Environment sensing system for target camouflage and sensing method thereof

Abstract

The invention discloses an environment sensing system and method for target camouflage. The environment sensing system comprises a system control unit, a bottom supporting mechanism, a folding supporting mechanism, an annular supporting mechanism, a ceiling lifting mechanism, a displacement driving mechanism, a visual angle adjusting mechanism, a folding overhanging mechanism and two image acquisition mechanisms. According to the environment sensing system and method, the lifting ceiling mechanism can be used for covering and camouflaging each mechanism in a storage state, and the two image acquisition mechanisms can conveniently extend out of the top camouflage net to carry out large-range image acquisition, so that the reliability of environment image acquisition is ensured; through cooperation of the annular supporting mechanism and the displacement driving mechanism, image acquisition can be carried out at each acquisition point position, and the environmental perception requirement of multi-angle three-dimensional acquisition is met; the visual angle adjusting mechanism can be used for switching and adjusting the horizontal visual angle state and the overlooking visual angle state, so that comprehensive image acquisition of the environment where the camouflage target is located is met.

Description

Technical Field

[0001] This invention relates to an environmental perception system and its perception method, and more particularly to an environmental perception system and its perception method for target camouflage. Background Technology

[0002] Traditional target camouflage methods mainly include static camouflage and semi-dynamic camouflage. Static camouflage typically uses camouflage materials with fixed colors and patterns, such as camouflage clothing and camouflage nets. Its camouflage effect is fixed and cannot be adjusted according to changes in the surrounding environment. When the surrounding environment changes, such as with seasonal changes, the colors of the surrounding environment will change accordingly. If the surrounding environment is not regularly assessed, the concealment of static camouflage will decrease significantly, making it easier for the enemy or observers to detect. Therefore, it is necessary to design an environmental perception system and its perception method for target camouflage, capable of periodically acquiring images of the environment surrounding the camouflaged target. This facilitates the rapid change of camouflage colors for the camouflaged target, allowing it to better blend into the surrounding environment. Summary of the Invention

[0003] The purpose of this invention is to provide an environmental perception system and method for target camouflage, which can periodically acquire images of the environment around the camouflaged target, thereby facilitating the rapid replacement of the camouflage color of the camouflaged target and enabling it to better blend into the surrounding environment.

[0004] Technical Solution: The environmental perception system for target camouflage described in this invention includes a system control unit, a bottom support mechanism, a folding support mechanism, a ring support mechanism, a lifting canopy mechanism, a shifting drive mechanism, a viewing angle adjustment mechanism, a folding cantilever mechanism, and two image acquisition mechanisms. The folding support mechanism is located on top of the bottom support mechanism, providing stable support and height adjustment. The ring support mechanism and the lifting canopy mechanism are both mounted on the folding support mechanism, allowing them to be folded and stored. The lifting canopy mechanism is used to install the top camouflage net. The shifting drive mechanism is mounted on the ring support mechanism, and the ring support mechanism controls the shifting drive mechanism. The system includes a horizontal circular movement support; a viewing angle adjustment mechanism mounted on a shift drive mechanism, which adjusts the horizontal circular position and horizontal cantilever angle of the viewing angle adjustment mechanism; a folding cantilever mechanism mounted on the viewing angle adjustment mechanism, which switches between horizontal and overhead viewing angles; two image acquisition mechanisms mounted on the cantilever ends of the folding cantilever mechanism, which switches between cantilever and folded states; both image acquisition mechanisms are used for acquiring visible and infrared images; the lifting ceiling mechanism, shift drive mechanism, viewing angle adjustment mechanism, folding cantilever mechanism, and two image acquisition mechanisms are all driven and controlled by a system control unit.

[0005] Further, the bottom support mechanism comprises a bottom folding unit and a height adjusting unit; the height adjusting unit is arranged on the bottom folding unit, the folding support mechanism is arranged on the height adjusting unit, the height adjusting unit is stably supported by the bottom folding unit, and the height of the folding support mechanism is adjusted by the height adjusting unit.

[0006] Further, the folding support mechanism comprises a folding hinge seat, a folding locking bolt, a vertical locking bolt and a folding support pipe; the folding hinge seat is fixed on the height adjusting unit, and a locking side plate is arranged on the right side of the folding hinge seat; the lower end of the folding support pipe is swingingly hingedly installed on the folding hinge seat; a vertical locking hole is arranged on the front side wall of the folding support pipe, the vertical locking bolt is penetratingly and threadedly screwed on the folding hinge seat, and the end of the vertical locking bolt is detachably inserted into the vertical locking hole to realize vertical locking; a folding locking threaded hole is arranged on the right side wall of the folding support pipe, the screw end of the folding locking bolt penetrates through the locking side plate and is threadedly screwed on the folding locking threaded hole when folding; the lifting roof mechanism is installed on the folding support pipe.

[0007] Further, the lifting roof mechanism comprises a lifting drive motor, a lifting support pipe, a lifting drive screw, a roof support beam, a roof support ring and an edge support ring; the lifting drive screw is rotatably installed in the folding support pipe, the lifting drive motor is installed outside the folding support pipe and rotates the lifting drive screw through a bevel gear pair; the lower end of the lifting support pipe is inserted into the folding support pipe, and an inner thread is arranged in the lifting support pipe and threadedly screwed with the lifting drive screw; a lifting guide sliding groove is arranged on the outer wall of the lifting support pipe, and a lifting guide sliding block is arranged on the pipe opening of the folding support pipe and slidingly embedded in the lifting guide sliding groove; the lifting drive motor is driven and controlled by the system control unit; the roof support beam is vertically fixed on the upper end of the lifting support pipe, the roof support ring is fixed on the roof support beam, and the edge support ring is installed below the roof support ring.

[0008] Further, the annular support mechanism comprises a support ring, a camouflage net mounting ring, a middle support beam and a plurality of support short rods; one end of the middle support beam is vertically fixed on the folding support mechanism; one end of each of the support short rods is fixed on the support ring, and the other end is fixed on the inner ring surface of the support ring; the camouflage net mounting ring is installed below the support ring through the plurality of connecting short rods.

[0009] Further, the shifting driving mechanism comprises a shifting driving motor, a shifting driving arm, a shifting reduction box and a shifting support base; the shifting reduction box is installed at the middle part of the middle support beam, the shifting driving motor is driven and controlled by the system control unit, and is used for driving the shifting reduction box; the shifting driving shaft is rotatably installed on the middle support beam and located at the center of the support ring, the output shaft of the shifting reduction box is in butt joint with the shifting driving shaft; one end of the shifting driving arm is fixed on the shifting driving shaft, and the other end is fixed on the shifting support base; a circle of roller support grooves are arranged on the upper part of the inner circumferential surface and the upper part of the outer circumferential surface of the support ring, and a circle of peripheral support grooves are arranged on the lower part of the outer circumferential surface of the support ring; the clamping arc-shaped groove clamped on the support ring is arranged on the lower side of the shifting support base, the moving support rollers are rotatably installed on the inner side groove edge of the clamping arc-shaped groove, and the moving support rollers are supported and walked on the groove edge of the corresponding side roller support groove; the extension support edge is downwardly arranged on the outer side of the shifting support base, and the outer side support rollers are rotatably installed on the inner side of the extension support edge and supported and walked on the groove bottom of the peripheral support groove; the visual angle adjusting mechanism is installed on the shifting support base.

[0010] Further, the visual angle adjusting mechanism comprises a rotating support box, a rotating support spindle, a rotating driving motor, a lifting driving motor, a rotating support arm, a folding support arm, a lifting pull rope and a lifting connecting unit; the lower end of the rotating support spindle is fixed on the shifting driving mechanism, the upper end of the rotating support spindle is penetratively and rotatably installed on the bottom of the rotating support box, and the rotating driving worm wheel is fixedly installed on the upper end of the rotating support spindle; the rotating driving worm is rotatably installed in the rotating support box and engaged with the rotating driving worm wheel; the rotating driving motor is fixed on the rotating support box and used for rotatingly driving the rotating driving worm; one end of the rotating support arm is fixed on the rotating support box, and the other end is provided with a support step groove; the proximal end of the folding support arm is swingingly hinged on the support step groove, and the folding cantilever mechanism is installed on the distal end of the folding support arm; the lifting winding disc is rotatably installed on the inner top of the rotating support box, and the lifting driving worm wheel is coaxially arranged on the lifting winding disc; the lifting driving worm is rotatably installed in the rotating support box and engaged with the lifting driving worm wheel; the lifting driving motor is fixed on the rotating support box and used for rotatingly driving the lifting driving worm; the pulley groove is arranged on the rotating support arm, and two limiting pulleys are rotatably installed in the pulley groove; one end of the lifting pull rope penetrates into the rotating support box and is wound on the lifting winding disc; the other end of the lifting pull rope passes through the gap between the two limiting pulleys and is connected to the folding support arm through the lifting connecting unit; the lifting driving motor and the rotating driving motor are driven and controlled by the system control unit.

[0011] Further, the lifting connecting unit comprises a swing arm tension spring, a lifting swing arm and a swing arm support; one end of the lifting swing arm is swingingly hingedly installed in the middle of the upper side of the folding support arm through the swing arm support, and the other end is connected with the swing arm tension spring and the lifting pull rope; the other end of the swing arm tension spring is fixedly connected at the distal end of the folding support arm, for pulling the lifting swing arm to swing towards the distal end of the folding support arm; a swing limiting protrusion is arranged on the hingedly installed end of the lifting swing arm, for being supported on the folding support arm when the lifting swing arm is perpendicular to the folding support arm under the pulling of the lifting pull rope; a pull rope limiting groove for limiting the lifting pull rope is arranged on the swing limiting protrusion.

[0012] Further, the folding cantilever mechanism comprises a folding drive motor, a folding pull rope, a folding swing arm, a folding drive slider, a folding rebound spring and two inclined support rods; the image acquisition mechanism comprises two folding swing rods, two image acquisition units and two camera seats; a horizontal hinged notch is arranged on the distal end of the folding support arm, and a folding pivot shaft is vertically rotatably arranged at the end of the horizontal hinged notch; one end of the folding swing arm is fixed on the folding pivot shaft, and two folding swing rods are swingably hingedly arranged on the upper and lower sides of the other end of the folding swing arm; two camera seats are fixed on the suspended ends of the two folding swing rods; two image acquisition units are arranged on the two camera seats, and the image acquisition units are directed to the direction of the folding support arm when the folding swing rods are in the vertical state; a rebound torsion spring is arranged on the distal end of the folding support arm and at the lower end of the folding pivot shaft, and is used for elastically driving the folding pivot shaft to rebound and rotate; a rotation limiting block is arranged on the folding pivot shaft, and a rotation blocking block is arranged in the horizontal hinged notch to block the rotation limiting block, so that the folding support arm and the folding swing arm rebound and rotate to the same axis; a strip-shaped sliding hole is arranged on the upper side of the folding swing arm along the length direction, and a folding drive slider is slidingly arranged in the strip-shaped sliding hole; one end of each of the two inclined support rods is swingably hingedly arranged on the upper and lower sides of the folding drive slider, and the other end of each of the two inclined support rods is swingably hingedly arranged on the middle part of the two folding swing rods; the folding rebound spring is arranged in the strip-shaped sliding hole and is used for elastically pushing the folding drive slider to slide to the end position of the strip-shaped sliding hole; a pull rope hole is arranged on the folding support arm, the folding swing arm and the folding pivot shaft, and a winding hole is arranged on the folding support arm and is in communication with the pull rope hole; a pull rope winding disc is rotatably arranged in the winding hole, and a winding reduction box is arranged on the lower side of the folding support arm and is used for driving the pull rope winding disc to rotate; the folding drive motor is used for driving the winding reduction box, and the folding drive motor is driven and controlled by a system control unit; one end of the folding pull rope is wound and fixed on the pull rope winding disc, and the other end of the folding pull rope is sequentially arranged through the pull rope holes on the folding support arm, the folding pivot shaft, the folding swing arm and the folding rebound spring and is connected to the folding drive slider; a rotating pulley is arranged on the folding pivot shaft and at the hole opening of the pull rope hole and is used for rolling and supporting the folding pull rope; a folding support ring sleeve is rotatably arranged on the folding support mechanism, and a folding support ring groove is arranged on the outer circumferential surface of the folding support ring sleeve and is used for blocking the folding swing arm.

[0013] The application further provides a sensing method for an environment sensing system for target camouflage, comprising the following steps:

[0014] Step 1, the bottom support mechanism is arranged at a position close to the site where the camouflage object is located, the folding support pipe of the folding support mechanism is adjusted from the folded state to the vertical state, and then the vertical locking bolt is inserted into the vertical locking hole for vertical locking, at this time, the support ring of the annular support mechanism is in a horizontal state;

[0015] Step 2, according to the height of the camouflage object, the height of the folding support mechanism in the vertical state is adjusted by the bottom support mechanism, so that the annular support mechanism and the lifting roof mechanism reach the height of camouflage coverage;

[0016] Step 3, a top camouflage net matching the color of the environment is covered on the roof support ring of the lifting roof mechanism, and the lower edge of the top camouflage net is tied on the edge support ring. A circle of camouflage net matching the color of the environment is hung on the camouflage net hanging ring of the annular support mechanism as a camouflage fence, so that the camouflage object is located in the camouflage fence, and the top camouflage net covers the top of the camouflage object. Then the system control unit is started;

[0017] Step 4, the system control unit judges whether the preset environment image acquisition period is reached in real time. If the environment image acquisition period is reached, step 5 is entered, otherwise the camouflage state is maintained;

[0018] Step 5, the lifting drive motor of the lifting roof mechanism is driven and controlled by the system control unit at the set acquisition time point, so that the height of the edge support ring is higher than the height where the displacement drive mechanism, the view angle adjusting mechanism, the folding cantilever mechanism and the two image acquisition mechanisms are located in the storage state;

[0019] Step 6, the displacement drive motor of the displacement drive mechanism is driven and controlled by the system control unit, so that the displacement support seat moves along the support circle to the position pointed by the cantilever end of the middle support beam. The rotation drive motor of the view angle adjusting mechanism is driven and controlled, so that the rotating support arm, the folding support arm and the folding swing arm are all swung horizontally out of the cover range of the lifting roof mechanism, and the orthographic projection of the rotating support arm and the orthographic projection of the displacement drive arm are located on the same center line. At the same time, the folding swing arm is rotated to the same center line with the folding support arm under the driving of the rebound torsion spring;

[0020] Step 7, the folding drive motor of the folding cantilever mechanism is driven and controlled by the system control unit, and the folding pull rope slowly releases the pulling of the folding drive block. Under the pushing action of the folding rebound spring, two folding swing rods are respectively pushed to expand to the vertical state by two inclined support rods, so that the infrared camera and the wide-angle camera of the two image acquisition units are both horizontally directed to the area where the top camouflage net and the camouflage fence are located;

[0021] Step 8, the displacement drive motor of the displacement drive mechanism is driven and controlled by the system control unit, and the displacement support seat is first moved counterclockwise along the support circle to the first acquisition point close to the folding support pipe. Then the infrared camera and the wide-angle camera of the two image acquisition units are started to acquire the foreground image and the background image under the horizontal view angle of the area where the top camouflage net and the camouflage fence are located;

[0022] Step 9, the system control unit drives the displacement drive motor to move the displacement support seat clockwise along the support ring to the next collection point, and then starts the infrared camera and the wide-angle camera of the two image collection units to collect the foreground image and the background image of the area where the top camouflage net and the camouflage fence are located under the horizontal view angle;

[0023] Step 10, the system control unit determines whether the foreground image and the background image under the horizontal view angle at each collection point have been collected, if yes, the process goes to step 11, otherwise, the process returns to step 9;

[0024] Step 11, the system control unit drives the lifting drive motor of the view angle adjusting mechanism to pull the lifting swing arm through the lifting rope until the folded support arm is in a vertical state, so that the infrared camera and the wide-angle camera of the two image collection units are both downward to the area where the top camouflage net and the camouflage fence are located;

[0025] Step 12, the system control unit starts the infrared camera and the wide-angle camera of the two image collection units to collect the foreground image and the background image of the area where the top camouflage net and the camouflage fence are located under the overhead view angle;

[0026] Step 13, the system control unit drives the displacement drive motor to move the displacement support seat counterclockwise along the support ring to the next collection point, and then starts the infrared camera and the wide-angle camera of the two image collection units to collect the foreground image and the background image of the area where the top camouflage net and the camouflage fence are located under the overhead view angle;

[0027] Step 14, the system control unit determines whether the foreground image and the background image under the overhead view angle at each collection point have been collected, if yes, the process goes to step 15, otherwise, the process returns to step 13;

[0028] Step 15, the system control unit remotely sends the collected foreground image and the background image to the remote control center, and at the same time, the system control unit drives the lifting drive motor to slowly release the lifting rope to pull the lifting swing arm, releases the folded support arm to the horizontal state, and then drives the folding drive motor to pull the folding drive slider through the folding rope, so that the two folding swing rods pull the two folding swing rods to swing relative to each other, thereby folding to close to the folding swing arm to realize folding;

[0029] Step 16, the system control unit drives the displacement driving motor to control the displacement of the support seat along the support ring to the position pointed by the cantilever end of the middle support beam, then drives the rotation driving motor to rotate the rotation support arm clockwise by 210-240 degrees, at this time, the folding support ring groove rolls on the folding swing arm, then drives the displacement driving motor to rotate the displacement driving arm counterclockwise by 30-45 degrees, so that the displacement support seat moves counterclockwise along the support ring to the folding point, at this time, the folding swing arm is fully swung into the cover range of the top camouflage net under the pushing action of the folding support ring groove to achieve storage;

[0030] Step 17, the system control unit drives the lifting driving motor to lower the height of the ceiling support ring, so that the ring-shaped support mechanism, the displacement driving mechanism, the angle adjusting mechanism, the folding cantilever mechanism and the two image acquisition mechanisms in the storage state are covered, and then returns to step 4.

[0031] Compared with the prior art, the present application has the advantages that: the folding support mechanism can reduce the center and the occupied space during system transportation, facilitating transportation and use; the lifting ceiling mechanism can facilitate the arrangement of the top camouflage net, so that the ring-shaped support mechanism, the displacement driving mechanism, the angle adjusting mechanism, the folding cantilever mechanism and the two image acquisition mechanisms in the storage state are covered, and the top camouflage net can be lifted when collecting images for environmental perception, so that the angle adjusting mechanism, the folding cantilever mechanism and the two image acquisition mechanisms can be extended out of the top camouflage net for image collection in a larger range, ensuring the reliability of environmental image collection; the cooperation of the ring-shaped support mechanism and the displacement driving mechanism can realize the overall displacement of the angle adjusting mechanism, the folding cantilever mechanism and the two image acquisition mechanisms, so as to meet the needs of multi-angle three-dimensional collection for environmental perception; the angle adjusting mechanism can switch and adjust the horizontal angle state and the overhead angle state of the folding cantilever mechanism and the two image acquisition mechanisms, so as to meet the needs of comprehensive image collection of the environment where the camouflage target is located; the folding cantilever mechanism can drive the two image acquisition mechanisms to fold, so as to facilitate storage after image collection. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a system camouflage storage state diagram of the present application;

[0033] Figure 2 It is a system overall folding state diagram of the present application;

[0034] Figure 3 It is a system horizontal angle state diagram of the present application;

[0035] Figure 4A top view of the system of the present application in a folded state;

[0036] Figure 5 A cross-sectional view of the ring-shaped supporting mechanism of the present application;

[0037] Figure 6 A top view of the local structure of the lifting connecting unit at the installation position of the present application;

[0038] Figure 7 A cross-sectional view of the local structure of the folding swing arm of the present application;

[0039] Figure 8 A cross-sectional view of the local structure of the angle adjusting mechanism of the present application;

[0040] Figure 9 A cross-sectional view of the local structure of the folding supporting arm of the present application;

[0041] Figure 10 A cross-sectional view of the local structure of the lifting roof mechanism of the present application;

[0042] Figure 11 A local structure diagram of the present application in a folded state;

[0043] Figure 12 A circuit structure diagram of the present application. DETAILED DESCRIPTION

[0044] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings, but the protection scope of the present application is not limited to the described embodiments.

[0045] As Figures 1-12As shown, the environment perception system for target camouflage disclosed by the application comprises a system control unit, a bottom support mechanism, a folding support mechanism, a ring-shaped support mechanism, a lifting roof mechanism, a displacement driving mechanism, a viewing angle adjusting mechanism, a folding overhanging mechanism and two image acquisition mechanisms; the folding support mechanism is arranged on the top of the bottom support mechanism, and the bottom support mechanism stably supports and adjusts the height of the folding support mechanism; the ring-shaped support mechanism and the lifting roof mechanism are both arranged on the folding support mechanism, and the folding support mechanism folds the ring-shaped support mechanism and the lifting roof mechanism; the lifting roof mechanism is used for mounting a top camouflage net; the displacement driving mechanism is mounted on the ring-shaped support mechanism, and the ring-shaped support mechanism supports the horizontal circumferential movement of the displacement driving mechanism; the viewing angle adjusting mechanism is mounted on the displacement driving mechanism, and the displacement driving mechanism adjusts the horizontal circumferential position and the horizontal overhanging angle of the viewing angle adjusting mechanism; the folding overhanging mechanism is mounted on the viewing angle adjusting mechanism, and the viewing angle adjusting mechanism switches and adjusts the horizontal viewing angle or the overlooking viewing angle of the folding overhanging mechanism; the two image acquisition mechanisms are both mounted on the overhanging end of the folding overhanging mechanism, and the folding overhanging mechanism switches the state of the two image acquisition mechanisms between the overhanging state and the folding state; the two image acquisition mechanisms are both used for visible light and infrared light image acquisition; the lifting roof mechanism, the displacement driving mechanism, the viewing angle adjusting mechanism, the folding overhanging mechanism and the two image acquisition mechanisms are all driven and controlled by the system control unit.

[0046] The folding support mechanism can reduce the center and the occupied space during system transportation, facilitating transportation; the lifting roof mechanism can facilitate the arrangement of the top camouflage net, thereby covering and camouflaging the ring-shaped support mechanism, the displacement driving mechanism, the viewing angle adjusting mechanism, the folding overhanging mechanism and the two image acquisition mechanisms in the folded state, and the top camouflage net can be lifted when collecting environment perception images, so that the viewing angle adjusting mechanism, the folding overhanging mechanism and the two image acquisition mechanisms can be extended out of the top camouflage net to collect images in a larger range, ensuring the reliability of environment image collection; the cooperation of the ring-shaped support mechanism and the displacement driving mechanism can realize the overall displacement of the viewing angle adjusting mechanism, the folding overhanging mechanism and the two image acquisition mechanisms, thereby achieving image collection at each collection point and meeting the needs of multi-angle three-dimensional collection of environment perception; the viewing angle adjusting mechanism can switch and adjust the horizontal viewing angle state and the overlooking viewing angle state of the folding overhanging mechanism and the two image acquisition mechanisms, thereby meeting the needs of comprehensive image collection of the environment where the camouflage target is located; the folding overhanging mechanism can fold and drive the two image acquisition mechanisms, thereby facilitating folding after image collection.

[0047] Further, the bottom supporting mechanism comprises a bottom folding unit and a height adjusting unit; the height adjusting unit is arranged on the bottom folding unit, and the folding supporting mechanism is arranged on the height adjusting unit; the bottom folding unit stably supports the height adjusting unit, and the height adjusting unit adjusts the height of the folding supporting mechanism.

[0048] Further, the bottom folding unit comprises a bottom supporting plate 2, two bottom supporting arms 3, two telescopic supporting arms 4, and three ground nails 5; one end of each of the two bottom supporting arms 3 is horizontally rotatably hingedly arranged at the two right top corners of the bottom supporting plate 2, and the other end of each of the two bottom supporting arms 3 is insertedly arranged in the telescopic supporting arm 4; the three ground nails 5 are vertically insertedly arranged on the left end of the bottom supporting plate 2 and the extending end of the telescopic supporting arm 4; a spiral wing plate is arranged on the lower end of each of the three ground nails 5, so that the ground nail 5 can be quickly rotated into the ground and prevented from being easily pulled out; a hand screw handle 6 is arranged on the upper end of each of the three ground nails 5, so that the ground nail 5 can be conveniently manually rotated, and the bottom folding unit can be quickly positioned and installed; the two bottom supporting arms 3 are horizontally rotatably hingedly arranged, so that they can be folded and stored during transportation, and can be unfolded to enhance the stability of the bottom support during use.

[0049] Further, the height adjusting unit comprises a height adjusting pipe 7, a height locking bolt 9, and a height adjusting column 8; the lower end of the height adjusting pipe 7 is vertically fixedly arranged on the left side of the upper side of the bottom supporting plate 2; the lower end of the height adjusting column 8 is insertedly arranged in the upper end of the height adjusting pipe 7, and height positioning holes 10 are arranged on the height adjusting column 8 at intervals; the height locking bolt 9 is threadedly and screwingly arranged at the upper end of the height adjusting pipe 7, and the screw end of the height locking bolt 9 is inserted into the height positioning hole 10 corresponding to the height to achieve height positioning, so as to meet the height adjustment needs of different camouflage targets.

[0050] Further, the folding support mechanism comprises a folding hinge seat 11, a folding locking bolt 54, a vertical locking bolt 12 and a folding support pipe 15; the folding hinge seat 11 is fixed on the upper end of the height adjusting column 8 of the height adjusting unit, and a locking side plate 53 is arranged on the right side of the folding hinge seat 11; the lower end of the folding support pipe 15 is swingingly hingedly installed on the folding hinge seat 11; a vertical locking hole 13 is arranged on the front side wall of the folding support pipe 15, the vertical locking bolt 12 is penetratively and threadingly screwed on the folding hinge seat 11, and the end of the vertical locking bolt 12 is detachably inserted into the vertical locking hole 13 to realize vertical locking; a folding locking threaded hole is arranged on the right side wall of the folding support pipe 15, and the screw end of the folding locking bolt 54 penetrates the locking side plate 53 and is threadingly screwed on the folding locking threaded hole in the folding state; the lifting ceiling mechanism is installed on the folding support pipe 15. The locking side plate 53 can stably support the folding support pipe 15 in the folding state, and the folding locking bolt 54 can lock the folding support pipe 15 in the folding state, thereby ensuring the stability in the transfer process.

[0051] Further, the lifting ceiling mechanism comprises a lifting drive motor 14, a lifting support pipe 16, a lifting drive screw 63, a ceiling support beam, a ceiling support ring 18 and an edge support ring 24; the lifting drive screw 63 is rotatably installed in the folding support pipe 15, the lifting drive motor 14 is installed outside the folding support pipe 15 and rotates the lifting drive screw 63 through a bevel gear pair; the lower end of the lifting support pipe 16 is inserted into the folding support pipe 15, and an inner thread is arranged in the lifting support pipe 16 and threadingly screwed with the lifting drive screw 63; a lifting guide sliding groove 52 is arranged on the outer wall of the lifting support pipe 16, and a lifting guide sliding block is arranged at the pipe opening of the folding support pipe 15 and slidably embedded in the lifting guide sliding groove 52, thereby ensuring that the lifting support pipe 16 does not rotate during lifting and ensuring the stability during lifting; the lifting drive motor 14 is driven and controlled by the system control unit; the ceiling support beam is vertically fixed on the upper end of the lifting support pipe 16, the ceiling support ring 18 is fixed on the ceiling support beam, and the edge support ring 24 is installed below the ceiling support ring 18 through the suspension short rods 23. The ceiling support ring 18 and the edge support ring 24 can facilitate the arrangement of the top camouflage net and form a cover type camouflage ceiling, thereby camouflaging the various mechanisms in the storage state.

[0052] Further, the annular support mechanism comprises a support ring 17, a camouflage net mounting ring 26, a middle support beam 56 and a plurality of support short rods 57; one end of the middle support beam 56 is fixed vertically on the folding support pipe 15 of the folding support mechanism, and a reinforcing rib plate 51 is arranged at the fixed mounting position; one end of each of the plurality of support short rods 57 is fixed on the support ring 17, and the other end is fixed on the inner ring surface of the support ring 17; the camouflage net mounting ring 26 is mounted below the support ring 17 through a plurality of connecting short rods, and is used for mounting the camouflage net around the periphery; the outer diameter of the support ring 17 is smaller than the outer diameter of the ceiling support ring 18 of the lifting ceiling mechanism, so that the lifting ceiling mechanism is conveniently covered on the annular support mechanism to achieve complete camouflage.

[0053] Further, the displacement driving mechanism comprises a displacement driving motor 27, a displacement driving arm 20, a displacement reduction box 19 and a displacement support base 46; the displacement reduction box 19 is mounted in the middle of the middle support beam 56; the displacement driving motor 27 is mounted on the displacement reduction box 19 and is driven and controlled by the system control unit, and is used for driving the displacement reduction box 19; a displacement driving shaft 48 is rotatably mounted on the middle support beam 56 and located at the center of the support ring 17, and the output shaft of the displacement reduction box 19 is in butt joint with the displacement driving shaft 48; one end of the displacement driving arm 20 is fixed on the displacement driving shaft 48, and the other end is fixed on the displacement support base 46; a circle of roller support grooves 49 is arranged on the upper part of the inner and outer circumferential ring surfaces of the support ring 17, and a circle of peripheral support grooves 50 is arranged on the lower part of the outer circumferential ring surface of the support ring 17; a buckle arc-shaped groove is arranged on the lower side of the displacement support base 46 and buckled on the support ring 17, a plurality of moving support rollers 58 are rotatably mounted on the inner side groove edge of the buckle arc-shaped groove, and the moving support rollers 58 are supported to walk on the groove edge of the corresponding side roller support groove 49; an extension support edge is downwardly arranged on the outer side of the displacement support base 46, and a plurality of outer side support rollers 59 are rotatably mounted on the inner side of the extension support edge, and the outer side support rollers 59 are supported to walk on the groove bottom of the peripheral support groove 50; the angle of view adjusting mechanism is mounted on the displacement support base 46.

[0054] Through the cooperation of the outer side support rollers 59 and the peripheral support grooves 50, the support strength of the outer side of the displacement support base 46 can be enhanced, and the stability of the angle of view adjusting mechanism, the folding cantilever mechanism and the image acquisition mechanism in the image acquisition process in the stretched state can be ensured; through the cooperation of the moving support rollers 58 and the roller support grooves 49, the stable movement of the displacement support base 46 can be realized, and the moving resistance is good.

[0055] Further, the view angle adjusting mechanism comprises a rotating support box 21, a rotating support spindle 64, a rotating drive motor 47, a lifting drive motor 22, a rotating support arm 44, a folding support arm 34, a lifting pull rope 41 and a lifting connecting unit; the lower end of the rotating support spindle 64 is fixed on the displacement support seat 46 of the displacement drive mechanism, the upper end of the rotating support spindle 64 is rotatably installed on the bottom of the rotating support box 21, and the rotating drive worm wheel 68 is fixedly installed on the upper end of the rotating support spindle 64; the rotating drive worm 65 engaged with the rotating drive worm wheel 68 is rotatably installed in the rotating support box 21; the rotating drive motor 47 is fixed on the rotating support box 21 and used to rotatably drive the rotating drive worm 65; one end of the rotating support arm 44 is fixed on the rotating support box 21, and the other end is provided with a support step groove 70; the proximal end of the folding support arm 34 is swingingly hingedly installed on the support step groove 70, and the folding cantilever mechanism is installed on the distal end of the folding support arm 34; the lifting winding disc 66 is rotatably installed on the inner top of the rotating support box 21, and the lifting drive worm wheel 67 is coaxially arranged on the lifting winding disc 66; the lifting drive worm engaged with the lifting drive worm wheel 67 is rotatably installed in the rotating support box 21; the lifting drive motor 22 is fixed on the rotating support box 21 and used to rotatably drive the lifting drive worm; the pulley groove 69 is arranged on the rotating support arm 44, and two limiting pulleys 45 are rotatably installed in the pulley groove 69; one end of the lifting pull rope 41 penetrates into the rotating support box 21 and is wound around the lifting winding disc 66; the other end of the lifting pull rope 41 passes through the gap between the two limiting pulleys 45 and is connected to the folding support arm 34 through the lifting connecting unit; the lifting drive motor 22 and the rotating drive motor 47 are driven and controlled by the system control unit.

[0056] The cooperation of the rotating drive worm 65 and the rotating drive worm wheel 68 can drive the relative rotation between the rotating support box 21 and the rotating support spindle 64, so as to realize the rotation storage of the view angle adjusting mechanism, the folding cantilever mechanism and the image acquisition mechanism; the two limiting pulleys 45 can realize the rolling support of the lifting pull rope 41 and reduce the friction resistance in the pulling process; the support step groove 70 can horizontally support and vertically block support the hinged end of the folding support arm 34, so as to ensure the stability in two states.

[0057] Further, the lifting connecting unit comprises a swing arm tension spring 37, a lifting swing arm 38 and a swing arm support; one end of the lifting swing arm 38 is swingingly hingedly installed in the middle of the upper side of the folding support arm 34 through the swing arm support, and the other end is connected with the swing arm tension spring 37 and the lifting pull rope 41 at the same time; the other end of the swing arm tension spring 37 is fixedly connected at the distal end of the folding support arm 34, for pulling the lifting swing arm 38 to swing towards the distal end of the folding support arm 34; a swing limiting lug 39 is arranged on the hingedly installed end of the lifting swing arm 38, for being supported on the folding support arm 34 when the lifting swing arm 38 is perpendicular to the folding support arm 34 under the pulling of the lifting pull rope 41; a pull rope limiting groove 73 for limiting the lifting pull rope 41 is arranged on the swing limiting lug 39.

[0058] The swing arm tension spring 37 can elastically pull the lifting swing arm 38, so as to quickly swing the lifting swing arm 38 to closely contact the folding support arm 34 when the lifting pull rope 41 releases the pulling force, facilitating folding and storage into the top camouflage net; the swing limiting lug 39 can limit and block the lifting swing arm 38 when it is swung to the perpendicular state, so as to facilitate pulling the folding support arm 34 to the vertical state; in addition, when the lifting swing arm 38 closely contacts the folding support arm 34, the upwardly protruding swing limiting lug 39 can make the lifting pull rope 41 have an upwardly inclined pulling force when being pulled, so as to more facilitate pulling the folding support arm 34 in the horizontal state; the pull rope limiting groove 73 can limit the lifting pull rope 41, preventing the lifting pull rope 41 from being separated from the swing limiting lug 39 in the folding and swinging process, and ensuring that the lifting pull rope 41 can be reliably pulled each time.

[0059] Further, the folding cantilever mechanism comprises a folding drive motor 43, a folding pull rope 36, a folding swing arm 28, a folding drive slider 31, a folding rebound spring 75 and two inclined support rods 30; the image acquisition mechanism comprises two folding swing rods 29, two image acquisition units and two camera seats 55; the image acquisition unit comprises an infrared camera and a wide-angle camera, so as to realize the acquisition of infrared and wide-angle images; a horizontal hinged notch 35 is arranged on the distal end of the folding support arm 34, and a folding rotating shaft 33 is vertically rotatably arranged at the end of the horizontal hinged notch 35; one end of the folding swing arm 28 is fixed on the folding rotating shaft 33, and two folding swing rods 29 are swingingly hinged on the upper and lower sides of the other end of the folding swing arm 28, respectively; two camera seats 55 are fixed on the suspended end portions of the two folding swing rods 29, respectively; two image acquisition units are arranged on the two camera seats 55, respectively, and the image acquisition units are directed to the direction of the folding support arm 34 when the folding swing rod 29 is in the vertical state; a rebound torsional spring 32 is arranged on the distal end of the folding support arm 34 and the lower end of the folding rotating shaft 33, for elastically driving the folding rotating shaft 33 to rebound and rotate; a rotating limiting block is arranged on the folding rotating shaft 33, and a rotating block 61 for blocking the rotating limiting block is arranged in the horizontal hinged notch 35, so that the folding support arm 34 and the folding swing arm 28 rebound and rotate to the same axis; a strip-shaped sliding hole 74 is arranged on the upper side of the folding swing arm 28 along the length direction, and the folding drive slider 31 is slidingly arranged in the strip-shaped sliding hole 74; a sliding guide groove is arranged on the length side hole wall of the strip-shaped sliding hole 74, and a sliding guide block slidingly supported in the sliding guide groove is arranged on the folding drive slider 31; one end of each of the two inclined support rods 30 is swingingly hinged on the upper and lower sides of the folding drive slider 31, respectively, and the other end of each of the two inclined support rods 30 is swingingly hinged on the middle portion of the two folding swing rods 29, respectively; the folding rebound spring 75 is arranged in the strip-shaped sliding hole 74, for elastically pushing the folding drive slider 31 to slide to the end position of the strip-shaped sliding hole 74, so that the inclined support rod 30 pushes the folding swing rod 29 to be perpendicular to the folding swing arm 28; a pull rope hole 60 is arranged on the folding support arm 34, the folding swing arm 28 and the folding rotating shaft 33, and a winding hole 72 is arranged on the folding support arm 34 and communicates with the pull rope hole 60; a pull rope winding disc 40 is rotatably arranged in the winding hole 72, and a winding reduction box 42 for driving the pull rope winding disc 40 to rotate is arranged on the lower side of the folding support arm 34; the folding drive motor 43 is used for driving the winding reduction box 42, and the folding drive motor 43 is driven and controlled by the system control unit; one end of the folding pull rope 36 is wound and fixed on the pull rope winding disc 40, and the other end is connected to the folding drive slider 31 after passing through the pull rope holes 60 on the folding support arm 34, the folding rotating shaft 33 and the folding swing arm 28 and the folding rebound spring 75 in sequence; a rotary pulley 62 for rolling supporting the folding pull rope 36 is arranged on the folding rotating shaft 33 and located at the hole opening of the pull rope hole 60;A folding support ring sleeve 71 is rotatably installed on the folding support pipe 15 of the folding support mechanism, and a folding support ring groove 25 for blocking the folding support swing arm 28 is arranged on the outer circumferential surface of the folding support ring sleeve 71.

[0060] By arranging the folding drive motor 43 and the winding reduction box 42 on the lower side of the folding support arm 34, a downward pulling force can be formed on one side of the folding support arm 34 when the folding support arm 34 is in a vertical state, so that the folding support arm 34 can be smoothly tilted to a horizontal state when the lifting pull rope 41 is released; the folding rebound spring 75 can timely push the folding drive sliding block 31 to slide when the folding pull rope 36 releases the pulling force, and synchronously push the two folding swing rods 29 to expand through the two inclined support rods 30; the cooperation of the rotary limiting block and the rotary stop block 61 can limit the rotation of the folding shaft 33, so as to limit and block when the folding support arm 34 and the folding swing arm 28 are located on the same axis; the rebound torsional spring 32 can quickly rotate and swing the folding swing arm 28 to be located on the same axis as the folding support arm 34 when the folding support ring groove 25 does not push the folding swing arm 28; the rotary pulley 62 can ensure the smoothness of the folding pull rope 36 when it is pulled after the folding shaft 33 is rotated; the folding support ring groove 25 on the rotating folding support ring sleeve 71 can roll and push the folding swing arm 28, realize the smooth folding of the folding swing arm 28, and support the overhanging folding swing arm 28 to prevent bending and deformation in a long-term overhanging state.

[0061] Further, the system control unit includes a controller, a memory, a wireless communication module, a lifting drive circuit, a rotating drive circuit, a folding drive circuit, a lifting drive circuit and a displacement drive circuit arranged in the control box 1; the control box 1 is installed on the bottom support plate 2 of the bottom folding unit; the controller is electrically connected with the memory, the wireless communication module, the infrared camera, the wide-angle camera, the lifting drive circuit, the rotating drive circuit, the folding drive circuit, the lifting drive circuit and the displacement drive circuit; the lifting drive circuit, the rotating drive circuit, the folding drive circuit, the lifting drive circuit and the displacement drive circuit are electrically connected with the lifting drive motor 14, the rotating drive motor 47, the folding drive motor 43, the lifting drive motor 22 and the displacement drive motor 17 respectively, and step-by-step rotating drive of corresponding motors is carried out. The wireless communication module can communicate with the upper computer remotely, and the collected images are sent to the upper computer in time, so that the supervisor can judge and analyze whether the camouflage net needs to be replaced; the lifting drive circuit, the rotating drive circuit, the folding drive circuit, the lifting drive circuit and the displacement drive circuit all sample the existing stepping motor drive circuit, which is used for step-by-step drive control of the lifting drive motor 14, the rotating drive motor 47, the folding drive motor 43, the lifting drive motor 22 and the displacement drive motor 17 respectively.

[0062] The perception method of the environment perception system for target camouflage disclosed by the application comprises the following steps:

[0063] Step 1, the bottom support mechanism is arranged at a position close to a site where a camouflage object is located, the folding support pipe 15 of the folding support mechanism is adjusted from a folded state to a vertical state, and the vertical locking bolt 12 is inserted into the vertical locking hole 13 for vertical locking, at this time, the support ring 17 of the annular support mechanism is in a horizontal state;

[0064] Step 2, according to the height of the camouflage object, the height of the folding support mechanism adjusted to the vertical state is adjusted by the bottom support mechanism, so that the annular support mechanism and the lifting roof mechanism reach the height of camouflage coverage;

[0065] Step 3, the top camouflage net matched with the color of the environment is covered on the roof support ring 18 of the lifting roof mechanism, the lower edge of the top camouflage net is tied on the edge support ring 24, and a ring of camouflage nets matched with the color of the environment is hung on the camouflage net hanging ring 26 of the annular support mechanism as a camouflage fence, so that the camouflage object is located in the camouflage fence, and the top camouflage net covers the upper part of the camouflage object, and then the system control unit is started;

[0066] Step 4, whether the preset environment image acquisition period is reached is judged in real time by the system control unit, if the environment image acquisition period is reached, step 5 is entered, otherwise the camouflage state is maintained;

[0067] Step 5, the lifting drive motor 14 of the lifting roof mechanism is driven and controlled by the system control unit at a set acquisition time point, which can be in the daytime or at night, and a time period easy to avoid detection can be selected, so that the height of the edge support ring 24 is higher than the height of the displacement drive mechanism, the view angle adjusting mechanism, the folding cantilever mechanism and the two image acquisition mechanisms in the storage state;

[0068] Step 6, the displacement drive motor 27 of the displacement drive mechanism is driven and controlled by the system control unit, so that the displacement support seat 46 moves along the support ring 17 to a position pointed by the cantilever end of the middle support beam 56, the rotation drive motor 47 of the view angle adjusting mechanism is driven and controlled, so that the rotation support arm 44, the folding support arm 34 and the folding swing arm 28 are all swung horizontally out of the cover range of the lifting roof mechanism, and the orthographic projection of the rotation support arm 44 and the orthographic projection of the displacement drive arm 20 are located on the same center line, and the folding swing arm 28 is rotated to be located on the same center line with the folding support arm 34 under the drive of the rebound torsional spring 32;

[0069] Step 7, the system control unit drives the folding drive motor 43 of the folding cantilever mechanism, slowly releases the pulling of the folding pull rope 36 to the folding drive block 31, and under the pushing action of the folding rebound spring 75, the two folding swing rods 29 are respectively pushed to expand to a vertical state, so that the infrared cameras and wide-angle cameras of the two image acquisition units are horizontally directed to the area where the top camouflage net and camouflage fence are located;

[0070] Step 8, the system control unit drives the displacement drive motor 27 of the displacement drive mechanism, first moves the displacement support seat 46 along the support ring 17 counterclockwise to the first acquisition point position close to the folding support pipe 15, and then starts the infrared cameras and wide-angle cameras of the two image acquisition units to acquire the foreground image and background image under the horizontal view angle of the area where the top camouflage net and camouflage fence are located;

[0071] Step 9, the system control unit drives the displacement drive motor 27 to move the displacement support seat 46 along the support ring 17 clockwise to the next acquisition point position, and then starts the infrared cameras and wide-angle cameras of the two image acquisition units to acquire the foreground image and background image under the horizontal view angle of the area where the top camouflage net and camouflage fence are located; each acquisition point position is arranged at an equal arc interval on the circumference of the support ring 17, and the interval between adjacent acquisition point positions is 30°;

[0072] Step 10, the system control unit determines whether the foreground image and background image acquisition under the horizontal view angle at each acquisition point position is completed, if all is completed, then enter step 11, otherwise return to step 9;

[0073] Step 11, the system control unit drives the lifting drive motor 22 of the view angle adjusting mechanism to pull the lifting swing arm 38 through the lifting pull rope 41, until the folding support arm 34 is in a vertical state, so that the infrared cameras and wide-angle cameras of the two image acquisition units are directed downward to the area where the top camouflage net and camouflage fence are located;

[0074] Step 12, the system control unit starts the infrared cameras and wide-angle cameras of the two image acquisition units to acquire the foreground image and background image under the downward view angle of the area where the top camouflage net and camouflage fence are located;

[0075] Step 13, the system control unit drives the displacement drive motor 27 to move the displacement support seat 46 along the support ring 17 counterclockwise to the next acquisition point position, and then starts the infrared cameras and wide-angle cameras of the two image acquisition units to acquire the foreground image and background image under the downward view angle of the area where the top camouflage net and camouflage fence are located;

[0076] Step 14, the system control unit determines whether the foreground image and the background image at each collection point under the overhead view are completed, if all completed, then step 15, otherwise return to step 13;

[0077] Step 15, the system control unit sends the collected foreground image and the background image to the remote control center, for personnel to determine whether the top camouflage net and camouflage fence need to be replaced, at the same time, the system control unit drives the lifting drive motor 22 to slowly release the lifting rope 41 to pull the lifting swing arm 38, and releases the folding support arm 34 to the horizontal state, and then drives the folding drive motor 43 to pull the folding drive slider 31 through the folding rope 36, so that the two folding swing rods 29 are pulled to swing relative to each other, thereby folding to the folding swing arm 28 to realize folding;

[0078] Step 16, the system control unit drives the displacement drive motor 27 to move the displacement support seat 46 along the support ring 17 clockwise to the position pointed by the cantilever end of the middle support beam 56, which can meet the design requirements of the longer folding support arm 34, and facilitate the end of the folding support arm 34 to smoothly pass through the folding support pipe 15, then the system control unit drives the rotation drive motor 47 to rotate the rotation support arm 44 clockwise by 210°~240°, preferably 220°, so that the end of the folding support arm 34 passes through the folding support pipe 15, at this time the folding support ring groove 25 rolls on the folding swing arm 28, then the system control unit drives the displacement drive motor 27 to rotate the displacement drive arm 20 counterclockwise by 30°~45°, preferably 35°, so that the displacement support seat 46 moves counterclockwise along the support ring 17 to the folding point, at this time the folding swing arm 28 is completely swung into the cover range of the top camouflage net under the pushing action of the folding support ring groove 25 to realize storage;

[0079] Step 17, the system control unit drives the lifting drive motor 14 to lower the height of the ceiling support ring 18, so that the top camouflage net cover is in the storage state, the ring-shaped support mechanism, the displacement drive mechanism, the view angle adjusting mechanism, the folding cantilever mechanism and the two image collection mechanisms, and then returns to step 4.

[0080] As described above, although the present application has been shown and described with reference to certain preferred embodiments thereof, it is to be understood that the application is not to be limited to the details of the above-described embodiments, but can be modified in various ways without departing from the spirit and scope of the present application defined by the appended claims.

Claims

1. An environmental perception system for target camouflage, characterized in that, It includes a system control unit, a bottom support mechanism, a folding support mechanism, a ring support mechanism, a lifting canopy mechanism, a shifting drive mechanism, a viewing angle adjustment mechanism, a folding cantilever mechanism, and two image acquisition mechanisms; The folding support mechanism is located on top of the bottom support mechanism, and the bottom support mechanism provides stable support and height adjustment for the folding support mechanism; the ring support mechanism and the lifting canopy mechanism are both located on the folding support mechanism, and the folding support mechanism folds and stores the ring support mechanism and the lifting canopy mechanism. The lifting canopy mechanism is used to install the top camouflage net. The shifting drive mechanism is mounted on the ring support mechanism, which supports the horizontal circumferential movement of the shifting drive mechanism. The viewing angle adjustment mechanism is mounted on the shifting drive mechanism, which adjusts the horizontal circumferential position and horizontal cantilever angle of the viewing angle adjustment mechanism. The folding cantilever mechanism is mounted on the viewing angle adjustment mechanism, which switches the horizontal or overhead viewing angle of the folding cantilever mechanism. Both image acquisition mechanisms are mounted on the cantilever ends of the folding cantilever mechanism, which switches the two image acquisition mechanisms between cantilever and folded states. Both image acquisition mechanisms are used to acquire visible light and infrared light images. The lifting ceiling mechanism, shifting drive mechanism, viewing angle adjustment mechanism, folding cantilever mechanism, and two image acquisition mechanisms are all driven and controlled by the system control unit.

2. The environmental perception system for target camouflage according to claim 1, characterized in that, The bottom support mechanism includes a bottom folding unit and a height adjustment unit. The height adjustment unit is located on the bottom folding unit, and the folding support mechanism is located on the height adjustment unit. The bottom folding unit provides stable support for the height adjustment unit, and the height adjustment unit adjusts the height of the folding support mechanism.

3. The environmental perception system for target camouflage according to claim 1, characterized in that, The folding support mechanism includes a folding hinge seat (11), a folding locking bolt (54), a vertical locking bolt (12), and a folding support tube (15). The folding hinge seat (11) is fixed on the height adjustment unit, and a locking side plate (53) is provided on the right side of the folding hinge seat (11). The lower end of the folding support tube (15) is hinged to the folding hinge seat (11). A vertical locking hole (13) is provided on the front side wall of the folding support tube (15). The vertical locking bolt (12) is threaded through and screwed onto the folding hinge seat (11), and the end of the vertical locking bolt (12) can be detachably inserted into the vertical locking hole (13) to achieve vertical locking. A folding locking threaded hole is provided on the right side wall of the folding support tube (15). The screw end of the folding locking bolt (54) passes through the locking side plate (53) and is threadedly screwed onto the folding locking threaded hole when folded. The lifting ceiling mechanism is installed on the folding support tube (15).

4. The environmental perception system for target camouflage according to claim 3, characterized in that, The lifting ceiling mechanism includes a lifting drive motor (14), a lifting support tube (16), a lifting drive screw (63), a ceiling support beam, a ceiling support ring (18), and an edge support ring (24). The lifting drive screw (63) is rotatably installed inside the folding support tube (15), and the lifting drive motor (14) is installed outside the folding support tube (15) and drives the lifting drive screw (63) to rotate through a bevel gear pair. The lower end of the lifting support tube (16) is inserted into the folding support tube (15), and a [missing information - likely a device or mechanism] is provided inside the lifting support tube (16). The internal thread of the lifting drive screw (63) is screwed into the lifting internal thread; a lifting guide groove (52) is provided on the outer wall of the lifting support tube (16), and a sliding lifting guide slider is provided at the opening of the folding support tube (15) and embedded in the lifting guide groove (52); the lifting drive motor (14) is driven and controlled by the system control unit; the ceiling support beam is vertically fixed on the upper end of the lifting support tube (16), the ceiling support ring (18) is fixed on the ceiling support beam, and the edge support ring (24) is installed below the ceiling support ring (18).

5. The environmental perception system for target camouflage according to claim 1, characterized in that, The ring support mechanism includes a support ring (17), a camouflage net hanging ring (26), a central support beam (56), and various support short rods (57); one end of the central support beam (56) is vertically fixed to the folding support mechanism; one end of each support short rod (57) is fixed to the support ring (17), and the other end is fixed to the inner ring surface of the support ring (17); the camouflage net hanging ring (26) is installed below the support ring (17) through various connecting short rods.

6. The environmental perception system for target camouflage according to claim 5, characterized in that, The shift drive mechanism includes a shift drive motor (27), a shift drive arm (20), a shift gearbox (19), and a shift support base (46). The shift gearbox (19) is installed in the middle of the central support beam (56), and the shift drive motor (27) is driven and controlled by the system control unit to drive the shift gearbox (19). A shift drive shaft (48) is rotatably installed on the central support beam (56) at the center of the support ring (17), and the output shaft of the shift gearbox (19) is connected to the shift drive shaft (48). One end of the shift drive arm (20) is fixed to the shift drive shaft (48), and the other end is fixed to the shift support base (46). The upper part of the inner circumferential surface and the upper part of the outer circumferential surface of the support ring (17) are also connected to the shift drive arm (20). Each is provided with a roller support groove (49), and a peripheral support groove (50) is provided at the lower part of the outer circumferential surface of the support ring (17); the lower side of the shift support base (46) is provided with a snap-on arc groove that snaps onto the support ring (17), and each movable support roller (58) is rotatably installed on the inner side of the snap-on arc groove, and the movable support roller (58) is supported and travels on the groove edge of the corresponding roller support groove (49); an extension support edge is provided extending downward on the outer side of the shift support base (46), and each outer support roller (59) is rotatably installed on the inner side of the extension support edge, and the outer support roller (59) is supported and travels on the bottom of the peripheral support groove (50); the viewing angle adjustment mechanism is installed on the shift support base (46).

7. The environmental perception system for target camouflage according to claim 1, characterized in that, The viewing angle adjustment mechanism includes a rotating support box (21), a rotating support spindle (64), a rotating drive motor (47), a lifting drive motor (22), a rotating support arm (44), a folding support arm (34), a lifting rope (41), and a lifting connection unit; the lower end of the rotating support spindle (64) is fixed on the shifting drive mechanism, and the upper end of the rotating support spindle (64) is rotatably mounted through the bottom of the rotating support box (21), and a rotating... A drive worm gear (68) is included; a rotary drive worm (65) meshing with the rotary drive worm gear (68) is rotatably mounted inside the rotary support box (21); a rotary drive motor (47) is fixed on the rotary support box (21) and is used to drive the rotary drive worm (65) to rotate; one end of the rotary support arm (44) is fixed on the rotary support box (21), and the other end is provided with a support step groove (70); the proximal end of the folding support arm (34) is hinged to the support step groove (70) in a swing-up and down manner. The folding cantilever mechanism is installed on the far end of the folding support arm (34); a lifting take-up reel (66) is rotatably installed on the inner top of the rotating support box (21), and a lifting drive worm gear (67) is coaxially arranged on the lifting take-up reel (66); a lifting drive worm gear meshing with the lifting drive worm gear (67) is rotatably installed inside the rotating support box (21); a lifting drive motor (22) is fixed on the rotating support box (21) and is used to rotate the lifting drive worm gear; on the rotating support arm (4 4) A pulley groove (69) is provided on the upper part, and two limiting pulleys (45) are rotatably installed in the pulley groove (69); one end of the lifting rope (41) extends into the rotating support box (21) and is fixed on the lifting take-up reel (66); the other end of the lifting rope (41) passes through the gap between the two limiting pulleys (45) and is connected to the folding support arm (34) through the lifting connection unit; the lifting drive motor (22) and the rotating drive motor (47) are both driven and controlled by the system control unit.

8. The environmental perception system for target camouflage according to claim 7, characterized in that, The lifting connection unit includes a swing arm spring (37), a lifting swing arm (38), and a swing arm support. One end of the lifting swing arm (38) is mounted on the middle of the upper side of the folding support arm (34) via a swing arm support, and the other end is connected to both the swing arm spring (37) and the lifting rope (41). The other end of the swing arm spring (37) is fixedly connected to the far end of the folding support arm (34) to pull the lifting swing arm (38) to swing towards the far end of the folding support arm (34). A swing limiting protrusion (39) is provided on the hinged mounting end of the lifting swing arm (38) to support the lifting support arm (34) when the lifting swing arm (38) is pulled by the lifting rope (41) and is perpendicular to the folding support arm (34). A rope limiting groove (73) is provided on the swing limiting protrusion (39) to limit the lifting rope (41).

9. The environmental perception system for target camouflage according to claim 7, characterized in that, The folding cantilever mechanism includes a folding drive motor (43), a folding pull rope (36), a folding swing arm (28), a folding drive slider (31), a folding rebound spring (75), and two diagonal bracing rods (30); the image acquisition mechanism includes two folding swing rods (29), two image acquisition units, and two camera mounts (55); a horizontal hinge slot (35) is provided at the far end of the folding support arm (34), and a folding shaft (33) is rotatably and vertically installed at the end of the horizontal hinge slot (35); one end of the folding swing arm (28) is fixed to the folding shaft (33), and the two folding swing rods (29) are respectively oscillatingly hinged to the upper and lower sides of the other end of the folding swing arm (28); two camera mounts (55) are respectively fixed on the suspended ends of the two folding swing arms (29); the two image acquisition units are respectively installed on the two camera mounts (55), and when the folding swing arms (29) are in the vertical state, the image acquisition units face the direction of the folding support arm (34); a spring-loaded torsion spring (32) is provided on the far end of the folding support arm (34) and on the lower end of the folding pivot (33) for elastically driving the folding pivot (33) to spring back and rotate; a rotation limit block is provided on the folding pivot (33), and a rotation stop block (61) is provided in the horizontal hinge slot (35) to block the rotation limit block, so that the folding support arm (34) and the folding swing arm (28) spring back and rotate to the same axis; on the folding swing arm ( A strip-shaped sliding hole (74) is provided along the length direction on the upper side of the folding drive slider (31), and the folding drive slider (31) is slidably installed in the strip-shaped sliding hole (74); one end of the two diagonal bracing rods (30) is respectively oscillatingly hinged to the upper and lower sides of the folding drive slider (31), and the other end of the two diagonal bracing rods (30) is respectively oscillatingly hinged to the middle of the two folding swing rods (29); a folding rebound spring (75) is installed in the strip-shaped sliding hole (74) to elastically push the folding drive slider (31) to slide to the end position of the strip-shaped sliding hole (74); a pull rope hole (60) is provided on the folding support arm (34), the folding swing arm (28) and the folding pivot (33), and ... 34) is provided with a winding hole (72) that communicates with the pull rope hole (60); a pull rope winding reel (40) is rotatably installed in the winding hole (72); a winding speed reduction gearbox (42) for driving the pull rope winding reel (40) to rotate is provided on the lower side of the folding support arm (34); a folding drive motor (43) is used to drive the winding speed reduction gearbox (42), and the folding drive motor (43) is driven and controlled by the system control unit; one end of the folding pull rope (36) is wound and fixed on the pull rope winding reel (40), and the other end passes through the pull rope hole (60) on the folding support arm (34), the folding pivot (33), the folding swing arm (28), and the folding spring (75) in sequence and is then connected to the folding drive slider (31);A rotary pulley (62) for rolling support of the folding pull rope (36) is provided on the folding pivot (33) at the opening of the pull rope hole (60); a folding support ring (71) is rotatably mounted on the folding support mechanism, and a folding support ring groove (25) for blocking and supporting the folding swing arm (28) is provided on the outer circumference of the folding support ring (71).

10. A perception method for an environmental perception system for target camouflage as described in claim 9, characterized in that, Includes the following steps: Step 1: Set the bottom support mechanism at a location close to the camouflaged object. Then adjust the folding support tube (15) of the folding support mechanism from the folded state to the vertical state. Then use the vertical locking bolt (12) to insert into the vertical locking hole (13) for vertical locking. At this time, the support ring (17) of the ring support mechanism is in a horizontal state. Step 2: Based on the height of the camouflaged object, adjust the height of the folding support mechanism, which is now in a vertical position, using the bottom support mechanism so that the ring support mechanism and the lifting canopy mechanism reach the height of the camouflage coverage. Step 3: Cover the roof support ring (18) of the lifting roof mechanism with a top camouflage net that matches the ambient color, and tie the lower edge of the top camouflage net to the edge support ring (24). Hang a ring of camouflage net that matches the ambient color on the camouflage net hanging ring (26) of the ring support mechanism as a camouflage enclosure, so that the camouflage object is located inside the camouflage enclosure and the top camouflage net covers the camouflage object. Then start the system control unit. Step 4: The system control unit determines in real time whether the preset environmental image acquisition cycle has been reached. If the environmental image acquisition cycle has been reached, proceed to step 5; otherwise, maintain the camouflage state. Step 5: The system control unit drives the lifting drive motor (14) of the lifting canopy mechanism at the set acquisition time point, so that the height of the edge support ring (24) is higher than the height of the displacement drive mechanism, the viewing angle adjustment mechanism, the folding cantilever mechanism and the two image acquisition mechanisms in the storage state. Step 6: The system control unit drives the shift drive motor (27) of the shift drive mechanism to move the shift support seat (46) along the support ring (17) to the position pointed to by the cantilever end of the middle support beam (56). Then, the rotation drive motor (47) of the viewing angle adjustment mechanism is driven to make the rotating support arm (44), the folding support arm (34) and the folding swing arm (28) swing horizontally to outside the coverage area of ​​the lifting ceiling mechanism. The orthographic projection of the rotating support arm (44) and the orthographic projection of the shift drive arm (20) are on the same center line. At the same time, the folding swing arm (28) rotates under the drive of the spring torsion spring (32) to be on the same center line as the folding support arm (34). Step 7: The system control unit drives the folding drive motor (43) of the folding cantilever mechanism, slowly releasing the folding pull rope (36) to pull the folding drive slider (31). Under the pushing action of the folding rebound spring (75), the two diagonal bracing rods (30) push the two folding swing rods (29) to unfold into a vertical state, so that the infrared cameras and wide-angle cameras of the two image acquisition units are horizontally facing the top camouflage net and the area where the camouflage fence is located. Step 8: The system control unit drives the shift drive motor (27) of the shift drive mechanism. First, the shift support (46) is moved counterclockwise along the support ring (17) to the first acquisition point near the folded support tube (15). Then, the infrared camera and wide-angle camera of the two image acquisition units are activated to acquire the foreground and background images of the area where the top camouflage net and camouflage fence are located from a horizontal perspective. Step 9: The system control unit drives the shift drive motor (27) to move the shift support (46) clockwise along the support ring (17) to the next acquisition point. Then, the infrared camera and wide-angle camera of the two image acquisition units are activated to acquire the foreground and background images of the area where the top camouflage net and camouflage fence are located from a horizontal perspective. Step 10: The system control unit determines whether the acquisition of foreground and background images at each acquisition point under the horizontal view has been completed. If all acquisitions are completed, proceed to step 11; otherwise, return to step 9. Step 11: The system control unit drives the lifting drive motor (22) of the viewing angle adjustment mechanism, and pulls the lifting swing arm (38) through the lifting rope (41) until the folding support arm (34) is in a vertical state, so that the infrared camera and wide-angle camera of the two image acquisition units are pointing downwards towards the top camouflage net and the camouflage enclosure area. Step 12: The system control unit activates the infrared camera and wide-angle camera of the two image acquisition units to acquire foreground and background images from a top-down perspective of the area where the camouflage net and camouflage fence are located. Step 13: The system control unit drives the shift drive motor (27) to move the shift support (46) counterclockwise along the support ring (17) to the next acquisition point. Then, the infrared camera and wide-angle camera of the two image acquisition units are activated to acquire the foreground and background images of the area where the top camouflage net and camouflage fence are located from a top-down perspective. Step 14: The system control unit determines whether the acquisition of foreground and background images from the top view at each acquisition point has been completed. If all acquisitions are completed, proceed to step 15; otherwise, return to step 13. Step 15: The system control unit remotely sends the collected foreground and background images to the remote control center. At the same time, the system control unit drives the lifting drive motor (22) to slowly release the lifting rope (41) to pull the lifting swing arm (38), releasing the folding support arm (34) to a horizontal state. Then, the system control unit drives the folding drive motor (43) to pull the folding drive slider (31) through the folding rope (36), so that the two inclined bracing rods (30) pull the two folding swing rods (29) to swing relative to each other, thereby folding to a position close to the folding swing arm (28) to achieve folding. Step 16: The system control unit drives the shift drive motor (27) to move the shift support seat (46) clockwise along the support ring (17) to the position pointed to by the cantilever end of the middle support beam (56). Then, the rotation drive motor (47) is driven to rotate the rotation support arm (44) clockwise by 210°~240°. At this time, the folding support ring groove (25) rolls and supports the folding swing arm (28). Then, the shift drive motor (27) is driven to rotate the shift drive arm (20) counterclockwise by 30°~45°, so that the shift support seat (46) moves counterclockwise along the support ring (17) to the folding point. At this time, the folding swing arm (28) swings completely into the cover range of the top camouflage net under the pushing action of the folding support ring groove (25) to achieve storage. Step 17: The system control unit drives the lifting drive motor (14) to lower the height of the canopy support ring (18), so that the top camouflage net cover is in the stored state of the ring support mechanism, the shift drive mechanism, the viewing angle adjustment mechanism, the folding cantilever mechanism and the two image acquisition mechanisms, and then returns to step 4.

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