Infrared and visible light positioning mark for digital barrier field

Abstract

The utility model discloses an infrared and visible light positioning mark for a digital barrier field, which comprises a hollow substrate, a power supply module arranged in an inner cavity of the substrate, a controller arranged on the surface of the substrate, a positioning module, a communication module, a heating module and a non-heating module, the heating module comprises an electric connector and a concave base, a heating layer and a heat conduction layer are arranged in an inner cavity of the base, and a white low-emissivity coating is sprayed on the surface of the heat conduction layer; an electric heating wire is arranged in the heating layer and is connected with a controller through an electric connector; the non-heating module comprises a hollow shell, the surface of the shell is coated with a black coating, the device can be used for a digital obstacle field, and passage detection of a strip-shaped digital obstacle and burst point detection of ammunition in various environments are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of damage assessment, in particular to infrared and visible light positioning marking for digital obstacle fields. Background Art

[0002] A digital obstacle field refers to a virtual-real obstacle field constructed using technologies such as digital twins, simulation deduction, and machine learning. It is mainly used in landing obstacle clearance training to achieve accurate assessment of obstacle clearance efficiency, real-time display of obstacle clearance status, review and analysis of obstacle clearance actions, and virtual construction of large obstacles, accelerating the upgrade and transformation of landing obstacle clearance training.

[0003] Our company has been granted patent CN113128891B, which discloses a digital obstacle field. The digital obstacles in this patent include digital rail forts, digital triangular pyramids, digital barbed wire, digital barrier walls, digital mines, and digital barrier trenches. Among them, digital barbed wire, digital barrier walls, and digital barrier trenches are classified as strip-shaped digital obstacles. In addition, strip-shaped digital obstacles also include: accordion wire, straight-pile wire mesh, roof-type wire mesh, sisal belts, etc. In digital obstacle fields, visible light images captured by drone-mounted image acquisition units (infrared and visible light cameras) are generally used to detect strip obstacle paths. Infrared images are used to detect the explosion points of obstacle-clearing ammunition. Due to the high flight altitude of drones, traditional visual positioning methods have low accuracy when performing path detection and explosion point detection. Therefore, a reference object needs to be set up on the ground to improve detection accuracy. Utility Model Content

[0004] The utility model aims to provide an infrared and visible light positioning marker for a digital obstacle field.

[0005] The purpose and innovation of the utility model lies in: utilizing the combination of the positioning module, the heating module and the non-heating module so that the image acquisition unit can accurately detect the path of the strip-shaped digital obstacle in both non-strong light and strong light environments; utilizing the controllable heating temperature of the heating module to ensure that the positioning mark can be effectively identified in the infrared image, obtain the position information of the positioning mark, and realize the explosion point detection of the ammunition.

[0006] In order to achieve the above-mentioned utility model purpose, the technical solution of the utility model is:

[0007] Infrared and visible light positioning markers for digital obstacle fields, comprising a hollow substrate, a power supply module arranged in the inner cavity of the substrate, a controller arranged on the surface of the substrate, a positioning module, a communication module, a heating module and a non-heating module;

[0008] The controller is connected to the power supply module, the positioning module, the communication module and the heating module;

[0009] The power supply module is connected to the positioning module, the communication module and the heating module;

[0010] The heating module includes an electrical connector and a concave base. A heating layer and a heat-conducting layer are provided in the inner cavity of the base, and a white low-emissivity coating is sprayed on the surface of the heat-conducting layer. An electric heating wire is provided in the heating layer, and the electric heating wire is connected to the controller through an electrical connector. The non-heating module includes a hollow shell, and a black coating is sprayed on the surface of the shell.

[0011] Furthermore, the surface of the substrate is divided into nine areas in a nine-square grid shape, namely area 1, area 2, ..., and area 9 from right to left and from bottom to top; the controller, positioning module and communication module are arranged in area 5 in the center; the heating module is arranged in area 1 and area 3; and heating modules and non-heating modules are arranged in the remaining 6 areas.

[0012] Furthermore, a heat insulating layer is provided between the heating layer and the inner wall and bottom of the base.

[0013] The beneficial effects of the utility model are:

[0014] (1) In this application, the positioning module adopts the UWB positioning form, and the coordinate position of the positioning marker itself is sent to the deduction and simulation software in the digital obstacle field through the controller and the communication module for solution and management; in a non-strong light environment, the heating module and the non-heating module on the positioning marker are white and black respectively, and are easy to identify with visible light at high altitudes. At this time, a visible light camera is used to identify the positioning marker, obtain the position information of the positioning marker, and realize the path detection of the obstacle; in a strong light environment, the heating module and the non-heating module on the positioning marker are difficult to identify with visible light images at high altitudes. Since the surface of the heating module is coated with a low-emissivity coating, it is significantly different from the non-heating module and the background in the infrared image. At this time, an infrared camera is used to identify the positioning marker, obtain the position information of the positioning marker, and realize the path detection of the obstacle; the combination of the positioning module, the heating module and the non-heating module enables the image acquisition unit (infrared and visible light cameras) to accurately locate the obstacle in both non-strong light and strong light environments.

[0015] (2) In the present application, an electric heating wire is provided in the heating module, and the controller can control the temperature of the heating module so that its surface temperature reaches the temperature level at the center of the explosion area, ensuring that the positioning mark can be effectively identified in the infrared image, obtaining the position information of the positioning mark, and sending the position information to the infrared detection model to realize the explosion point detection of the ammunition. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of the utility model.

[0017] Figure 2 This is a diagram of the nine-square grid area structure of the substrate.

[0018] Figure 3 Schematic diagram of the heating module structure.

[0019] Figure 4 This is the control principle diagram of the utility model.

[0020] Figure 5 Capture images of positioning markers for the visible light camera.

[0021] Figure 6 The infrared camera identifies the image of the positioning mark (the heating module is not heated).

[0022] Figure 7 The infrared camera recognizes the image of the positioning mark (heating module heating).

[0023] Figure 8 It is a layout diagram of positioning markers in a digital obstacle field.

[0024] In the figure: 10 is the substrate, 11 is area No. 1, 12 is area No. 2, 13 is area No. 3, 14 is area No. 4, 15 is area No. 5, 16 is area No. 6, 17 is area No. 7, 18 is area No. 8, 19 is area No. 9, 20 is the controller, 30 is the positioning module, 40 is the communication module, 50 is the heating module, 51 is the base, 52 is the heating layer, 53 is the heat conducting layer, 54 is the heat insulating layer, 60 is the non-heating module, 70 is the power supply module, and 100 is the positioning mark. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings.

[0026] The infrared and visible light positioning marker 100 for a digital obstacle field includes a hollow substrate 10, a power supply module 70 disposed in the inner cavity of the substrate 10, a controller 20 disposed on the surface of the substrate 10, a positioning module 30, a communication module 40, a heating module 50, and a non-heating module 60;

[0027] The controller 20 is connected to the power supply module 70, the positioning module 30, the communication module 40 and the heating module 50;

[0028] The power supply module 70 is connected to the positioning module 30, the communication module 40 and the heating module 50;

[0029] The heating module 50 includes an electrical connector and a concave base 51. The inner cavity of the base 51 is provided with a heating layer 52 and a heat-conducting layer 53, and the surface of the heat-conducting layer 53 is sprayed with a white low-emissivity coating; an electric heating wire is provided in the heating layer 52, and the electric heating wire is connected to the controller 20 through an electrical connector; the non-heating module 60 includes a hollow shell, and the surface of the shell is sprayed with a black coating.

[0030] Furthermore, the substrate 10 (refer to Figure 2 ) The surface is divided into nine areas in a nine-square grid, which are area No. 1 11, area No. 2 12, area No. 3 13, area No. 4 14, area No. 5 15, area No. 6 16, area No. 7 17, area No. 8 18, and area No. 9 19 from right to left and from bottom to top; the controller 20, positioning module 30 and communication module 40 are arranged in area No. 5 15 in the center; the heating module 50 is arranged in area No. 1 11 and area No. 3 13; the heating modules 50 and non-heating modules 60 are arranged in the remaining 6 areas.

[0031] Furthermore, a heat insulating layer 54 is provided between the heating layer 52 and the inner wall and bottom of the base 51. The heat insulating layer 54 can prevent heat from being conducted to the surroundings and bottom of the base 51, ensuring that as much heat as possible is conducted to the heat conducting layer 53 to save electricity.

[0032] Furthermore, the heating module 50 and the non-heating module 60 can be connected to the base plate 10 by snapping. The snap connection method is a prior art and will not be described in detail here.

[0033] For further reference, Figure 4 The controller 20 is used to receive the heating command issued by the simulation software from the communication module 40, control the heating module 50 to heat to a given temperature, and upload its own status information and the positioning data of the positioning module 30 to the simulation software; the positioning module 30 is used to measure the position information of the positioning marker 100, using UWB positioning to measure the coordinate position of the positioning marker 100 in the digital obstacle field, and the positioning information is sent to the controller 20 and transmitted to the simulation software through the communication module 40; the communication module 40 is used to transmit data between the positioning marker 100 and the simulation software. On the one hand, it receives the heating instruction sent by the simulation software and transmits it to the controller 20, and on the other hand, it receives the positioning information sent by the controller 20 and sends it to the simulation software for solution and management; the power supply module 70 is used to provide working power to the controller 20, the communication module 40 and the positioning module 30, and provide heating power to the heating module 50.

[0034] Furthermore, heating modules 50 and non-heating modules 60 are set in the remaining 6 areas. The combination of the heating module 50 and the non-heating module 60 can be encoded with reference to the QR code encoding principle. If the heating module 50 is installed, the area represents 1, and if the non-heating module 60 is installed, it represents 0. One byte is used to represent the identification code of this positioning identifier 100, wherein the 7th and 8th bits of the byte are fixed to 0, the 6th bit corresponds to 19 for area 9, the 5th bit corresponds to 18 for area 8, the 4th bit corresponds to 17 for area 7, the 3rd bit corresponds to 16 for area 6, the 2nd bit corresponds to 14 for area 4, and the 1st bit corresponds to 12 for area 2. Therefore, this positioning identifier 100 can form 64 identification codes, namely 0 to 63.

[0035] Of course, other encoding methods can also be used. The encoding methods are diverse and not limited to QR codes. The main thing is that the positioning mark 100 can be distinguished.

[0036] Assign location markers 100 to various strip-shaped digital obstacles and explosion areas:

[0037] (1) For the barrier wall, the positioning markers 100 with identification codes ranging from 0 to 7 are allocated and divided into 4 groups, with 0 and 1 forming the first group, 2 and 3 forming the second group, and so on;

[0038] (2) Blocking trenches: assign positioning markers 100 with identification codes from 8 to 15, divided into 4 groups, with 8 and 9 forming the 5th group, 10 and 11 forming the 6th group, and so on;

[0039] (3) Accordion-type wire mesh: assign positioning markers 100 with identification codes from 16 to 23, divided into 4 groups, with 16 and 17 in the 9th group, 18 and 19 in the 10th group, and so on for the others;

[0040] (4) For straight-pile wire fences, the positioning markers 100 with identification codes ranging from 24 to 31 are assigned and divided into 4 groups, with 24 and 25 being the 13th group, 26 and 27 being the 14th group, and so on for the others;

[0041] (5) Roof-type wire mesh, assigned with identification code number 32 to 39, positioning markers 100, divided into 4 groups, No. 32 and No. 33 are the 17th group, No. 34 and No. 35 are the 18th group, and so on;

[0042] (6) Sisal belts, assigned positioning markers 100 with identification code numbers 40 to 47, divided into 4 groups, with No. 40 and No. 41 being the 21st group, No. 42 and No. 43 being the 22nd group, and so on;

[0043] (7) In the explosion area, the location markers 100 with identification code numbers 48 to 55 are assigned and divided into 4 groups, with 48 and 49 being the 25th group, 50 and 51 being the 26th group, and so on;

[0044] (8) For standby use, positioning markers 100 with identification code numbers 56 to 63 are allocated.

[0045] Arrange positioning mark 100 (refer to Figure 8 ):

[0046] (1) Arrange positioning markers 100 for the strip-shaped digital obstacles. Install the positioning markers 100 2 meters from both ends of each strip-shaped digital obstacle. When installing, the x-axis and y-axis of the positioning markers 100 should be basically consistent with the x-axis and y-axis of the digital obstacle field, and the x-axis angle between the two should not exceed 30 degrees.

[0047] (2) Positioning markers 100 are arranged in the explosion area. Positioning markers 100 are placed at intervals of 30 to 50 meters on both sides of the edge line of the digital obstacle field in the y-axis direction. The x-axis and y-axis of the positioning markers 100 are basically consistent with the x-axis and y-axis of the digital obstacle field, and the x-axis angle between the two does not exceed 30 degrees.

[0048] Identify the positioning mark 100:

[0049] (1) Strip digital obstacle path detection

[0050] When the image acquisition unit is used for shooting, since the positioning marks 100 at both ends of the strip-shaped digital obstacle have identification codes, the accuracy of identification and positioning can be further improved.

[0051] ①Under non-strong light environment

[0052] In a non-strong light environment, the heating module 50 and the non-heating module 60 on the positioning mark 100 are white and black respectively, and are easy to be identified by visible light at high altitudes. At this time, a visible light camera is used to identify the positioning mark 100, such as Figure 5 As shown, the position information of the positioning marker 100 is obtained, and the position information is directly applied in the visible light detection model to realize the path detection of digital obstacles, etc.

[0053] ② In a strong light environment, the heating module 50 and the non-heating module 60 on the positioning mark 100 are difficult to be identified at high altitude using visible light images. Since the surface of the heating module 50 is coated with a low emissivity coating, it is significantly different from the non-heating module 60 and the background in the infrared image. In this case, an infrared camera is used to identify the positioning mark 100, such as Figure 6 As shown, the position information of the positioning marker 100 is obtained and sent to the visible light detection model to achieve obstacle path detection.

[0054] (2) Explosion point detection of ammunition

[0055] The controller 20 controls the temperature of the heating module 50 so that its surface temperature reaches the temperature level of the center of the explosion area, ensuring that the positioning mark 100 can be effectively identified in the infrared image. Figure 7 As shown, the position information of the positioning mark 100 is obtained and sent to the infrared detection model to realize the explosion point detection of the ammunition.

[0056] The embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A digital obstacle field positioning marker using infrared and visible light, comprising a hollow substrate, characterized in that: It also includes a power supply module arranged in the inner cavity of the substrate, a controller arranged on the surface of the substrate, a positioning module, a communication module, a heating module and a non-heating module; The controller is connected to the power supply module, the positioning module, the communication module and the heating module; The power supply module is connected to the positioning module, the communication module and the heating module; The heating module includes an electrical connector and a concave base. A heating layer and a heat-conducting layer are provided in the inner cavity of the base, and a white low-emissivity coating is sprayed on the surface of the heat-conducting layer. An electric heating wire is provided in the heating layer, and the electric heating wire is connected to the controller through an electrical connector. The non-heating module includes a hollow shell, and a black coating is sprayed on the surface of the shell.

2. The infrared and visible light positioning marker for a digital obstacle course according to claim 1, characterized in that: The surface of the substrate is divided into nine areas in a nine-square grid shape, which are area 1, area 2, ..., and area 9 from right to left and from bottom to top; the controller, positioning module and communication module are arranged in area 5 in the center; the heating module is arranged in area 1 and area 3; and heating modules and non-heating modules are arranged in the remaining 6 areas.

3. The infrared and visible light positioning marker for a digital obstacle course according to claim 1, characterized in that: A heat insulating layer is also provided between the heating layer and the inner wall and bottom of the base.

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