Small-sized double-shaft unmanned aerial vehicle-mounted photoelectric pod system

Abstract

The small-sized double-shaft unmanned aerial vehicle-mounted photoelectric pod system comprises a visible light module, an infrared imaging module, a laser ranging module, a two-shaft servo stabilized platform, a double-light image processing platform and a comprehensive signal processing platform. According to the invention, the selected optical module is connected with each designed functional platform through the FPC flexible flat cable to form a highly-integrated miniaturized two-axis multi-light fusion photoelectric detection system, and the actual use requirements of the unmanned aerial vehicle on miniaturization, multi-axis attitude control and multi-light source detection of a mounted photoelectric pod system are met. The problems that the unmanned aerial vehicle-mounted photoelectric pod system cannot realize multi-axis attitude stable control in a severe use environment, multi-light-source image display and switching are not stable enough, the integration degree of each functional module is low and the like are solved. The unmanned aerial vehicle-mounted photoelectric pod system can continuously work for 24 hours day and night under the conditions of severe weather and extremely low visibility, so that the reconnaissance work of the unmanned aerial vehicle is more efficient, easier and safer.

Description

Technical Field

[0001] This invention relates to a small dual-axis UAV-borne optoelectronic pod system, belonging to the field of UAV optoelectronic detection system design and integration. Background Technology

[0002] The optoelectronic pod system is mounted on the UAV platform support and can rotate 360° continuously to search for or receive target indication information. It can search, detect, identify and track ground targets such as vehicles and people. After stable tracking, it can perform stable ranging on the above targets, automatically measure the target's azimuth, pitch angle, angular velocity, distance and other information, and transmit the above target information and optoelectronic pod system status information and other parameters to the ground control system in real time.

[0003] Currently, UAV-borne optoelectronic pod systems generally integrate optical modules with various functional modules to achieve optoelectronic detection of search targets. However, due to the harsh working environment of UAVs, the tracking accuracy of the servo platform is not high, the multi-source image display and switching of the signal processing platform is not stable enough, the integration of various functional modules is not high, and the interface wiring and electromechanical structure are large in size. These issues cannot meet the actual usage requirements of UAVs for miniaturization, multi-axis attitude stabilization control, and multi-source detection of mounted optoelectronic pod systems. Summary of the Invention

[0004] The purpose of this invention is to provide a small, dual-axis UAV-borne optoelectronic pod system that integrates a laser ranging module, a visible light module, and an infrared module. By designing a two-axis servo stabilization platform, a stable and freely switchable dual-light image processing platform, and a highly integrated comprehensive signal processing platform, it solves the problems of multi-axis attitude stabilization control, unstable multi-source image display and switching, and low integration of functional modules in harsh operating environments. This enables the UAV-borne optoelectronic pod system to operate continuously 24 hours a day, even in severe weather and extremely low visibility conditions, making UAV reconnaissance work more efficient, easier, and safer.

[0005] The technical solution to achieve the purpose of this invention is as follows: a small dual-axis UAV-borne optoelectronic pod system, mainly comprising: a visible light module, an infrared imaging module, a laser ranging module, a two-axis servo stabilization platform, a dual-light image processing platform, and a comprehensive signal processing platform; the comprehensive signal processing platform is communicatively connected to the two-axis servo stabilization platform, forwarding received relevant ground control commands to the two-axis servo stabilization platform for servo control; the comprehensive signal processing platform is communicatively connected to the dual-light image processing platform to realize dual-light image routing transmission; the comprehensive signal processing platform is communicatively connected to the laser ranging module to obtain target slant range information output; the two-axis servo stabilization platform is communicatively connected to a magnetic encoding module, a roll gyroscope, and a pitch gyroscope respectively to obtain angle sensing information; the two-axis servo stabilization platform is communicatively connected to a lateral motor and a pitch motor for optical axis motion control; the visible light image processing platform in the dual-light image processing platform is connected to the visible light module, and the infrared image processing platform is connected to the infrared imaging module to obtain target light source information respectively; each optical module and its corresponding functional platform are communicatively connected via FPC flexible flat cables.

[0006] The significant advantages of this invention compared to existing technologies are:

[0007] 1. In terms of overall design, a motor control system for a two-axis optoelectronic pod was invented, including a visible light module, an infrared imaging module, a laser ranging module, a two-axis servo stabilization platform, a dual-light image processing platform, and a comprehensive signal processing platform. The system connects the selected optical modules with the designed functional platforms via FPC flexible cables, forming a highly integrated, miniaturized two-axis multi-light fusion optoelectronic detection system, which meets the practical requirements of UAVs for miniaturized optoelectronic pod systems, multi-axis attitude control, and multi-source detection.

[0008] 2. The two-axis servo stabilization platform of this invention is designed with a multi-channel sensor data acquisition circuit and a high-precision servo control and drive circuit, simplifying the hardware circuit design of the position loop, velocity loop and current loop. The servo control loop is formed by roll and pitch gyroscope feedback to drive the rotation of the two-axis motors, which greatly isolates the oscillating table disturbance and ensures the stability of the optoelectronic payload aiming line. At the same time, by receiving the target position deviation data sent by the dual-light image processing platform, the load frame is driven to move in the direction with the smaller deviation, so that the optical axis of the optoelectronic payload is accurately pointed to the target. It can simultaneously perform the dual functions of line-of-sight stabilization and automatic target tracking, meeting the requirements for accurate target tracking in harsh UAV operating environments.

[0009] 3. The dual-light image processing platform consists of two parts: visible light and infrared imaging image encoding and image tracking. The platform features automatic tracking, tracking point correction, high-temperature point detection, anti-occlusion, self-testing and evaluation, and image field encoding. The image encoding function performs H.264 encoding on the superimposed image and another image, compressing the video for output. Simultaneously, it responds to network control commands, enabling the synchronous output of both visible light and infrared compressed video. Furthermore, the platform supports an HD-SDI interface, allowing selective output of either visible light or infrared uncompressed raw video via commands.

[0010] 4. A comprehensive signal processing platform is designed to enable multi-channel information exchange and command transmission between systems. An RS422 interface is designed for communication with the visible light, infrared, and laser three-light modules and the two-axis servo stabilization platform. A network switching circuit is designed to route and display the image signals from visible light and infrared imaging. Power supply circuits, conversion circuits, and filtering circuits are designed to provide centralized power to all platforms of the optoelectronic pod system, filter the input power to ensure power quality, and isolate the power ground to increase the optoelectronic pod's electromagnetic compatibility. Attached Figure Description

[0011] Figure 1 This is a block diagram illustrating the overall composition of the present invention;

[0012] Figure 2 Block diagram of a two-axis servo stabilization platform;

[0013] Figure 3 Block diagram of the dual-light image processing platform;

[0014] Figure 4 This is a block diagram of the integrated signal processing platform. Detailed Implementation

[0015] The terminology used in this invention is for illustrative purposes only and is not intended to limit the invention. The following description, in conjunction with the appendix, further clarifies this concept. Figure 1-4 The following is a detailed description of some embodiments of the present invention.

[0016] The invention relates to a small dual-axis UAV-borne optoelectronic pod system for UAVs to search, detect, identify and track ground targets.

[0017] like Figure 1 As shown, the UAV optoelectronic pod system mainly includes: a visible light module, an infrared imaging module, a laser ranging module, a two-axis servo stabilization platform, a dual-light image processing platform (i.e., an infrared image processing platform and a visible light image processing platform), and a comprehensive signal processing platform.

[0018] The integrated signal processing platform communicates with the two-axis servo stabilization platform, forwarding received ground control commands to the platform for servo control. It also communicates with the dual-light image processing platform for dual-light image routing and transmission. Furthermore, the integrated signal processing platform communicates with the laser ranging module to obtain target slant range information. The two-axis servo stabilization platform communicates with the magnetic encoding module, roll gyroscope, and pitch gyroscope to acquire angle sensing information. It also communicates with the lateral and pitch motors for optical axis motion control. The dual-light image processing platform connects the visible light image processing platform to the visible light module and the infrared image processing platform to the infrared imaging module to acquire target light source information. The system connects the selected optical modules and the designed functional platforms via FPC flexible cables, forming a highly integrated, miniaturized two-axis multi-light fusion photoelectric detection system.

[0019] The selected visible light module, infrared imaging module, laser ranging module, and designed two-axis servo stabilization platform, dual-light image processing platform, and integrated signal processing platform are miniaturized and integrated to form a motor control system for a two-axis optoelectronic pod.

[0020] like Figure 2 As shown in the block diagram of the two-axis servo stabilization platform in this embodiment of the invention, the two-axis servo stabilization platform of the invention is designed to collect information such as angle and angular velocity in real time, and form necessary control signals based on the target deviation information obtained by the integrated image processing system and the corresponding control algorithm, thereby controlling the movement of the servo stabilization platform to achieve target tracking; the two-axis servo stabilization platform can eliminate the influence of external disturbances and accurately track the target movement, achieving stable speed and accurate target tracking. The hardware architecture of the two-axis servo stabilization platform adopts an ARM+FPGA architecture. It features a multi-channel sensor data acquisition circuit and a high-precision servo control and drive circuit. The data acquisition circuit uses a Xilinx Spartan6 series FPGA chip as its core chip, acquiring real-time angle information of the servo platform through different attitude gyroscopes and resolver sensors after filtering and calculation. The servo control and drive circuit uses an STMicroelectronics STM32F303 series ARM chip as its core chip, driving the motor movement through a high-precision PID control algorithm based on the acquired real-time attitude information from the optical module. The sensor data acquisition circuit and the servo control and drive circuit communicate in real-time via the FSMC bus and serial port. The FPGA main control chip communicates with the gyroscopes and resolver sensors through an external SPI interface. The ARM main control chip drives the angle chip through multiple PWM signals, controlling the two-axis motors to perform actions in real time. A dual-light image processing platform is also included to achieve visible light and infrared image encoding and image tracking functions.

[0021] like Figure 3As shown, the dual-light image processing platform realizes visible light and infrared image encoding and image tracking functions. The hardware circuit of the dual-light image processing platform in this embodiment adopts an FPGA+DSP+SOC architecture, specifically including: an image encoding circuit (specifically a Xilinx XC7A200T image processing chip), an image tracking circuit (a dual-core DSP6657 image recognition chip), and corresponding computing, storage, and interface chips, etc.

[0022] The image encoding circuit adopts an FPGA+DSP architecture, capable of running tracking algorithms on HD-SDI images output from visible light images. It outputs images superimposed with tracking information, laser rangefinder distance information, servo parameter information, etc., through the HD-SDI interface. Simultaneously, it can transmit the tracked image to the Rockchip RV1126 platform, which encodes the input visible light image and outputs it via network. The image tracking circuit uses a dual-core DSP6657+FPGA solution, primarily handling the tracking algorithm calculations. The FPGA is responsible for image preprocessing, tracking algorithm acceleration, and image input / output interfaces. The FPGA main control chip for the image encoding circuit... The chip communicates with the visible light module via a MIPI interface, with the infrared module via a USB interface, with the laser module via an RS422 serial port, with the two-axis servo stabilization platform via an RS422 serial port, and with external devices via an HD-SDI interface and an RS422 serial port. The FPGA main control chip of the image encoding circuit communicates with the dual-core DSP via SRIO high-speed serial port and GPIO interface. The FPGA main control chip of the image encoding circuit communicates with the Rockchip RV1126 platform via BT1120 and BT656 protocols. The Rockchip RV1126 platform connects to external devices via Ethernet port to realize image output display.

[0023] like Figure 4As shown in the block diagram of the integrated signal processing platform in this embodiment of the invention, the integrated signal processing platform receives and parses instructions from the host computer, and is responsible for communication between the visible light module, infrared imaging module, laser ranging module, two-axis servo stabilization platform and dual-light image processing platform inside the optoelectronic pod. It is also responsible for communication between the system and external control components (display and control system). The integrated signal processing platform hardware design includes: external device communication interfaces, filtered power supplies and secondary power supplies, and PHY chip routing interfaces. The two RS422 serial ports in the external device communication interfaces are connected to the visible light module, infrared imaging module, laser ranging module, and two-axis servo stabilization platform, respectively, for servo stabilization control and three-light module control. Filtered power supplies and secondary power supplies are designed to connect to the visible light module, infrared imaging module, laser ranging module, two-axis servo stabilization platform, and dual-light image processing platform, providing centralized power to each component. The input power is filtered by a filter, and power isolation is achieved through an isolation power supply module, increasing the electromagnetic compatibility of the optoelectronic pod. A PHY chip routing interface is designed to connect to the dual-light image processing platform and terminal equipment, enabling real-time display of infrared and visible light source images via network communication.

[0024] The selected modules include a visible light module with functions such as optical continuous zoom, autofocus, and image enhancement; an infrared imaging module with functions such as polarity conversion, non-uniformity correction, and image enhancement; and a laser ranging module with high precision and a wide ranging range. These modules are then miniaturized and integrated with a two-axis servo stabilization platform, a dual-light image processing platform, and a comprehensive signal processing platform to form a motor control system for a two-axis optoelectronic pod.

[0025] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A compact dual-axis unmanned aerial electro-optical pod system, characterized in that, The system mainly comprises a visible light module, an infrared imaging module, a laser ranging module, a two-axis servo stabilization platform, a dual-optical image processing platform and a comprehensive signal processing platform; the comprehensive signal processing platform is in communication connection with the two-axis servo stabilization platform, and forwards the received relevant ground control instructions to the two-axis servo stabilization platform for servo control; the comprehensive signal processing platform is in communication connection with the dual-optical image processing platform, so as to realize dual-optical image routing transmission; the comprehensive signal processing platform is in communication connection with the laser ranging module, so as to obtain target slant range information output; the two-axis servo stabilization platform is in communication connection with a magnetic encoding module, a roll gyroscope and a pitch gyroscope, so as to obtain angle sensing information; the two-axis servo stabilization platform is in communication connection with a roll motor and a pitch motor, so as to control optical axis movement; the visible light image processing platform in the dual-optical image processing platform is connected with the visible light module, and the infrared image processing platform is connected with the infrared imaging module, so as to respectively obtain target light source information; the optical modules are in communication connection with the corresponding functional platforms through FPC flexible flat cables.

2. The optical pod system of claim 1, wherein, The two-axis servo stabilization platform comprises a data acquisition circuit and a servo control and driving circuit; the data acquisition circuit adopts an FPGA main control chip, and obtains servo platform angle information in real time through different attitude gyroscopes and rotation variable sensing chips after filtering and solving; the servo control and driving circuit adopts an ARM main control chip, and drives the motor to act through a high-precision PID control algorithm according to the obtained optical module real-time attitude information; the sensor data acquisition circuit is in real-time communication with the servo control and driving circuit through an FSMC bus and a serial port, the FPGA main control chip is in communication with gyroscopes and rotation variable sensors through an external SPI interface, and the ARM main control chip drives angle chips through multi-channel PWM signals, so as to control the two-axis motor to execute actions in real time.

3. The optical pod system of claim 1, wherein, The dual-optical image processing platform comprises an image encoding circuit and an image tracking circuit, and is used for realizing visible light and infrared image encoding and image tracking functions; the image encoding circuit adopts an architecture of combining FPGA with DSP, has the functions of running a tracking algorithm on the basis of HD-SDI image output of a visible light image, outputting an image with superimposed tracking information, laser ranging machine distance information and servo parameter information through an HD-SDI interface, and transmitting the tracked image to a Swallow RV1126 platform, and the Swallow platform encodes the input visible light image and outputs the encoded image through a network; the image tracking circuit adopts an architecture of combining dual-core DSP6657 with FPGA, mainly completes tracking algorithm operation, and the FPGA is responsible for image preprocessing, tracking algorithm acceleration and image input / output interface.

4. The optical pod system of claim 3, wherein, The FPGA master chip of the image coding circuit communicates with the visible light module through a MIPI interface, communicates with the infrared module through a USB interface, communicates with the laser ranging module through an RS422 serial port, communicates with the two-axis servo stabilization platform through an RS422 serial port, and communicates with external devices through an HD-SDI interface and an RS422 serial port; the FPGA master chip of the image coding circuit communicates with the dual-core DSP through an SRIO high-speed serial port and a GPIO interface; the FPGA master chip of the image coding circuit communicates with the RuiKaiWei RV1126 platform through BT1120 and BT656 protocols; the RuiKaiWei RV1126 platform is connected with external devices through an Ethernet port, so as to realize image output display.

5. The optical pod system of claim 1, wherein, The comprehensive signal processing platform comprises an external device communication interface, a filter power supply and a secondary power supply, and a PHY chip routing interface. Two RS422 serial ports in the external device communication interface are respectively connected with the visible light module, the infrared imaging module, the laser ranging module and the two-axis servo stabilization platform, so as to realize servo stabilization control and three light module control. The filter power supply and the secondary power supply are designed, and are respectively connected with the visible light module, the infrared imaging module, the laser ranging module, the two-axis servo stabilization platform and the dual light image processing platform, so as to centrally supply power for each component. The input power is filtered through a filter, and the power is isolated through an isolation power supply module, so as to increase the electromagnetic compatibility of the optoelectronic pod. The PHY chip routing interface is designed, and is respectively connected with the dual light image processing platform and the terminal device, so that network communication realizes real-time display of infrared and visible light source images.

6. The optical pod system of claim 2, wherein, In the data acquisition circuit, a Spartan6 series FPGA chip of Xilinx Company is used as an FPGA master chip, and an STM32F303 series ARM chip of ST Company is used as an ARM master chip for servo control and driving circuit.

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