Low-altitude wide-area reconnaissance system based on multiple sensors and operation method thereof

Abstract

The invention relates to a low-altitude wide-area reconnaissance system based on multiple sensors, which comprises an aviation socket, a transverse rolling assembly, a vibration isolation assembly, a data processing module, a pitching assembly, an infrared thermal imager, a laser range finder and a control cabin assembly, the infrared thermal imagers and the laser range finder collect optical information in the using process and transmit the optical information to the data processing module, the number of the infrared thermal imagers is at least seven, the multiple infrared thermal imagers collect the optical information from different angles, in a word, the system can cover a ground area within a certain range, day-and-night all-day reconnaissance work is achieved, map matching is utilized, and the system can be widely applied to the field of reconnaissance. According to the invention, through means of intelligent target identification and laser ranging positioning, wide-area search and target detailed investigation can be rapidly and flexibly completed, rapid identification of a threat source can be completed, and the threat source can be fed back to a ground control center in real time.

Description

Technical Field

[0001] The present invention belongs to the technical field of photoelectric detection, and in particular relates to a multi-sensor based low-altitude wide-area reconnaissance system and an operation method thereof. Background Art

[0002] The present invention provides a multi-sensor based low-altitude wide-area reconnaissance system and an operation method thereof. The system is equipped with multiple infrared thermal imagers and a laser rangefinder, which can cover a certain range of ground areas and realize all-day reconnaissance work day and night. At the same time, it uses map matching, intelligent target recognition, laser ranging and positioning and other means to quickly and flexibly complete wide-area search and detailed target inspection, thereby solving the above-mentioned problems. Summary of the invention

[0003] The present invention provides a multi-sensor based low-altitude wide-area reconnaissance system and an operation method thereof, which can quickly identify threat sources and provide real-time feedback to a ground control center, thereby solving the current technical problems of limited lateral search areas for low, small and slow targets and difficulty in target identification.

[0004] In order to achieve the above technical objectives, the specific technical solutions adopted by the present invention are:

[0005] A multi-sensor based low-altitude wide-area reconnaissance system comprises an aviation socket, a roll assembly, a vibration isolation assembly, a data processing module, a pitch assembly, an infrared thermal imager, a laser rangefinder and a control cabin assembly. The pitch axis inside the pitch assembly and the roll axis in the roll assembly are perpendicular to each other. The infrared thermal imager and the laser rangefinder collect optical information during use and transmit it to the data processing module. There are at least seven infrared thermal imagers, and the multiple infrared thermal imagers collect optical information from different angles respectively.

[0006] Furthermore, it includes a reconnaissance body, a roll assembly is arranged at the front and rear ends of the reconnaissance body, a pitch assembly is arranged at the horizontal sides of the reconnaissance body, a vibration isolation assembly is arranged at the horizontal sides of the reconnaissance body, and is staggered with the pitch assembly in the horizontal direction, and an infrared thermal imager and a laser rangefinder are arranged at the bottom of the reconnaissance body.

[0007] Furthermore, there are four vibration isolation assemblies, and the two vibration isolation assemblies on the same side are respectively located at the front and rear sides of the pitch assembly on the same side. Seven infrared thermal imagers are arranged obliquely downward at the bottom of the reconnaissance body, and each infrared thermal imager can be adjusted at an angle. A laser rangefinder is arranged vertically downward at the bottom of the reconnaissance body, and the laser rangefinder and multiple infrared thermal imagers are distributed at intervals at the bottom of the reconnaissance body.

[0008] Furthermore, the infrared thermal imager includes an infrared thermal imager with an infrared focal length of 40 mm, four 45 mm infrared thermal imagers and two 60 mm infrared thermal imagers, all of which are placed forward.

[0009] Furthermore, the aviation socket includes a power interface and a data interface.

[0010] Furthermore, the roll assembly includes a roll frame, a roll axis system, a roll motor, a roll encoder and a system connector.

[0011] Furthermore, the pitch assembly includes a pitch frame, a pitch axis system, a pitch motor, a pitch encoder, a spherical cover shell and a light window.

[0012] Furthermore, the vibration isolation assembly includes an adapter plate and a vibration isolator. The adapter plate is located below the vibration isolator and fixes and supports the vibration isolator. The adapter plate is flange-connected to the machine body.

[0013] Furthermore, a load-bearing gyroscope and a control circuit board are provided in the control cabin assembly for sensor status control and external information exchange.

[0014] An operating method of a multi-sensor based low-altitude wide-area reconnaissance system comprises the following steps:

[0015] S1: The data processing module receives the airborne wide-area reconnaissance mission instructions and transmits them to the control cabin for command distribution;

[0016] S2: The roll component and the pitch component receive the control command to push-scan the lateral area of ​​-15° to +15°;

[0017] S3: Observe the real-time ground video and optimize and adjust the image attributes to match the current scene through black and white, contrast, brightness, etc.

[0018] S4: Combine GPS, IMU, field of view angle and frame angle information to match the acquired multiple infrared images with the information in the real map database to confirm the current reconnaissance area;

[0019] S5: The data processing module receives the target recognition instruction, performs intelligent detection and recognition on the current reconnaissance area, frames the recognized targets, and automatically generates target categories;

[0020] S6: Determine whether there is a required target in the multiple images; if so, switch to the tracking mode, track the required target, and locate the target in combination with the airborne latitude, longitude and height information to obtain the target's current position information;

[0021] S7: If there is no required target, return to step S4 to continue reconnaissance along the route.

[0022] By adopting the above technical solution, the present invention can also bring the following beneficial effects:

[0023] 1. The present invention provides a multi-sensor based low-altitude wide-area reconnaissance system and an operation method thereof. The data processing module receives the task instructions inputted by the data interface to the control cabin. The control cabin distributes the instructions to the sensor, the roll component and the pitch component according to the function. At the same time, the video and information sent back by each sensor are collected and reported to the data processing module. The data processing module performs intelligent identification according to the demand, integrates the information and outputs it to the airborne equipment through the data interface. It can cover a certain range of ground areas and realize reconnaissance work all day and night. It uses map matching, intelligent target identification, laser ranging and positioning and other means to quickly and flexibly complete wide-area search and detailed target inspection, can quickly identify the threat source, and provide real-time feedback to the ground control center. It is a highly flexible warning and defense system.

[0024] 2. The present invention provides a multi-sensor based low-altitude wide-area reconnaissance system and an operation method thereof, which can always maintain good effects in mission area terrains such as deserts, plateaus, and forests, and can realize large-scale day and night wide-area search, real-time map matching, and target intelligent identification and positioning functions, simplifying the user's search time for the mission area and improving the mission combat effectiveness. It also has the advantages of low cost, strong adaptability, strong immediacy, and high flexibility, and can capture high-threat, concealed ground combat vehicles and important facilities and other targets in real time, and then transmit the target location information to other aircraft and ground control centers in real time, providing strong support for subsequent control guidance, effectiveness evaluation and other decisions, and providing detailed intelligence information for combat commanders. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only 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.

[0026] Figure 1 Schematic diagram of the structure of a multi-sensor based low-altitude wide-area reconnaissance system in this embodiment;

[0027] Figure 2 A flowchart of an operation method of a multi-sensor based low-altitude wide-area reconnaissance system in this embodiment;

[0028] Figure 3 Schematic diagram of the video image coverage of a multi-sensor based low-altitude wide-area reconnaissance system in this embodiment;

[0029] Among them: 1. Aviation socket; 2. Roll assembly; 3. Vibration isolation assembly; 4. Data processing module; 5. Pitch assembly; 6. Infrared thermal imager; 7. Laser rangefinder; 8. Control cabin assembly. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0032] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present invention, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0033] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0034] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0035] Example 1

[0036] In one embodiment of the present invention, Figure 1 and Figure 2As shown, the present invention is a low-altitude wide-area reconnaissance system based on multiple sensors, which adopts a two-axis two-frame configuration, and the pitch axis and the roll axis are designed to be perpendicular. It includes an aviation socket 1, a roll component 2, a vibration isolation component 3, a data processing module 4, a pitch component 5, an infrared thermal imager 6, a laser rangefinder 7 and a control cabin component 8. The pitch axis inside the pitch component 5 and the roll axis in the roll component 2 are perpendicular to each other. The infrared thermal imager 6 and the laser rangefinder 7 collect optical information during use and transmit it to the data processing module 4. There are at least seven infrared thermal imagers 6, and the multiple infrared thermal imagers 6 collect optical information from different angles.

[0037] It also includes a reconnaissance body, a roll assembly 2 is arranged at the front and rear ends of the reconnaissance body, a pitch assembly 5 is arranged at the horizontal sides of the reconnaissance body, a vibration isolation assembly 3 is arranged at the horizontal sides of the reconnaissance body, and is staggered with the pitch assembly 5 in the horizontal direction, an infrared thermal imager 6 and a laser rangefinder 7 are arranged at the bottom of the reconnaissance body, and the aviation socket 1 includes a power interface and a data interface to realize the cross-linking of system power supply and airborne data.

[0038] The roll assembly 2 is mainly composed of a roll frame, a roll axis system, a roll motor, a roll encoder, a system connector, etc., which can realize the movement of the system in the roll direction. The pitch assembly 5 includes a pitch frame, a pitch axis system, a pitch motor, a pitch encoder, a ball cover shell, and a light window, which can realize the movement of the system in the pitch direction. The vibration isolation assembly 3 includes an adapter plate and a vibration isolator. It is docked with the mounting flange of the carrier aircraft, carrying the entire system, and under the action of the vibration isolator, the overall vibration isolation of the system is realized. The control cabin assembly 8 mainly carries the gyroscope and related circuit boards. It is the core of the system's internal task scheduling and is used for sensor status control and external information exchange.

[0039] The infrared thermal imager 6 converts the scene into a video signal through photoelectric conversion and transmits it through the video interface. It can optimize and improve the display quality of the current video image through functions such as black and white thermal polarity switching and barrier correction, and obtain more detailed information for observation and identification.

[0040] The laser rangefinder 7 can trigger laser ranging after the system finds a target, and calculate the target's position information (latitude and longitude) in real time according to the current attitude of the aircraft and the information of the positioning and attitude determination component, and report it to the data processing module 4.

[0041] During wide-area reconnaissance, the data processing module 4 receives the mission instructions input by the data interface and sends them to the control cabin. The control cabin distributes the instructions to the sensors, roll component 2 and pitch component 5 according to their functions, and collects the video and information sent back by each sensor and reports them to the data processing module 4. The data processing module 4 performs intelligent recognition according to the needs, integrates the information and outputs it to the airborne equipment through the data interface.

[0042] like Figure 3As shown, the operating method of the multi-sensor based low-altitude wide-area reconnaissance system of the present invention is:

[0043] S1: The data processing module 4 receives the airborne wide-area reconnaissance mission command and transmits it to the control cabin for command distribution;

[0044] S2: The roll component 2 and the pitch component 5 receive the control command to perform a push scan in the lateral area of ​​-15° to +15°;

[0045] S3: Observe the real-time ground video and optimize and adjust the image attributes to match the current scene through black and white, contrast, brightness, etc.

[0046] S4: Combine GPS, IMU, field of view angle and frame angle information to match the acquired multiple infrared images with the information in the real map database to confirm the current reconnaissance area;

[0047] S5: The data processing module 4 receives the target recognition instruction, performs intelligent detection and recognition on the current reconnaissance area, frames the recognized target, and automatically generates a target category;

[0048] S6: Determine whether there is a required target in the multiple images; if so, switch to the tracking mode, track the required target, and locate the target in combination with the airborne latitude, longitude and height information to obtain the target's current position information;

[0049] S7: If there is no required target, return to step S4 to continue reconnaissance along the route.

[0050] In short, the present invention can cover a certain range of ground areas, realize reconnaissance work all day and night, and use map matching, intelligent target recognition, laser ranging and positioning to quickly and flexibly complete wide-area search and detailed target investigation. It can quickly identify threat sources and provide real-time feedback to the ground control center.

[0051] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A multi-sensor based low-altitude wide-area reconnaissance system, characterized by: The invention comprises an aviation socket (1), a roll assembly (2), a vibration isolation assembly (3), a data processing module (4), a pitch assembly (5), an infrared thermal imager (6), a laser rangefinder (7) and a control cabin assembly (8); the pitch axis inside the pitch assembly (5) and the roll axis in the roll assembly (2) are perpendicular to each other; the infrared thermal imager (6) and the laser rangefinder (7) collect optical information during use and transmit it to the data processing module (4); there are at least seven infrared thermal imagers (6), and the plurality of infrared thermal imagers (6) collect optical information from different angles.

2. A multi-sensor low-altitude wide-area reconnaissance system as claimed in claim 1, characterized in that: The invention comprises a reconnaissance body, wherein the roll assembly (2) is arranged at the front and rear ends of the reconnaissance body, the pitch assembly (5) is arranged at the horizontal sides of the reconnaissance body, the vibration isolation assembly (3) is arranged at the horizontal sides of the reconnaissance body and is staggered with the pitch assembly (5) in the horizontal direction, and the infrared thermal imager (6) and the laser rangefinder (7) are arranged at the bottom of the reconnaissance body.

3. A multi-sensor based low-altitude wide-area reconnaissance system as claimed in claim 2, characterized in that: The number of the vibration isolation components (3) is four, and the two vibration isolation components (3) on the same side are respectively located at the front and rear sides of the pitch component (5) on the same side. Seven infrared thermal imagers (6) are arranged obliquely downward at the bottom of the reconnaissance body, and each infrared thermal imager (6) can be adjusted in angle. The laser rangefinder (7) is arranged vertically downward at the bottom of the reconnaissance body, and the laser rangefinder (7) and the plurality of infrared thermal imagers (6) are distributed at intervals at the bottom of the reconnaissance body.

4. A multi-sensor based low-altitude wide-area reconnaissance system as claimed in claim 3, characterized in that: The infrared thermal imagers (6) include an infrared thermal imager (6) with an infrared focal length of 40 mm, four 45 mm infrared thermal imagers (6) and two 60 mm infrared thermal imagers (6), all of which are placed in a forward direction.

5. A multi-sensor based low altitude wide area reconnaissance system as claimed in claim 4, characterized in that: The aviation socket (1) comprises a power interface and a data interface.

6. A multi-sensor based low altitude wide area reconnaissance system as claimed in claim 5, characterized in that: The rolling assembly (2) comprises a rolling frame, a rolling shaft system, a rolling motor, a rolling encoder and a system connector.

7. A multi-sensor based low altitude wide area reconnaissance system as claimed in claim 6, characterized in that: The pitch assembly (5) comprises a pitch frame, a pitch axis system, a pitch motor, a pitch encoder, a spherical cover shell and a light window.

8. A multi-sensor based low altitude wide area reconnaissance system as claimed in claim 7, characterized in that: The vibration isolation assembly (3) comprises an adapter plate and a vibration isolator. The adapter plate is located below the vibration isolator and fixes and supports the vibration isolator. The adapter plate is flange-connected to the machine body.

9. A multi-sensor based low altitude wide area reconnaissance system as claimed in claim 8, characterized in that: The control cabin component (8) is provided with a bearing gyroscope and a control circuit board for sensor state control and external information exchange.

10. An operating method of a multi-sensor based low-altitude wide-area reconnaissance system as claimed in claim 1, characterized in that: The following steps are involved: S1: The data processing module (4) receives the airborne wide-area reconnaissance mission command and transmits it to the control cabin for command distribution; S2: the roll component (2) and the pitch component (5) receive control instructions to perform a push scan in a lateral area of ​​-15° to +15°; S3: Observe the real-time ground video and optimize and adjust the image attributes to match the current scene through black and white, contrast, brightness, etc. S4: Combine GPS, IMU, field of view angle and frame angle information to match the acquired multiple infrared images with the information in the real map database to confirm the current reconnaissance area; S5: The data processing module (4) receives the target recognition instruction, performs intelligent detection and recognition on the current reconnaissance area, frames the recognized target, and automatically generates a target category; S6: Determine whether there is a required target in the multiple images; if so, switch to the tracking mode, track the required target, and locate the target in combination with the airborne latitude, longitude and height information to obtain the target's current position information; S7: If there is no required target, return to step S4 to continue reconnaissance along the route.

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