wing aircraft and the ground integrated control terminal are both communicatively connected through the self-organizing network module;

[0033] The onboard algorithm processing board included in each flapping-wing aircraft is also used to combine the videos to be processed acquired by other flapping-wing aircraft and the videos to be processed acquired by itself to perform fusion positioning of the target, and convert the positioning data of the same target into its own body coordinate system and then transmit it to the ground integrated control terminal through the self-organizing network module.

[0034] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0035] A flapping-wing aircraft reconnaissance system provided in an embodiment of the present application adopts a lightweight dual-light pod, which reduces the load weight of the flapping-wing flying robot while enhancing the reconnaissance capability compared to traditional pods; adopts a three-axis pod that adapts to the movement form of the flapping-wing flying robot, which greatly improves the jitter of the reconnaissance video of the flapping-wing flying robot during flight; adopts a pod reconnaissance system that combines long and short focal lengths to improve the precise search capability; integrates airborne target detection, recognition, tracking and other algorithms, which solves the problem that small flapping-wing flying robots are unable to perform real-time processing of airborne reconnaissance videos; adopts a cluster reconnaissance method to improve target positioning accuracy, and can achieve precise target positioning and collaborative reconnaissance capabilities.

[0036] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a structural schematic diagram of a flapping-wing aircraft reconnaissance system provided by an embodiment of the present invention;

[0039] Figure 2 It is a block diagram of the composition of the dual-optical pod provided by an embodiment of the present invention;

[0040] Figure 3 is a schematic structural diagram of a dual-light pod provided by an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of the structure of a photoelectric load provided by an embodiment of the present invention;

[0042] Figure 5 is a schematic diagram of the structure of a three-axis stable platform provided by an embodiment of the present invention;

[0043] Figure 6 It is a partial schematic diagram of a vertical floating mechanism provided by an embodiment of the present invention;

[0044] Figure 7 is a block diagram of a preset loop design provided by an embodiment of the present invention;

[0045] Figure 8 is a schematic diagram of a rate gyro feedback stabilization solution provided by an embodiment of the present invention;

[0046] Fig. 9 is a principle block diagram of a tracking loop provided by an embodiment of the present invention;

[0047] Fig.10 is a schematic diagram of a typical task profile of a reconnaissance task provided by an embodiment of the present invention;

[0048] Fig.11 is a schematic diagram of short-focus visible light camera reconnaissance provided by an embodiment of the present invention;

[0049] Fig.12 is a schematic diagram of a telephoto visible light camera for reconnaissance provided by an embodiment of the present invention;

[0050] Fig.13 It is a schematic diagram of flapping-wing aircraft cluster reconnaissance provided by an embodiment of the present invention.

[0051] In the figure: flapping-wing aircraft 1, optoelectronic payload 2, long-focus visible light camera 21, short-focus visible light camera 22, shell 23, three-axis stable platform 3, inner frame 31, middle frame 32, outer frame 33, first brushless DC motor 34, second brushless DC motor 35, third brushless DC motor 36, vertical floating mechanism 37, ground integrated control terminal 4. DETAILED DESCRIPTION

[0052] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0053] See also Figure 1 , is a flapping-wing aircraft reconnaissance system provided by an embodiment of the present invention, such as Figure 1 As shown, the system may include:

[0054] A plurality of flapping-wing aircrafts 1, each of which is equipped with a dual-optical pod and an onboard algorithm processing board; the dual-optical pod includes an optoelectronic payload 2 and a three-axis stable platform 3;

[0055] The photoelectric load 2 includes a long-focus visible light camera 21 and a short-focus visible light camera 22. The short-focus visible light camera 22 is used to perform a rough search of a wide field of view to determine the target range to be detected, and the long-focus visible light camera 21 is used to perform a precise search of a narrow field of view within the target range to obtain a video to be processed;

[0056] The three-axis stable platform 3 is connected to the photoelectric load 2 and the flapping-wing aircraft 1 respectively. The three-axis stable platform 3 is used to drive the photoelectric load 2 to eliminate the jitter in the azimuth, pitch and roll directions through the direct drive mode of the brushless DC motor; further, the embodiment of the present application can provide that the three-axis stable platform 3 drives the photoelectric load 2 in the azimuth, pitch and roll directions. The range of motion includes:

[0057] Yaw angle: -90°~+90°, pitch angle: -120°~+30°, roll angle: -60°~+60°.

[0058] The onboard algorithm processing board is used to perform online processing of at least target detection, target recognition, target locking, target tracking and target positioning on the video to be processed.

[0059] The flapping-wing aircraft reconnaissance system provided in the embodiment of the present application adopts a miniature three-axis dual-light pod suitable for flapping-wing aircraft, which can not only reduce the load pressure of the aircraft, but also greatly improve the jitter of the reconnaissance video during flight. In combination with the three-axis motion state and load range of the flapping-wing flying robot, the three-axis mechanical angle range and weight of the pod are designed, with a yaw angle of -90°ˉ+90°, a pitch angle of -120°ˉ+30°, and a roll angle of -60°ˉ+60°. The weight is less than 82g, including a pod, a control board, and an onboard algorithm processing board. By designing a three-axis pod suitable for the flapping-wing motion form, the three-axis jitter range of the flapping-wing flying robot is covered, and the jitter of the reconnaissance video during flight is greatly improved through mechanical stabilization methods. ;

[0060] The dual-light pod uses a long-focus visible light camera and a short-focus visible light camera to search for targets in different distance ranges. The two work together to achieve precise search; the short-focus camera is used for rough search in a wider field of view to determine the range of targets to be detected, and the long-focus camera is used for precise search in a narrower field of view. The two work together to carry out further tasks on the detected targets.

[0061] Equipped with an airborne algorithm processing module, including target detection, identification, locking, tracking, and positioning, it performs real-time online processing to enhance the intelligence level of the pod reconnaissance; using the airborne algorithm processing module and the target positioning algorithm, it can realize cluster collaborative reconnaissance of multiple flapping-wing flying robots. The integrated airborne algorithm processing board performs real-time online processing on the airborne end for the collected video, and can perform target detection, identification, tracking, locking, positioning, etc. on typical targets such as people and vehicles, enhancing the intelligence level of the pod;

[0062] In addition, multiple flapping-wing flying robots are simultaneously equipped with the gimbal, and cluster reconnaissance capabilities are used to perform joint target positioning on targets in each reconnaissance field of view, thereby achieving precise positioning, achieving the reconnaissance purpose, and providing coordinates to the rear command center, thereby realizing the target guidance function.

[0063] In order to facilitate the installation of the optoelectronic payload provided in the embodiment of the present application, the embodiment of the present application can also provide that the optoelectronic payload 2 also includes a shell 23, the long-focus visible light camera 21 and the short-focus visible light camera 22 are both connected to the shell 23, and the shell 23 is connected to the three-axis stable platform 3.

[0064] In order to realize three-axis adjustment of the three-axis stabilized platform, the embodiment of the present application can provide that the three-axis stabilized platform 3 includes an inner frame 31, a middle frame 32 and an outer frame 33, the inner frame 31 includes a C-shaped structure, the shell 23 is connected to the inner frame 31 through a first rotating shaft, the inner frame 31 is provided with a first brushless DC motor 34 connected to the first rotating shaft, and the first brushless DC motor 34 is used to drive the photoelectric load 2 to realize pitch direction movement adjustment; the middle frame 32 is connected to the inner frame 31 through a second brushless DC motor 35, and the second brushless DC motor 35 is used to drive the photoelectric load 2 and the inner frame 31 to realize roll direction movement adjustment; the middle frame 32 is connected to the outer frame 33 through a third brushless DC motor 36, and the third brushless DC motor 36 is used to drive the photoelectric load 3, the inner frame 31 and the middle frame 32 to realize azimuth direction movement adjustment; the top of the outer frame 33 is used to realize connection with the flapping-wing aircraft 1.

[0065] Each axis of the stable platform is driven by a brushless DC motor. The direct drive can ensure good structural rigidity. At the same time, compared with other transmission methods such as connecting rods and gears, it has the characteristics of no backlash and high transmission efficiency. At the same time, it cooperates with the angle measurement sensor to meet the control requirements of the angular position closed loop.

[0066] In order to further eliminate the influence of the vertical direction on the stability of the connection between the three-axis stable platform and the aircraft, the embodiment of the present application can also provide that the outer frame 33 is connected to the flapping-wing aircraft 1 through a vertical floating mechanism 37.

[0067] In order to facilitate the control of the three-axis stabilized platform, achieve a good stabilization effect, and realize automatic tracking of the target, the embodiment of the present application can provide that the three-axis stabilized platform is also connected to a controller, and the controller includes a preset loop, a stabilization loop and an angle tracking loop; the preset loop is used to realize the electric locking function control of the dual-optical pod; the stabilization loop is used to eliminate the influence of the body disturbance on the pod optical axis coupling; the angle tracking loop is used to realize automatic tracking of the angle.

[0068] Furthermore, the preset circuit realizes the electric lock function control of the dual-light pod by performing the following operations:

[0069] The preset loop input terminal receives the digital value u corresponding to the preset angle instruction p ;

[0070] The digital quantity u p The resolver signal reflects the actual angular position of the optical axis Subtract and get the error signal;

[0071] The controller calculates a control signal from the error signal and sends the control signal to the control end of the three-axis stable platform. The three-axis stable platform rotates at a specified speed until the angular error is zero.

[0072] The stabilization loop eliminates the influence of the body disturbance on the pod optical axis coupling by performing the following operations:

[0073] The controller outputs a control instruction to the control end of the three-axis stable platform according to the difference between the speed input and the rate gyro measurement value, driving the optical axis to rotate in the opposite direction of the disturbance, so as to minimize the angular velocity of the optical axis in space.

[0074] The angle tracking circuit includes an angle measuring device and an optical axis stabilization circuit. The angle tracking circuit realizes automatic angle tracking by performing the following operations:

[0075] The optical axis stabilization circuit is used to achieve isolation of the disturbing motion of the body;

[0076] The angle measuring device is used to measure the angular deviation between the target sight angle and the optical axis, and amplify it and send it to the optical axis stabilization circuit, so that the optical axis moves in the direction of reducing the angular deviation, thereby realizing automatic angle tracking.

[0077] In order to achieve coordinated detection of multiple aircraft, the embodiment of the present application may also provide that a plurality of the flapping-wing aircraft and the ground integrated control terminal are all equipped with a self-organizing network module, and the flapping-wing aircraft and the ground integrated control terminal are both communicatively connected through the self-organizing network module;

[0078] The onboard algorithm processing board included in each flapping-wing aircraft is also used to combine the videos to be processed acquired by other flapping-wing aircraft and the videos to be processed acquired by itself to perform fusion positioning of the target, and convert the positioning data of the same target into its own body coordinate system and then transmit it to the ground integrated control terminal through the self-organizing network module.

[0079] Multiple flapping-wing aircraft are equipped with lightweight, long-distance self-organizing networking modules, and ground integrated terminals are also equipped with self-organizing networking modules. The self-organizing networking modules are used for communication between flapping-wing aircraft and between flapping-wing aircraft and ground control terminals, including aircraft control instructions, pod control instructions, flight control data transmission, video data transmission, etc. The onboard algorithm processing board is used for video data processing, target detection, identification, tracking, locking, positioning and other algorithm processing.

[0080] The system provided in the embodiments of the present application is described in detail below.

[0081] The system can be used by multiple flapping-wing flying robots for cluster reconnaissance. Each aircraft searches for targets through a dual-optical pod. The onboard processing board processes the collected video in real time and transmits the video to the ground terminal through wireless image transmission for ground analysis. The wireless image transmission is integrated in the self-organizing network module, which has both data transmission and image transmission functions.

[0082] like Figure 2 The block diagram of the dual-optical pod is shown in Figure 2. The dual-optical pod consists of an optoelectronic payload 2, a three-axis stabilized platform 3, and a servo control and airborne algorithm processing board (image processor). The optoelectronic payload includes a long-focus visible light camera and a short-focus visible light camera for video acquisition; the three-axis stabilized platform includes azimuth, pitch, and roll mechanism components for three-axis stabilization to improve aerial video jitter; the servo control includes gyroscopes and inertial sensors, angle measuring elements, brushless DC motors, servo control and drive circuits for pod attitude data acquisition and pod three-axis control; the image processor includes imaging processing, image detection and tracking, and video encoding, and mainly runs airborne video processing algorithms; such as Figure 3 This is a schematic diagram of the optoelectronic payload and stable platform of the dual-optical pod.

[0083] The dual-light pod reconnaissance system combines the three-axis motion state and load range of the flapping-wing flying robot to design the three-axis mechanical angle range and weight of the pod, with a yaw angle of -90° to +90°, a pitch angle of -120° to +30°, and a roll angle of -60° to +60°. The weight is less than 82g, including the pod, control board, and airborne algorithm processing board. The pod can be subdivided into a shell, a horizontal rotation axis, a pitch rotation axis, an actuator motor, an angle measuring element, a limit mechanism, etc. The pod body contains three degrees of freedom.

[0084] like Figure 4 , Figure 5 , Figure 6 As shown, the inner frame is a load fixing frame, and its rotation axis is the pitch axis, that is, the inner frame motor drives the optical axis of the photoelectric load to move in the pitch direction; the inner frame load is installed and fixed on the middle frame, and the rotation axis driven by the middle frame motor corresponds to the roll axis; the outermost layer is the motor of the outer frame, and the rotation axis driven by the outer frame motor corresponds to the azimuth axis, that is, the outer frame motor drives the inner frame load and the middle frame to move in azimuth. The stable platform adopts the direct drive mode of brushless DC motor. The direct drive form can ensure good structural rigidity. At the same time, compared with other transmission modes such as connecting rods and gears, it has the characteristics of no backlash and high transmission efficiency. At the same time, it cooperates with the angle measurement sensor to meet the control requirements of the angular position closed loop.

[0085] The control circuit of the stable platform mainly includes modules such as sensor data acquisition, control strategy and solution, controller algorithm implementation, and servo motor drive, which ultimately controls the movement of the platform frame to complete system functions such as image stabilization, tracking, and guidance information output.

[0086] A three-axis mechanical gyroscope is used for image stabilization. The unbalanced torque, lead resistance torque, friction torque, inertia load torque and angle sensor torque of the pitch motor, roll motor and azimuth motor are designed and calculated to determine the required micro-motor parameters. Then, the rate gyroscope is selected in combination with the maximum angular velocity of the flapping-wing flying robot and the maximum tracking angular velocity of each channel. Finally, the controller is designed, including a preset loop, a stabilization loop and an angular tracking loop.

[0087] The main function of the preset loop is to realize the optical axis electric lock. The preset loop is a typical position control system, which consists of a controller, a follow-up platform and an angle sensor. The design block diagram is as follows: Figure 7 shown.

[0088] The digital value u corresponding to the preset angle command p Add to the preset loop input terminal, and convert the digital quantity u p The resolver signal reflects the actual angular position of the optical axis Subtract the error signal. The controller calculates the control signal from the error and sends it to the control end of the servo system. The servo system rotates at a specified speed until the angular error is zero.

[0089] The pod is in electric lock state by default when it is powered on.

[0090] The stabilization loop is used to eliminate the influence of the body disturbance on the pod optical axis coupling. Under normal circumstances, the body's attitude angular velocity is no more than 60° / s and the frequency is less than 5Hz. In order for the pod attitude angle to be able to isolate such a disturbance spectrum, the stabilization loop must have sufficient bandwidth.

[0091] The most widely used rate gyro stabilization scheme is adopted here, such as Figure 8 shown.

[0092] Depend on Figure 8 It can be seen that the angular velocity of the body disturbance is transmitted to the pod through friction and measured by the rate gyro. The controller outputs a control instruction to the follow-up system based on the difference between the velocity input and the rate gyro measurement value, driving the optical axis to rotate rapidly in the opposite direction of the disturbance, thereby striving to minimize the angular velocity of the optical axis in space.

[0093] The tracking loop is designed to make the pod's optical axis automatically track the target in angle, so that the pod can continuously receive target signals, while having the required decoupling capability for body disturbances and outputting line of sight angle and line of sight angular velocity information that meets accuracy requirements.

[0094] The angle tracking circuit is composed of an angle measuring device and an optical axis stabilization circuit. The stabilization circuit isolates the disturbance motion of the machine body; the angle measuring device measures the angular deviation between the target sight angle and the optical axis, amplifies it and sends it to the stabilization circuit, so that the optical axis moves in the direction of reducing the angular deviation, thus realizing automatic angle tracking. Fig. 9 This is the principle block diagram of the line of sight angle tracking loop.

[0095] like Fig.10 This is a typical mission profile for a flapping-wing flying robot equipped with a dual-light pod reconnaissance system to perform a reconnaissance mission. The specific steps are as follows:

[0096] (1) When the flapping-wing flying robot is at maximum power, it is manually thrown to take off and accelerates to the climbing speed;

[0097] (2) Ascend to the cruising altitude at maximum power in the shortest possible time;

[0098] (3) Cruising at a long-distance cruising speed or a long-distance cruising speed;

[0099] (4) Transition to mission altitude according to reconnaissance mission requirements;

[0100] (5) To meet the minimum power requirement for level flight and for mission flight;

[0101] (6) Exit the mission and transition to the return altitude;

[0102] (7) Return at long-distance cruising speed or long-distance cruising speed;

[0103] (8) Arrive above the recovery point, adjust flight speed and attitude to prepare for descent;

[0104] (9) Low-speed belly landing and manual recovery.

[0105] The flapping-wing flying robot uses the short-focus visible light camera of the dual-light pod to search for targets of interest. After determining the target, it switches to the long-focus visible light camera and then locks the target area. The combination of the two can achieve precise search. At the same time, the onboard algorithm processing board is used to detect, identify, lock, and track the target to achieve target classification and conduct more intelligent reconnaissance.

[0106] like Fig.11 , Fig.12 As shown, it is a schematic diagram of a flapping-wing flying robot using a short-focus camera and a long-focus camera to perform reconnaissance tasks, and detect, identify, lock, track and locate vehicle targets.

[0107] like Fig.13As shown in the figure, when flapping-wing flying robots conduct cluster reconnaissance, the real-time target positioning function of the dual-optical pod is used to integrate the positioning of the target by multiple robots. The positioning data of the same target is converted into each robot's body coordinate system and then transmitted to the ground integrated control terminal to carry out target guidance and direct missiles and other weapons and equipment to carry out precise strikes.

[0108] In summary, the flapping-wing aircraft reconnaissance system provided in the present application adopts a lightweight dual-light pod, which reduces the load weight of the flapping-wing flying robot while enhancing the reconnaissance capability compared to traditional pods; adopts a three-axis pod that adapts to the movement form of the flapping-wing flying robot, which greatly improves the jitter of the reconnaissance video of the flapping-wing flying robot during flight; adopts a pod reconnaissance system that combines long and short focal lengths to improve the precise search capability; integrates airborne target detection, recognition, tracking and other algorithms, which solves the problem that small flapping-wing flying robots cannot perform real-time processing of airborne reconnaissance videos; adopts a cluster reconnaissance method to improve target positioning accuracy, which can achieve precise target positioning and collaborative reconnaissance capabilities.

[0109] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0110] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0111] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A flapping-wing aircraft reconnaissance system, characterized in that: It includes several flapping-wing aircrafts, each of which is equipped with a dual-optical pod and an onboard algorithm processing board; the dual-optical pod includes an optoelectronic payload and a three-axis stable platform; The optoelectronic payload includes a long-focus visible light camera and a short-focus visible light camera, wherein the short-focus visible light camera is used to perform a rough search of a wide field of view to determine a target range to be detected, and the long-focus visible light camera is used to perform a precise search of a narrow field of view within the target range to obtain a video to be processed; The three-axis stable platform is connected to the photoelectric load and the flapping-wing aircraft respectively, and the three-axis stable platform is used to drive the photoelectric load to move by a brushless DC motor direct drive to eliminate the jitter in the three directions of azimuth, pitch and roll; The onboard algorithm processing board is used to perform online processing of at least target detection, target recognition, target locking, target tracking and target positioning on the video to be processed.

2. The flapping-wing aircraft reconnaissance system according to claim 1, characterized in that: The three-axis stable platform drives the photoelectric payload to move in the following three directions: azimuth, pitch and roll: Yaw angle: -90°~+90°, pitch angle: -120°~+30°, roll angle: -60°~+60°.

3. The flapping-wing aircraft reconnaissance system according to claim 1, characterized in that: The optoelectronic payload also includes a shell, the long-focus visible light camera and the short-focus visible light camera are both connected to the shell, and the shell is connected to the three-axis stable platform.

4. The flapping-wing aircraft reconnaissance system according to claim 3, characterized in that: The three-axis stabilized platform includes an inner frame, a middle frame and an outer frame, the inner frame includes a C-shaped structure, the shell is connected to the inner frame through a first rotating shaft, the inner frame is provided with a first brushless DC motor connected to the first rotating shaft, the first brushless DC motor is used to drive the photoelectric load to achieve pitch direction movement adjustment; the middle frame is connected to the inner frame through a second brushless DC motor, the second brushless DC motor is used to drive the photoelectric load and the inner frame to achieve roll direction movement adjustment; the middle frame is connected to the outer frame through a third brushless DC motor, the third brushless DC motor is used to drive the photoelectric load, the inner frame and the middle frame to achieve azimuth direction movement adjustment; the top of the outer frame is used to be connected to the flapping-wing aircraft.

5. The flapping-wing aircraft reconnaissance system according to claim 4, characterized in that: The outer frame is connected to the flapping-wing aircraft through a vertical floating mechanism.

6. The flapping-wing aircraft reconnaissance system according to claim 1, characterized in that: The three-axis stabilized platform is also connected to a controller, which includes a preset loop, a stabilization loop and an angle tracking loop; the preset loop is used to realize the electric locking function control of the dual-optical pod; the stabilization loop is used to eliminate the influence of the body disturbance on the pod optical axis coupling; the angle tracking loop is used to realize automatic angle tracking.

7. The flapping-wing aircraft reconnaissance system according to claim 6, characterized in that: The preset circuit realizes the electric lock function control of the dual light pod by performing the following operations: The preset loop input terminal receives the digital value u corresponding to the preset angle instruction p ; The digital quantity u p The resolver signal reflects the actual angular position of the optical axis Subtract and get the error signal; The controller calculates a control signal from the error signal and sends the control signal to the control end of the three-axis stable platform. The three-axis stable platform rotates at a specified speed until the angular error is zero.

8. The flapping-wing aircraft reconnaissance system according to claim 6, characterized in that: The stabilization loop eliminates the influence of the body disturbance on the pod optical axis coupling by performing the following operations: The controller outputs a control instruction to the control end of the three-axis stabilized platform according to the difference between the velocity input and the rate gyro measurement value, driving the optical axis to rotate in the opposite direction of the disturbance, so as to minimize the angular velocity of the optical axis in space.

9. The flapping-wing aircraft reconnaissance system according to claim 6, characterized in that: The angle tracking circuit includes an angle measuring device and an optical axis stabilization circuit. The angle tracking circuit realizes automatic angle tracking by performing the following operations: The optical axis stabilization circuit is used to achieve isolation of the disturbing motion of the body; The angle measuring device is used to measure the angular deviation between the target sight angle and the optical axis, and amplify it and send it to the optical axis stabilization circuit, so that the optical axis moves in the direction of reducing the angular deviation, thereby realizing automatic angle tracking.

10. The flapping-wing aircraft reconnaissance system according to claim 1, characterized in that: A plurality of the flapping-wing aircraft and the ground integrated control terminal are all equipped with a self-organizing network module, and the flapping-wing aircraft and the ground integrated control terminal are both communicatively connected through the self-organizing network module; The onboard algorithm processing board included in each flapping-wing aircraft is also used to combine the videos to be processed acquired by other flapping-wing aircraft and the videos to be processed acquired by itself to perform fusion positioning of the target, and convert the positioning data of the same target into its own body coordinate system and then transmit it to the ground integrated control terminal through the self-organizing network module.

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