Device and method for measuring beyond visual range target

Abstract

The invention provides a device and a method for measuring a beyond-visual-range target, and belongs to the technical field of distance measurement. The objective of the invention is to solve the problem of large difficulty in beyond-visual-range target measurement. The device for measuring the beyond-visual-range target comprises a measuring end and a control end. The measuring end comprises an unmanned aerial vehicle platform and a photoelectric pod. The photoelectric pod is arranged on the unmanned aerial vehicle platform and electrically connected with the unmanned aerial vehicle platform. The photoelectric pod is used for obtaining the image and distance information of the target object and transmitting the image and distance information to the unmanned aerial vehicle platform. The control end is in signal connection with the unmanned aerial vehicle platform. The control end is used for controlling the operation states of the unmanned aerial vehicle platform and the photoelectric pod. The unmanned aerial vehicle platform can transmit the image and distance information of the target object to the control end. According to the beyond-visual-range target measuring device and method, the distance of the target object can be measured across obstacles and beyond the visual range, the operation difficulty is reduced, and an operator is prevented from being located in a dangerous area.

Description

Technical Field

[0001] The invention belongs to the technical field of distance measurement, and in particular relates to a device and method for measuring a beyond-horizon target. Background Art

[0002] In the fields of military, exploration, mapping, blasting, etc., in order to achieve accurate positioning of the target, it is often necessary to measure the distance to the target. For example, in the military field, various artillery such as single-soldier rocket launchers and recoilless rocket launchers are widely deployed and used. When using artillery to damage the target, it is necessary to measure the distance to the target, which is related to parameters such as the adjustment of the artillery firing angle. At present, for visible targets, telescopes, night vision devices, infrared measuring instruments, etc. are usually used in conjunction with laser ranging to achieve the measurement of the target. However, for targets beyond visual range (not within the visible range or blocked by obstacles), detours, climbing, etc. are used to achieve visualization with the target, and then the measurement of the target is achieved. This method not only makes the operation of the operator difficult, but also easily puts the operator in a dangerous area. Summary of the invention

[0003] Therefore, the technical problem to be solved by the present invention is to provide a device and method for measuring beyond-visual-range targets, which can measure the distance of the target object beyond visual-range across obstacles, reduce the difficulty of operation, and avoid operators being in dangerous areas.

[0004] In order to solve the above problems, the present invention provides a beyond-visual-range target measurement device, comprising: a measurement end and a control end. The measurement end includes an unmanned aerial vehicle platform and an optoelectronic pod. The optoelectronic pod is arranged on the unmanned aerial vehicle platform and is electrically connected to the unmanned aerial vehicle platform. The optoelectronic pod is used to obtain the image and distance information of the target object, and transmit the image and distance information to the unmanned aerial vehicle platform. The control end is connected to the unmanned aerial vehicle platform by signal. The control end is used to control the operating status of the unmanned aerial vehicle platform and the optoelectronic pod. The unmanned aerial vehicle platform can transmit the image and distance information of the target object to the control end.

[0005] Optionally, the UAV platform includes: a UAV body, an image transmission module and an avionics module. The UAV body includes a frame and a plurality of rotors. The plurality of rotors are arranged on the frame. The image transmission module is arranged in the frame. The image transmission module is used to transmit control signals and image and distance information. The avionics module is arranged in the frame. The avionics module is respectively connected to the rotors, the image transmission module and the optoelectronic pod.

[0006] Optionally, the drone platform further includes: a first differential GPS module, an altimeter and an electronic compass. The first differential GPS module is arranged on the rack. The first differential GPS module is used to locate and navigate the drone platform. The altimeter is arranged at the bottom of the rack. The altimeter is used to obtain the altitude information of the drone platform. The electronic compass is arranged at the top of the rack. The electronic compass is used to obtain the position coordinates of the drone platform.

[0007] Optionally, the optoelectronic pod includes: a servo system, a lens module, a data transmission module and a control circuit board. The servo system is used to control the up and down rotation and left and right rotation of the optoelectronic pod. The lens module is used to obtain the image and distance information of the target object. The data transmission module is used to transmit signals with the drone platform. The control circuit board is respectively connected to the servo system, the lens module and the data transmission module.

[0008] Optionally, the lens module includes: an infrared lens, a wide-angle white low-light lens, a telephoto white low-light lens and a laser ranging lens. The infrared lens is used to detect and sense infrared characteristic targets. The wide-angle white low-light lens is used to detect and sense targets within a wide range. The telephoto white low-light lens is used to detect and sense targets in a local area. The laser ranging lens is used to measure the distance of the target.

[0009] Optionally, the control end includes: an operation console and visual glasses. The operation console is wirelessly connected to the UAV platform. The operation console is used to control the operating status of the UAV platform and the optoelectronic pod, and to obtain the image and position information of the target object. The visual glasses are connected to the operation console. The visual glasses are used to display the flight trajectory of the UAV platform, the image of the target object and the distance information.

[0010] Optionally, the operating console includes a remote control tablet computer. The remote control tablet computer includes: a measuring end transceiver antenna, a second differential GPS module, a control joystick, control buttons and a touch screen. The measuring end transceiver antenna is used to transmit signals with the drone platform. The second differential GPS module is used to obtain the location information of the drone platform. The control joystick is used to control the flight status of the drone platform and the pitch and azimuth rotation of the optoelectronic pod. The control buttons are used to control the optoelectronic pod to take pictures and measure, and to realize the one-key return function of the drone platform. The touch screen is used to display the flight trajectory of the drone platform and the image and distance information of the target object. The touch screen supports multi-touch.

[0011] Optionally, the visual glasses include: a glasses frame, a data transmission module, a three-axis sensor and a lens module. The glasses frame is used to be worn on the operator's head. The data transmission module is arranged on the glasses frame. The data transmission module is used to transmit data with the operating console. The three-axis sensor is arranged on the upper part of the glasses frame. The three-axis sensor is used to monitor the pitch angle, azimuth angle of the glasses relative to the ground plane and the rotation speed of the operator's head to control the synchronous rotation of the optoelectronic pod. The lens module is arranged on the glasses frame. The lens module includes an optical waveguide display imaging system and an objective lens system. The lens module can display the flight trajectory of the drone platform and the image and distance information of the target object in front of the operator's eyes.

[0012] The present invention also provides a method for measuring a beyond-horizon target, the method comprising the following steps: Use the drone platform to drive the optoelectronic pod into the air to search for the target; Obtain the distance L1 between the target and the optoelectronic pod, the pitch angle θ1 and the azimuth angle β1 of the optoelectronic pod; establish a camera coordinate system with the optoelectronic pod as the origin, and determine the position information of the target in the camera coordinate system; According to the height difference h between the optoelectronic pod and the UAV platform, the camera coordinate system is converted into the platform coordinate system with the UAV platform as the origin through coordinate transformation; According to the pitch angle θ2 and azimuth angle β2 of the UAV platform, the platform coordinate system is converted into the platform plane coordinate system through coordinate transformation; According to the distance x1 between the drone platform and the control end in the X-axis direction, the distance y1 in the Y-axis direction, and the distance z1 in the Z-axis direction, the platform plane coordinate system is converted into a site coordinate system with the control end as the origin through coordinate conversion; According to the position information of the target object in the site coordinate system, the distance L between the target object and the control end is calculated.

[0013] Optionally, the control end includes an operating console and visual glasses; the optoelectronic pod is driven into the air by the drone platform to search for the target object; including: The drone platform takes off and conducts autonomous search for the target; or, Control the UAV platform through the console and use the display screen on the console to manually search for the target; or The UAV platform is controlled through the operating console, and the images obtained by the optoelectronic pod are displayed using visual glasses to conduct manual search for the target object.

[0014] Beneficial Effects 1. The measuring device for over-the-horizon targets provided by the present invention includes a measuring end and a control end. The measuring end includes an unmanned aerial vehicle platform and an optoelectronic pod. By using the control end to control the unmanned aerial vehicle platform to drive the optoelectronic pod to take off, and by controlling the flight state of the unmanned aerial vehicle platform and the shooting angle of the optoelectronic pod through the control end, the target object that is not within the visible range or blocked by obstacles can be measured. In addition, the measuring device for over-the-horizon targets of the present invention can also measure dynamic targets. When the optoelectronic pod searches for a dynamic target, the unmanned aerial vehicle platform can be used to drive the optoelectronic pod to move and track it in real time to achieve real-time measurement of the distance of the dynamic target. The measuring device for over-the-horizon targets of the present invention can also achieve blind detection of the target, that is, when the specific position of the target is unknown or even when it is uncertain whether the target exists, the optoelectronic pod can be used to search for features of the target first, and when a target that meets the features is found, the measurement can be performed. In addition, the measuring device for over-the-horizon targets of the present invention can also measure multiple targets. When there are multiple targets in the field of view of the optoelectronic pod, the multiple targets can be measured separately.

[0015] 2. The method for measuring beyond-visual-range targets provided by the present invention utilizes the above-mentioned device for measuring beyond-visual-range targets, and can measure targets beyond visual range (not within the visible range or blocked by obstacles), and can also realize target search, real-time tracking and measurement of dynamic targets, and separate distance measurement of multiple targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a device for measuring a beyond-horizon target according to an embodiment of the present invention; Figure 2 A schematic diagram of the working principle of a device for measuring a beyond-horizon target according to an embodiment of the present invention; Figure 3 A schematic diagram of a measuring end of an embodiment provided by the present invention; Figure 4 A schematic diagram of a control terminal according to an embodiment of the present invention; Figure 5 A flow chart of a method for measuring a beyond-horizon target according to an embodiment of the present invention; Figure 6 A flow chart of a method for measuring a beyond-horizon target according to another embodiment of the present invention.

[0017] The reference numerals are as follows: 1. Measurement end; 2. Control end; 3. Target object; 4. Obstacle; 11. UAV platform; 12. Optoelectronic pod; 21. Operation table; 22. Visual glasses; 111, frame; 112, rotor; 113, image transmission module; 114, avionics module; 121. Infrared lens; 122. Wide-angle white low-light lens; 123. Telephoto white low-light lens; 124. Laser ranging lens; 211. Control joystick; 212. Control buttons; 213. Touch display screen. DETAILED DESCRIPTION

[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0019] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0022] In a first aspect, this embodiment provides a device for measuring a beyond-horizon target. Figure 1 A schematic diagram of a beyond-horizon target measurement device provided in this embodiment. Figure 2 A schematic diagram of the working principle of a beyond-horizon target measurement device provided in this embodiment.

[0023] like Figure 1 and Figure 2 As shown, the measuring device of the beyond-visual-range target of this embodiment includes: a measuring end 1 and a control end 2. The measuring end 1 includes an unmanned aerial vehicle platform 11 and an optoelectronic pod 12. The optoelectronic pod 12 is arranged on the unmanned aerial vehicle platform 11 and is electrically connected to the unmanned aerial vehicle platform 11. The optoelectronic pod 12 is used to obtain the image and distance information of the target object 3, and transmit the image and distance information to the unmanned aerial vehicle platform 11. The control end 2 is connected to the unmanned aerial vehicle platform 11 by signal. The control end 2 is used to control the operating status of the unmanned aerial vehicle platform 11 and the optoelectronic pod 12. The unmanned aerial vehicle platform 11 can transmit the image and distance information of the target object 3 to the control end 2.

[0024] The flight time and carrying capacity of the UAV platform 11 of this embodiment can be designed according to actual needs, and this embodiment does not impose too many restrictions on this.

[0025] The optoelectronic pod 12 of this embodiment is an important component of the UAV system, integrating a variety of high-precision sensors and processing technologies, providing the UAV with powerful reconnaissance, monitoring and positioning capabilities. The optoelectronic pod 12 of this embodiment mainly includes an imaging module, a zoom and focus module, a stabilizing platform module, and a laser ranging and positioning module.

[0026] Among them, the imaging module is one of its core functions, which can include visible light imaging, infrared thermal imaging, multi-spectral imaging, etc. Visible light imaging uses a high-resolution camera to capture clear images of ground or air targets; infrared thermal imaging uses infrared radiation to detect the temperature distribution of the target to achieve hidden target discovery at night or in bad weather conditions; multi-spectral imaging uses spectral information in different bands to reveal the material composition and characteristics of the target. The combination of these imaging technologies can provide UAV systems with all-round and multi-angle observation capabilities.

[0027] The zoom and focus module is the key to ensure that the optoelectronic pod 12 can obtain clear images at different distances. Through the electrically or mechanically driven zoom lens, the focal length can be adjusted according to the distance of the target to achieve image magnification and reduction. The focusing technology ensures that the image remains clear at different focal lengths by accurately adjusting the distance between the lens and the imaging sensor. Modern optoelectronic pods 12 also often use autofocus technology, which automatically determines the best focus position through a built-in algorithm to improve shooting efficiency and imaging quality.

[0028] The stable platform module, the UAV platform 11 is often affected by various factors such as air flow disturbance and mechanical vibration during flight, which causes blur and jitter in the image acquired by the optoelectronic pod 12. The stable platform technology uses high-precision gyroscopes, accelerometers and other sensors to monitor the posture changes of the optoelectronic pod 12 in real time, and uses servo motors or magnetic levitation and other driving methods to dynamically compensate and stabilize the optoelectronic pod 12, ensuring that the imaging sensor always remains stable, thereby shooting clear and stable image videos.

[0029] The laser ranging and positioning module provides the optoelectronic pod 12 with accurate measurement and positioning capabilities. By emitting a laser beam to the target and measuring its reflection time or phase difference, the precise distance between the target and the optoelectronic pod 12 can be calculated. At the same time, combined with the attitude and position information of the optoelectronic pod 12, the target can be accurately positioned in three-dimensional space. This technology is of great significance in the fields of target tracking, terrain mapping, etc.

[0030] In order to improve the flexibility and maintainability of the optoelectronic pod 12, the optoelectronic pod 12 of this embodiment adopts an integrated and modular design, and integrates sensors, processors, communication modules, etc. with different functions in a compact cabin to achieve high functional concentration and collaborative work. At the same time, the modular design allows users to flexibly choose to configure different modules according to actual needs, and quickly complete the customization and upgrade of the optoelectronic pod 12. In addition, since the optoelectronic pod 12 of this embodiment needs to adapt to various complex and changeable environmental conditions, such as high temperature, low temperature, high humidity, sandstorms, etc. Therefore, the optoelectronic pod 12 of this embodiment adopts waterproof, dustproof, anti-corrosion and other processing processes, as well as high-temperature resistant, low-temperature resistant and other high-performance materials. At the same time, the interior of the optoelectronic pod 12 is also well designed for heat dissipation and heat preservation to ensure that each component can still work normally under extreme environments. The optoelectronic pod 12 of this embodiment also introduces control algorithms and artificial intelligence technologies to achieve intelligent management and optimized scheduling of the optoelectronic pod 12. For example, imaging parameters can be automatically adjusted and zoom strategies can be optimized according to target characteristics and mission requirements; flight trajectories and environmental changes can be predicted through machine learning algorithms, and stable platform parameters can be adjusted in advance to deal with potential disturbances; and the accuracy and reliability of laser ranging and positioning can be improved through big data analysis.

[0031] The measuring device for over-the-horizon targets of this embodiment includes a measuring end 1 and a control end 2. The measuring end 1 includes an unmanned aerial vehicle platform 11 and an optoelectronic pod 12. The control end 2 is used to control the unmanned aerial vehicle platform 11 to drive the optoelectronic pod 12 to take off, and the flight state of the unmanned aerial vehicle platform 11 and the shooting angle of the optoelectronic pod 12 are controlled by the control end 2, so that the target 3 that is not within the visual range or blocked by the obstacle 4 can be measured. In addition, the measuring device for over-the-horizon targets of the present invention can also measure dynamic targets. When the optoelectronic pod 12 searches for a dynamic target, the unmanned aerial vehicle platform 11 can be used to drive the optoelectronic pod 12 to move and track it in real time to achieve real-time measurement of the distance of the dynamic target. The measuring device for over-the-horizon targets of the present invention can also achieve blind detection of the target, that is, when the specific position of the target is unknown or even when it is uncertain whether the target exists, the optoelectronic pod 12 can be used to search for features of the target first, and when a target that meets the features is found, the measurement can be performed. In addition, the beyond-visual-range target measuring device of the present invention can also measure multiple targets. When there are multiple targets in the field of view of the optoelectronic pod 12, the multiple targets can be measured separately.

[0032] Figure 3 A schematic diagram of a measuring end 1 provided in this embodiment. In some embodiments, Figure 3 As shown, the UAV platform 11 includes: a UAV body, an image transmission module 113 and an avionics module 114. The UAV body includes a frame 111 and a plurality of rotors 112. The plurality of rotors 112 are arranged on the frame 111. The image transmission module 113 is arranged in the frame 111. The image transmission module 113 is used to transmit control signals and image and distance information. The avionics module 114 is arranged in the frame 111. The avionics module 114 is connected to the rotors 112, the image transmission module 113 and the optoelectronic pod 12 respectively.

[0033] The frame 111 structure of the drone body of this embodiment adopts high-strength carbon fiber one-piece molding technology. The carbon fiber material has a lighter weight and higher strength, which ensures the overall strength of the aircraft and has a certain toughness. The important connecting parts of the drone body are CNC-processed with aviation aluminum alloy, which not only ensures the structural strength but also controls the weight of the whole machine.

[0034] The drone platform 11 of this embodiment includes a plurality of rotors 112 disposed on a frame 111, and adopts the rotor 112 to fly, and can take off and land vertically by rotating the propellers, and can hover, and is flexible to operate. Figure 3 The UAV platform 11 of this embodiment adopts a conventional quad-rotor 112 configuration and has rapid assembly capabilities.

[0035] The avionics module 114 of this embodiment refers to the sum of the electronic systems on the UAV platform 11, and is composed of multiple systems such as communication, navigation, and display management.

[0036] The image transmission module 113 of this embodiment can transmit 1080P / 30Hz high-definition video signals, and can also transmit control signals of the UAV platform 11 and the optoelectronic pod 12.

[0037] The drone platform 11 of this embodiment includes a drone body, an image transmission module 113 and an avionics module 114. Through the cooperation of each module with the drone body, functions such as remote control flight, trajectory cruising, and fixed-point hovering can be realized.

[0038] In some embodiments, see Figure 3 The drone platform 11 further includes: a first differential GPS module, an altimeter and an electronic compass. The first differential GPS module is disposed on the rack 111. The first differential GPS module is used to locate and navigate the drone platform 11. The altimeter is disposed at the bottom of the rack 111. The altimeter is used to obtain the height information of the drone platform 11. The electronic compass is disposed at the top of the rack 111. The electronic compass is used to obtain the position coordinates of the drone platform 11.

[0039] The drone platform 11 of this embodiment also includes a first differential GPS module, an altimeter and an electronic compass. The altimeter uses a combination of laser ranging and air pressure measurement to achieve sub-meter-level accurate measurement of altitude. The electronic compass is located on the top of the drone platform 11 and is used to measure the high-precision position coordinates of the drone platform 11.

[0040] In some embodiments, see Figure 3 The optoelectronic pod 12 includes: a servo system, a lens module, a data transmission module and a control circuit board. The servo system is used to control the up and down rotation and left and right rotation of the optoelectronic pod 12. The lens module is used to obtain the image and distance information of the target object 3. The data transmission module is used to transmit signals with the drone platform 11. The control circuit board is respectively connected to the servo system, the lens module and the data transmission module.

[0041] The photoelectric pod 12 of this embodiment includes two sets of servo systems, one set is used to control the up and down rotation of the photoelectric pod 12, and the other set is used to control the left and right rotation of the photoelectric pod 12. Such a configuration can make the control of the photoelectric pod 12 more flexible and convenient. The servo system of this embodiment can not only control the up and down and left and right rotation of the photoelectric pod 12 with high precision, but also can feedback the rotation angle.

[0042] The optoelectronic pod 12 of this embodiment includes a servo system, a lens module, a data transmission module and a control circuit board. The data transmission module can transmit the received control signal to the control circuit board. The control circuit board controls the servo system to adjust the detection angle of the optoelectronic pod 12 according to the received control signal, and controls the lens module to collect information on the target object 3. The data transmission module can also transmit the collected information of the target object 3 to the drone platform so that the control end can obtain the image and distance information of the target object.

[0043] In some embodiments, Figure 3 As shown, the lens module includes: an infrared lens 121, a wide-angle white low-light lens 122, a telephoto white low-light lens 123 and a laser ranging lens 124. The infrared lens 121 is used to detect and sense the infrared characteristic target 3. The wide-angle white low-light lens 122 is used to detect and sense the target 3 within a wide range. The telephoto white low-light lens 123 is used to detect and sense the target 3 in a local area. The laser ranging lens 124 is used to measure the distance of the target 3.

[0044] The lens module of this embodiment includes an infrared lens 121, a wide-angle white low-light lens 122, a telephoto white low-light lens 123 and a laser rangefinder lens 124. The infrared lens 121 facilitates the detection of targets with infrared characteristics. The white low-light lens includes two groups, wide-angle and telephoto, of which the wide-angle white low-light lens 122 is used for the detection and perception of large targets in a wide area, and the telephoto white low-light lens 123 is used for the detection and perception of small targets in a local area. The laser rangefinder lens 124 uses a high-precision sensor to achieve millimeter-level target measurement and minimize the error caused by the measurement.

[0045] Figure 4 A schematic diagram of a control terminal 2 provided in this embodiment. In some embodiments, Figure 4 As shown, the control end 2 includes: an operation console 21 and visual glasses 22. The operation console 21 is wirelessly connected to the UAV platform 11. The operation console 21 is used to control the operating status of the UAV platform 11 and the optoelectronic pod 12, and to obtain the image and position information of the target object 3. The visual glasses 22 are connected to the operation console 21. The visual glasses 22 are used to display the flight trajectory of the UAV platform 11, the image of the target object, and the distance information.

[0046] The control end 2 of this embodiment includes an operating table 21 and visual glasses 22. By using the operating table 21 and the visual glasses 22 together, at night, the operator can wear the visual glasses 22 to operate, and the image obtained by the optoelectronic pod 12 can be transmitted to the visual glasses 22. The operating table 21 can be in a screen-off state, which can effectively avoid light source leakage, expose the operator's position, and realize stealth measurement.

[0047] In some embodiments, Figure 4As shown, the operating console 21 includes a remote control tablet computer. The remote control tablet computer includes: a measuring end transceiver antenna, a second differential GPS module, a control joystick 211, a control button 212 and a touch screen 213. The measuring end transceiver antenna is used to transmit signals with the drone platform 11. The second differential GPS module is used to obtain the location information of the drone platform 11. The control joystick 211 is used to control the flight state of the drone platform 11 and the pitch and azimuth rotation of the optoelectronic pod 12. The control button 212 is used to control the optoelectronic pod 12 to take pictures and measure, and to realize the one-key return function of the drone platform 11. The touch screen 213 is used to display the flight trajectory of the drone platform 11 and the image and distance information of the target object 3. The touch screen 213 supports multi-touch.

[0048] The remote control tablet computer of this embodiment includes three sets of control joysticks 211 and several buttons 212. The three sets of control joysticks 211 respectively control the ascent and descent of the drone platform 11, the front, back, left, and right movement directions of the drone platform 11, and the pitch and azimuth rotation of the optoelectronic pod 12. The several buttons 212 are respectively used for functions such as taking pictures, measuring, and one-key return. The second differential GPS module is combined with the first differential GPS module to achieve millimeter-level positioning of the air-side drone platform 11. The touch display screen 213 is a capacitive high-definition display that supports multi-touch.

[0049] The operating console 21 of the present embodiment adopts a remote-controlled tablet computer, which is small in size and easy to carry, and has a sufficiently large display screen that can display the image and location information of the target object 3 and the flight path of the drone platform 11.

[0050] In some embodiments, see Figure 4 The visual glasses 22 include: a glasses frame, a data transmission module, a three-axis sensor and a lens module. The glasses frame is used to be worn on the operator's head. The data transmission module is arranged on the glasses frame. The data transmission module is used to transmit data with the operating console 21. The three-axis sensor is arranged on the upper part of the glasses frame. The three-axis sensor is used to monitor the pitch angle, azimuth angle of the visual glasses 22 relative to the ground plane and the rotation speed of the operator's head to control the synchronous rotation of the optoelectronic pod 12. The lens module is arranged on the glasses frame. The lens module includes an optical waveguide display imaging system and an objective lens system. The lens module can display the flight trajectory of the drone platform 11 and the image and distance information of the target object 3 in front of the operator's eyes.

[0051] The visual glasses 22 of this embodiment include a glasses frame, a data transmission module, a three-axis sensor and a lens module. The lens module includes an optical waveguide display imaging system and an objective lens system. The three-axis sensor is placed on the upper part of the glasses frame, and can monitor the pitch angle, azimuth angle, rotation speed of the head and other data of the glasses frame relative to the ground plane in real time. Then, the three-axis sensor on the visual glasses can be used to control the photoelectric pod 12. For example, when the head turns to the left, the photoelectric pod 12 also keeps turning to the left at the same frequency. When the person lowers his head, the photoelectric pod 12 also turns downward. Furthermore, when the visual glasses 22 are used to control the rotation of the photoelectric pod 12, there is no influence on the motion trajectory of the drone platform 11.

[0052] The above is an introduction to the measuring device of the beyond-visual-range target of this embodiment. The measuring device of this embodiment includes an unmanned aerial vehicle platform 11, an optoelectronic pod 12, an operating table 21 and visual glasses 22. The optoelectronic pod 12 is installed at the bottom of the unmanned aerial vehicle platform 11 by screws, and transmits data and obtains power with the unmanned aerial vehicle platform 11 through a wired connection. The operating table 21 includes a remote control tablet computer, which is wirelessly connected to the unmanned aerial vehicle platform 11, and the remote control tablet computer is used to control the operating state of the unmanned aerial vehicle platform 11. The three groups of control joysticks 211 on the remote control tablet computer respectively control the up and down movement, front and back left and right movement of the unmanned aerial vehicle platform 11 and the up and down left and right rotation of the optoelectronic pod 12. The control buttons 212 on the remote control tablet computer control the one-button takeoff, landing, hovering, fixed trajectory cruise, etc. of the unmanned aerial vehicle platform 11. The touch screen 213 on the remote control tablet computer can display the flight trajectory of the unmanned aerial vehicle platform 11, and the image and target information detected by the optoelectronic pod 12 can also be displayed by touching the screen to switch the screen. At the same time, the motion trajectory of the unmanned aerial vehicle platform 1 can be planned by the remote control tablet computer. The visual glasses 22 are connected to the remote control tablet computer via a wire. The visual glasses 22 are used to display the flight trajectory of the UAV platform 11, the image detected by the optoelectronic pod 12, and the target distance information. At the same time, the rotation of the optoelectronic pod can be controlled by a three-axis sensor.

[0053] In a second aspect, this embodiment further provides a method for measuring a beyond-visual-range target, using the device for measuring a beyond-visual-range target in the above embodiment. Figure 5 A flow chart of a method for measuring a beyond-horizon target provided in this embodiment.

[0054] like Figure 5 As shown, the method for measuring a beyond-horizon target in this embodiment includes the following steps: S1. Using the UAV platform 11 to drive the optoelectronic pod 12 into the air to search for the target object 3; S2. Obtain the distance L1 between the target object 3 and the optoelectronic pod 12, the pitch angle θ1 and the azimuth angle β1 of the optoelectronic pod 12; establish a camera coordinate system with the optoelectronic pod 12 as the origin, and determine the position information of the target object 3 in the camera coordinate system; Specifically, according to the distance L1 between the target object 3 and the optoelectronic pod 12 , the pitch angle θ1 and the azimuth angle β1 of the optoelectronic pod 12 , and in combination with trigonometric functions, the coordinate position information of the target object 3 in the camera coordinate system can be obtained.

[0055] S3. According to the height difference h between the optoelectronic pod 12 and the UAV platform 11, the camera coordinate system is converted into a platform coordinate system with the UAV platform as the origin through coordinate conversion; Specifically, coordinate transformation is a position description of a spatial entity, and is a process of transforming from one coordinate system to another. This is achieved by establishing a one-to-one correspondence between the two coordinate systems. For example, the height difference between the optoelectronic pod 12 and the drone platform 11 is h. Converting the camera coordinate system into a platform coordinate system with the drone platform as the origin is to translate the camera coordinate system in the height direction by h, so that the origin of the camera coordinate system overlaps with the origin of the drone platform, and is converted into the platform coordinate system. After converting the camera coordinate system into a platform coordinate system with the drone platform as the origin, the position information of the target object 3 in the camera coordinate system is also synchronously converted into the position information of the target object in the platform coordinate system.

[0056] S4. According to the pitch angle θ2 and azimuth angle β2 of the UAV platform 11, the platform coordinate system is converted into the platform plane coordinate system through coordinate conversion; Specifically, converting the platform coordinate system into the platform plane coordinate system is to rotate the platform coordinate system by an appropriate angle according to the pitch angle θ2 and the azimuth angle β2 of the drone platform 11, so that the xy plane of the platform coordinate system is parallel to the earth plane, and the z axis of the platform coordinate system is perpendicular to the earth plane. After converting the platform coordinate system into the platform plane coordinate system, the position information of the target object 3 in the platform coordinate system is also synchronously converted into the position information of the target object in the platform plane coordinate system.

[0057] S5. According to the distance x1 between the drone platform 11 and the control terminal 2 in the X-axis direction, the distance y1 in the Y-axis direction, and the distance z1 in the Z-axis direction, the platform plane coordinate system is converted into a site coordinate system with the control terminal as the origin through coordinate conversion; Specifically, according to the distance x1 between the drone platform 11 and the operating console 21 of the control end 2 in the X-axis direction, the distance y1 in the Y-axis direction, and the distance z1 in the Z-axis direction, the platform plane coordinate system is moved along each axis by a corresponding distance so that the origin of the platform plane coordinate system coincides with the origin of the control end, that is, the platform plane coordinate system is converted into a site coordinate system with the control end as the origin. After the platform plane coordinate system is converted into the site coordinate system with the control end as the origin, the position information of the target object 3 in the platform plane coordinate system is also synchronously converted into the position information of the target object in the site coordinate system.

[0058] S6. Calculate the distance L between the target object 3 and the control end according to the position information of the target object in the site coordinate system.

[0059] Specifically, the position information of the target object in the site coordinate system is the coordinates (x, y, z) of the target object 3 in the site coordinate system, then L 2 =x 2 +y 2 +z 2 .

[0060] The beyond-visual-range target measurement method of this embodiment utilizes the above-mentioned beyond-visual-range target measurement device, and can measure beyond-visual-range targets (not within the visible range or blocked by obstacles 4), and can also realize target object 3 search, real-time tracking measurement of dynamic targets 3, and separate distance measurement of multiple targets 3.

[0061] When the method of this embodiment is used to measure a target object 3 beyond visual range or blocked by an obstacle 4, the operator can wear visual glasses 22, use a remote control tablet computer to control the drone platform 11 to carry the optoelectronic pod 12 into the air, and conduct a search and detection within a certain range and degree until the target object 3 is found. At this time, the laser ranging lens 124 of the optoelectronic pod 12 is aimed at the target object 3, and the ranging control button 212 on the remote control tablet computer is pressed to achieve the distance measurement between the target object 3 and the measurer, which is simple and convenient.

[0062] Figure 6 Flow chart of another method for measuring a target beyond visual range provided in this embodiment. In some embodiments, the control terminal 2 includes an operating console 21 and visual glasses 22; Figure 6 As shown, S1. Using the UAV platform 11 to drive the optoelectronic pod 12 to fly to search for the target 3; including: S101. The drone platform 11 is launched to autonomously search for the target object 3; or, S102. Control the UAV platform 11 through the console 21, and use the display screen on the console 21 to manually search for the target object 3; or, S103. Control the UAV platform 11 through the operating console 21, and use the visual glasses 22 to display the image acquired by the optoelectronic pod 12 to perform manual search for the target object 3.

[0063] The optoelectronic pod 12 of this embodiment is provided with an infrared lens 121, a wide-angle white low-light lens 122, a telephoto white low-light lens 123 and a laser rangefinder lens 124. The infrared lens 121 facilitates the detection of targets with infrared characteristics. The white low-light lens includes two groups, wide-angle and telephoto, wherein the wide-angle white low-light lens 122 is used for the detection and perception of large targets in a wide area, and the telephoto white low-light lens 123 is used for the detection and perception of small targets in a local area. The laser rangefinder lens 124 uses a high-precision sensor, which can achieve millimeter-level target measurement and minimize the error caused by the measurement. Therefore, whether it is autonomous search by the drone or manual search through the display screen on the operating console 21, or manual search of the target by displaying the image obtained by the optoelectronic pod 12 using visual glasses 22, it can be applied to the search of targets at night, in large areas and small areas, and can also achieve dynamic tracking, and can measure multiple targets 3 in the detection area.

[0064] The method of searching the target object 3 in this embodiment includes autonomous search by drone, manual search through the display screen on the operating console 21, and manual search for the target object 3 by displaying the image acquired by the optoelectronic pod 12 using visual glasses 22. It is flexible and convenient to use, suitable for various occasions, and has a high degree of automation.

[0065] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0066] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present invention, and these improvements and variations should also be regarded as the protection scope of the present invention.

Claims

1. A device for measuring a target beyond visual range, characterized in that: include: The measurement end includes the UAV platform and the optoelectronic pod; The optoelectronic pod is disposed on the UAV platform and is electrically connected to the UAV platform; The optoelectronic pod is used to obtain the image and distance information of the target object, and transmit the image and distance information to the UAV platform; A control end is connected to the UAV platform by signal; the control end is used to control the operating status of the UAV platform and the optoelectronic pod; the UAV platform can transmit the image and distance information of the target object to the control end.

2. The device for measuring a target beyond visual range according to claim 1, characterized in that: The UAV platform includes: The drone body comprises a frame and a plurality of rotors; the plurality of rotors are arranged on the frame; An image transmission module is arranged in the frame; the image transmission module is used to transmit control signals and the image and distance information; An avionics module is arranged in the frame; the avionics module is respectively connected to the rotor, the image transmission module and the optoelectronic pod.

3. The device for measuring a target beyond visual range according to claim 2, characterized in that: The UAV platform also includes: A first differential GPS module is disposed on the frame; the first differential GPS module is used to locate and navigate the UAV platform; An altimeter, arranged at the bottom of the frame; the altimeter is used to obtain the altitude information of the UAV platform; An electronic compass is arranged on the top of the frame; the electronic compass is used to obtain the position coordinates of the UAV platform.

4. The device for measuring a target beyond visual range according to claim 1, characterized in that: The optoelectronic pod comprises: A servo system, used to control the up and down rotation and left and right rotation of the optoelectronic pod; A lens module, used to obtain the image and distance information of the target object; A data transmission module, used for signal transmission with the UAV platform; The control circuit board is respectively connected to the servo system, the lens module and the data transmission module.

5. The device for measuring a target beyond visual range according to claim 4, characterized in that: The lens module comprises: Infrared lens, used to detect and perceive infrared characteristic targets; Wide-angle white low-light lens, used for detection and perception of targets within a wide area; Long-focus white low-light lens, used for detecting and sensing targets in a local area; Laser rangefinder lens, used to measure the distance of the target object.

6. The device for measuring a target beyond visual range according to claim 1, characterized in that: The control terminal comprises: An operating console, wirelessly connected to the UAV platform; the operating console is used to control the operating status of the UAV platform and the optoelectronic pod, and to obtain the image and position information of the target object; Visual glasses are connected to the operating console; the visual glasses are used to display the flight trajectory of the UAV platform, the image of the target object and the distance information.

7. The device for measuring a target beyond visual range according to claim 6, characterized in that: The operating platform includes a remote control tablet computer; the remote control tablet computer includes: A measuring end transceiver antenna, used for signal transmission with the UAV platform; A second differential GPS module is used to obtain the location information of the UAV platform; A control stick, used to control the flight state of the UAV platform and the pitch and azimuth rotation of the optoelectronic pod; Control buttons, used to control the optoelectronic pod to take photos and measure, and to realize the one-key return function of the UAV platform; A touch screen is used to display the flight trajectory of the UAV platform and the image and distance information of the target object; the touch screen supports multi-touch.

8. The device for measuring a target beyond visual range according to claim 6, characterized in that: The visual glasses include: Glasses frame, used to be worn on the operator's head; A data transmission module is provided on the glasses frame; the data transmission module is used to transmit data with the operating table; A three-axis sensor is arranged on the upper part of the glasses frame; the three-axis sensor is used to monitor the pitch angle and azimuth angle of the glasses relative to the ground plane and the rotation speed of the operator's head, so as to control the synchronous rotation of the optoelectronic pod; A lens module is arranged on the eyeglass frame; the lens module includes an optical waveguide display imaging system and an objective lens system; the lens module can display the flight trajectory of the UAV platform and the image and distance information of the target object in front of the operator's eyes.

9. A method for measuring a target beyond visual range, characterized in that: The method comprises the following steps: Use the drone platform to drive the optoelectronic pod into the air to search for the target; Acquire the distance L1 between the target and the optoelectronic pod, the pitch angle θ1 and the azimuth angle β1 of the optoelectronic pod; establish a camera coordinate system with the optoelectronic pod as the origin, and determine the position information of the target in the camera coordinate system; According to the height difference h between the optoelectronic pod and the UAV platform, the camera coordinate system is converted into a platform coordinate system with the UAV platform as the origin through coordinate conversion; According to the pitch angle θ2 and the azimuth angle β2 of the UAV platform, the platform coordinate system is converted into a platform plane coordinate system through coordinate conversion; According to the distance x1 between the drone platform and the control end in the X-axis direction, the distance y1 in the Y-axis direction, and the distance z1 in the Z-axis direction, the platform plane coordinate system is converted into a site coordinate system with the control end as the origin through coordinate conversion; According to the position information of the target object in the site coordinate system, the distance L between the target object and the control end is calculated.

10. The method for measuring a beyond-horizon target according to claim 9, characterized in that: The control end includes an operating console and visual glasses; the use of the drone platform to drive the optoelectronic pod to fly to search for the target object includes: The UAV platform is launched into the air to autonomously search for the target object; or, Control the UAV platform through the operating console and use the display screen on the operating console to manually search for the target object; or, The UAV platform is controlled by the operating console, and the image acquired by the optoelectronic pod is displayed using the visual glasses to perform manual search for the target object.

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