Unmanned aerial vehicle-mounted small optical and electromagnetic fusion detection system

Abstract

The invention relates to the technical field of detection, in particular to an unmanned aerial vehicle-mounted small optical and electromagnetic fusion detection system. The embodiment of the invention provides an unmanned aerial vehicle-mounted small optical and electromagnetic fusion detection system, which comprises a shell, a control unit, an optical detection device and an electromagnetic detection device, the shell comprises a detection surface, the optical detection device and the electromagnetic detection device are installed in the shell, a lens of the optical detection device and the detection surface are coplanar, a window for light transmission is arranged at the position, corresponding to the optical detection device, of the detection surface, and an antenna of the electromagnetic detection device is installed on the detection surface and electrically connected with the electromagnetic detection device in the shell. And the control unit is connected with the shell and is used for controlling the pitch angles and azimuth angles of the shell and the optical detection device and the electromagnetic detection device in the shell. The embodiment of the invention provides an unmanned aerial vehicle-mounted small optical and electromagnetic fusion detection system which can realize photoelectric measurement and electromagnetic measurement.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a small optical and electromagnetic fusion detection system carried by an unmanned aerial vehicle. Background Art

[0002] Due to the limitations of weight, volume, heat dissipation and power supply on current domestic drone-mounted detection equipment, most conventional drone detection systems use optical (such as visible light, infrared and other optical detection payloads) or electromagnetic single measurement payloads, which cannot meet the current diversified needs for detection systems. Summary of the invention

[0003] The embodiment of the present invention provides a small optical and electromagnetic fusion detection system carried by an unmanned aerial vehicle, which can realize photoelectric measurement and electromagnetic measurement.

[0004] The embodiment of the present invention provides a small optical and electromagnetic fusion detection system onboard an unmanned aerial vehicle, including a housing, a control unit, a light detection device, and an electromagnetic detection device;

[0005] The shell includes a detection surface, the light detection device and the electromagnetic detection device are installed inside the shell, the lens of the light detection device is coplanar with the detection surface, and a window for light transmission is provided at a position of the detection surface corresponding to the light detection device. The antenna of the electromagnetic detection device is installed on the detection surface and is electrically connected to the electromagnetic detection device inside the shell. The control unit is connected to the shell and is used to control the pitch angle and azimuth angle of the shell and the light detection device and the electromagnetic detection device inside the shell.

[0006] In one possible design, the control unit includes a pitch control device and an azimuth device, the pitch device includes a fork-shaped body, and its two separate forks are respectively arranged on both sides of the shell through a pitch axis with a motor to control the pitch angle of the shell, and the azimuth device includes an azimuth axis with a motor, and the azimuth axis is rotatably connected to the ends of the two forks of the fork-shaped body.

[0007] In a possible design, the azimuth shaft is connected to the shock absorber via a flange.

[0008] In a possible design, the motor is a servo motor.

[0009] In a possible design, the shell includes a curved surface.

[0010] In a possible design, the optical detection device and the electromagnetic detection device are arranged along the protruding direction of the curved surface.

[0011] In a possible design, a signal processing board for receiving signals sent by the optical detection device and the electromagnetic detection device is also disposed in the housing.

[0012] In a possible design, the housing includes a heat dissipation surface, and a heat dissipation structure is arranged on the heat dissipation surface.

[0013] In a possible design, the shape of the heat dissipation surface is consistent with the shape of the heat-generating part inside it and is in close contact with it.

[0014] In a possible design, the heat dissipation surface is made of a material including aluminum alloy.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects:

[0016] The present invention realizes a small optical detection system based on an unmanned aerial vehicle platform that integrates optical detection capabilities and electromagnetic detection capabilities, effectively solving the problem of single detection means for optical detection payloads and electromagnetic detection payloads, and solving the problem of miniaturized optoelectronic fusion measurement on unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a perspective structural diagram of a small optical and electromagnetic fusion detection system onboard an unmanned aerial vehicle provided by an embodiment of the present invention;

[0019] Figure 2 It is a structural schematic diagram of a small optical and electromagnetic fusion detection system onboard an unmanned aerial vehicle provided by an embodiment of the present invention;

[0020] Figure 3 It is a schematic cross-sectional structure diagram of a small optical and electromagnetic fusion detection system onboard an unmanned aerial vehicle provided by an embodiment of the present invention;

[0021] Figure 4 It is a three-view size schematic diagram of a small optical and electromagnetic fusion detection system onboard an unmanned aerial vehicle provided by an embodiment of the present invention.

[0022] In the figure:

[0023] 1-shell; 11-detection surface; 12-curved surface; 13-heat dissipation surface; 2-light detection device; 3-electromagnetic detection device; 31-antenna; 4-fork-shaped body; 5-pitch axis; 6-azimuth axis; 7-shock absorber; 8-signal processing board; 9-servo control board; 10-gyroscope. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense, for example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In the description of this specification, it should be understood that the directional words such as "upper" and "lower" described in the embodiments of the present invention are described at the angles shown in the drawings and should not be understood as limiting the embodiments of the present invention. In addition, in the context, it should also be understood that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.

[0027] like Figures 1 to 4 As shown, an embodiment of the present invention provides a small optical and electromagnetic fusion detection system onboard an unmanned aerial vehicle, including a housing 1, a control unit, an optical detection device 2 and an electromagnetic detection device 3;

[0028] The shell 1 includes a detection surface 11, and the light detection device 2 and the electromagnetic detection device 3 are installed inside the shell 1. The lens of the light detection device 2 is coplanar with the detection surface 11, and windows for transmitting light are arranged at positions corresponding to the detection surface 11 and the light detection device 2. The antenna 31 of the electromagnetic detection device 3 is installed on the detection surface 11 and is electrically connected to the electromagnetic detection device 3 inside the shell 1. The control unit is connected to the shell 1 and is used to control the pitch angle and azimuth angle of the shell 1 and the light detection device 2 and the electromagnetic detection device 3 inside the shell 1.

[0029] In this embodiment, the optical detection device 2 and the electromagnetic detection device 3 are integrated inside the shell 1, so that the detection system has the ability of photoelectric detection. The lens and antenna 31 on the detection surface 11 are coaxial and have the same field of view. Both are arranged on the shell 1. The shell 1 can be adjusted by the control unit to achieve synchronous pitch angle and azimuth angle control of the two detection devices.

[0030] A gyroscope 10 is also disposed inside the housing 1 .

[0031] In some embodiments of the present invention, the control unit includes a pitch control device and an azimuth device, the pitch device includes a fork-shaped body 4, and its two separate forks are respectively arranged on both sides of the shell 1 through a pitch axis 5 with a motor to control the pitch angle of the shell 1, and the azimuth device includes an azimuth axis 6 with a motor, and the azimuth axis 6 is rotatably connected to the ends of the two forks of the fork-shaped body 4.

[0032] Goniometers are installed on the azimuth axis 6 and the pitch axis 5 for angle measurement. Limit pins are installed on the pitch motor side to achieve the angle limit of -20° to +110° (vertically downward is zero) in the platform pitch direction. Slip rings are installed on the azimuth axis 6 to achieve the angle requirement of 360°×n continuous rotation. The pitch frame consists of an inner pitch motor assembly, a pitch support ring and an angle measurement assembly.

[0033] In some embodiments of the present invention, the azimuth shaft 6 is connected to the shock absorber 7 via a flange.

[0034] In some embodiments of the present invention, the motor is a servo motor.

[0035] In order to effectively control the overall weight and volume of the equipment, the design adopts an integrated motor assembly. This product integrates the motor, encoder and drive into a unit, and can be configured with corresponding slip rings. It has high integration and small size, and is suitable for use in lightweight and miniaturized pods. The magnetic grating is replaced with an optical grating, and the positioning accuracy of the product is increased from ±0.1° to ±0.01°. Shock absorbers are installed on the 6th seat of the azimuth axis for vibration isolation between the pod and the aircraft to ensure the normal operation of the pod.

[0036] In some embodiments of the present invention, the housing 1 includes a curved surface 12 .

[0037] The housing 1 can be composed of three parts: front, middle and rear spherical shells. The front and rear spherical shells are supported on the fork through the middle spherical shell to form a spherical outer pitch frame. The sensor imaging window is installed on the detection surface 11 of the front spherical shell. The motor drives the pitch frame by driving the middle spherical shell.

[0038] The light detection device 2 may include a visible light detector and an infrared detector. The system selects small high-performance visible light and infrared detectors, designs a special optical lens according to the space conditions, and the front end of the lens is coplanar with the detection surface 11, thereby saving a lot of space while ensuring that the field of view is not affected. The housing 1 including the curved surface 12 has a large volume and occupies a small space. The curved surface 12 may be a part of a sphere.

[0039] In some embodiments of the present invention, the optical detection device 2 and the electromagnetic detection device 3 are arranged along the protruding direction of the curved surface 12 .

[0040] In some embodiments of the present invention, a signal processing board 8 for receiving signals sent by the optical detection device 2 and the electromagnetic detection device 3 is also disposed in the housing 1 .

[0041] A servo control board 9 is also designed inside the housing 1. By designing a small servo control board 9 and a signal processing board 8, a closed loop of system control and detection image processing functions is realized.

[0042] The servo control system of the servo motor uses the DSP+FPGA servo controller and the integrated motor kit as the control core. The integrated motor kit itself realizes the speed loop control. The DSP+FPGA servo controller exchanges information with the integrated motor once every 1ms through the serial port, obtains the motor code disk value information in real time, and makes the motor make corresponding position loop movement; in addition, by installing the speed measuring gyro 10, the motion speed information of the carrier in the inertial space can be measured. The servo control board 9 adopts the embedded technology based on DSP+FPGA, which effectively improves the performance and reliability. DSP realizes the servo control algorithm and path planning, FPGA is used as the external interface such as the code disk and serial port, DSP and FPGA are controlled by bus, and the controller communication interface has at least 5 standard serial ports to realize the stable control of the servo platform. The signal processing board 8 adopts the FPGA+GPU architecture, FPGA realizes the original image acquisition and forwarding, and GPU realizes information and image processing. By collecting miniSAR, long-wave infrared, and visible light video images, optical images and electrical measurement images are fused and processed to realize target detection, tracking, judgment and other services, solving the problem of insufficient probability of discovery of complex scenes by a single detector.

[0043] In some embodiments of the present invention, the housing 1 includes a heat dissipation surface 13 , and a heat dissipation structure is disposed on the heat dissipation surface 13 .

[0044] In some embodiments of the present invention, the shape of the heat dissipation surface 13 is consistent with the shape of the heat generating part inside the heat dissipation surface 13 and is in close contact with the heat generating part.

[0045] The heat generating part mainly includes the host heat dissipation surface 13 of the electromagnetic detection device 3minisar, and the host heat dissipation surface 13 can be attached to the heat dissipation surface 13 of the shell 1 through a thermal pad. The heat dissipation surface 13 of the shell 1 can be designed with multiple heat sinks to enhance heat dissipation.

[0046] In some embodiments of the present invention, the heat dissipation surface 13 is made of aluminum alloy, whose thermal conductivity is about 60-100 W / (m·k), which is better than steel and slightly lower than aluminum alloy.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A small optical and electromagnetic fusion detection system for unmanned aerial vehicles, characterized in that: It includes a housing, a control unit, a light detection device and an electromagnetic detection device; The shell includes a detection surface, the light detection device and the electromagnetic detection device are installed inside the shell, the lens of the light detection device is coplanar with the detection surface, and a window for light transmission is provided at a position of the detection surface corresponding to the light detection device. The antenna of the electromagnetic detection device is installed on the detection surface and is electrically connected to the electromagnetic detection device inside the shell. The control unit is connected to the shell and is used to control the pitch angle and azimuth angle of the shell and the light detection device and the electromagnetic detection device inside the shell.

2. The system according to claim 1, characterized in that The control unit includes a pitch control device and an azimuth device. The pitch device includes a fork-shaped body, and its two separate forks are respectively arranged on both sides of the shell through a pitch axis with a motor to control the pitch angle of the shell. The azimuth device includes an azimuth axis with a motor, and the azimuth axis is rotatably connected to the ends of the two forks of the fork-shaped body.

3. The system according to claim 2, characterized in that The azimuth shaft is connected to the shock absorber via a flange.

4. The system according to claim 2, characterized in that The motor is a servo motor.

5. The system according to claim 1, characterized in that The housing includes a curved surface.

6. The system according to claim 5, characterized in that The optical detection device and the electromagnetic detection device are arranged along the protruding direction of the curved surface.

7. The system according to claim 1, characterized in that A signal processing board for receiving signals sent by the optical detection device and the electromagnetic detection device is also arranged in the shell.

8. The system according to claim 1, characterized in that The housing comprises a heat dissipation surface, and a heat dissipation structure is arranged on the heat dissipation surface.

9. The system according to claim 8, characterized in that The shape of the heat dissipation surface is consistent with the shape of the heat generating part inside the heat dissipation surface and is in close contact with the heat generating part.

10. The system according to claim 8, characterized in that The heat dissipation surface is made of a material including aluminum alloy.

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