Mobile platform for infrared target identification

Abstract

The utility model discloses a mobile platform used for infrared target identification. The mobile platform comprises a mobile vehicle body, a two-dimensional infrared camera holder and a sensing, storage and calculation integrated infrared target identification chip assembly module. The two-dimensional infrared camera holder is fixedly positioned at the front end of the mobile vehicle body, and the sensing-storage-computing integrated infrared target identification chip assembly module is distributed and fixedly positioned at the top of the mobile vehicle body in an open manner; the two-dimensional infrared camera holder comprises an infrared image sensor, a length adjusting rod, a pitching assembly, a yawing assembly, a base and a mast. Two ends of the mast are fixedly connected with the front end of the mobile vehicle body and the base respectively; the yaw assembly is fixedly located on the base, and the pitching assembly is in universal connection with the yaw assembly. One end of the length adjusting rod is fixedly connected with the pitching assembly; the infrared image sensor is fixedly located at the other end of the length adjusting rod, and the infrared image sensor is in communication connection with the sensing, storage and calculation integrated infrared target identification chip assembly module.

Description

Technical Field

[0001] The utility model relates to the technical field of infrared target recognition, in particular to a mobile platform for infrared target recognition. Background Art

[0002] Traditional mobile target recognition platforms are typically based on the von Neumann architecture. Sensor data and the target recognition neural network model are first stored on the hard drive. The calculation process requires repeatedly reading model weight data from the hard drive into memory, then transferring the data from memory to the video memory. After the video memory completes the calculation, the results are returned to the memory for the mobile platform's motion control calculations. The entire process requires a large amount of data movement, resulting in computational delays and power consumption. This mobile carrier structure, where sensing, storage, computing, and control are spatially separated, not only leads to complex system structure and functional redundancy, but also lacks a feedback control loop between the image acquisition module used for target perception and detection and other hardware modules such as storage, computing, and control. This results in high energy consumption, low operational efficiency, and insufficient overall performance for the mobile platform.

[0003] The memristor-based sensing, storage, and computing integrated recognition technology maps the weight values ​​of the neural network to the conductance values ​​of the memristors in the storage and computing array, while the input values ​​of the network are mapped to the voltage values ​​at both ends of the memristors. Based on Kirchhoff's law, the multiplication and accumulation operations between the internal model weights and inputs of the neural network are realized, eliminating the process of moving the target recognition network model weight data, reducing the computing delay, and eliminating the power consumption wall problem of the von Neumann architecture. It will provide fast, low-latency perception and computing results for mobile platform motion control.

[0004] Although this integrated sensing, storage and computing target recognition platform has the functional effects of reducing latency, saving energy, improving performance and increasing data security, due to the highly integrated sensing, storage and computing units in the structure, the traditional structure of the chip enclosed in the vehicle body brings problems with heat dissipation and thermal management such as chip heating.

[0005] In addition, because the image acquisition camera used for target perception and detection cannot flexibly adjust its spatial posture on the platform and transmit key information such as the detection posture to the integrated chip in real time, it is difficult to form linkage control with other hardware modules such as storage, computing, and control, which reduces the control accuracy, stability and operating efficiency of the entire mobile platform, and limits the level of automation and autonomy of vehicle-mounted infrared target recognition technology.

[0006] Patent document CN107748886A discloses a track-based modern standardized orchard information perception system based on a depth camera. The camera is mounted on a mobile platform. The platform uses a single-chip microcomputer as the main controller. The controller is mainly responsible for controlling the forward movement and rotation of the mobile platform. The system uses a traditional von Neumann architecture with separated perception, computing, and storage. The camera posture cannot be freely adjusted, resulting in low operating efficiency and high computing costs.

[0007] Patent document with authorization number CN219676538U discloses a mobile device for remotely monitoring a storage-computing all-in-one machine. This utility model can remotely detect and control the storage-computing all-in-one machine through a signal transceiver module, a central processing unit, and control buttons. This mobile device can remotely monitor and arrange services for the all-in-one machine, improve the efficiency of use and maintenance of the storage-computing all-in-one machine, and dissipate heat from the control system by adding heat dissipation holes. However, the storage-computing all-in-one of this utility model refers to video analysis and video storage functions, which is essentially different from the storage-computing meaning of the sensing-storage-computing-control all-in-one. It cannot provide fast, low-latency perception and computing results for mobile platforms, and the structural form of adding heat dissipation holes cannot fundamentally solve the problem of chip heating, resulting in poor software and hardware compatibility.

[0008] Patent document CN213244111U discloses an intelligent inspection robot consisting of a robot body and mobile platform, a positioning and navigation device, an automatic leveling device, a measuring instrument, an image acquisition device, a communication device, and a built-in server. This intelligent inspection robot utilizes an image acquisition device with a pan / tilt system (PTZ). However, this device cannot freely adjust its spatial posture and cannot form a closed-loop linkage with the mobile platform's control chip. Furthermore, the separate functional modules of perception, storage, computing, and control reduce the overall system performance and data security.

[0009] The integrated sensing-storage-computing and even the integrated sensing-storage-computing-control technology integrates multiple processing units of the traditional von Neumann architecture into a single module. Although the highly integrated computing eliminates the cost of data transportation, it places higher demands on the heat dissipation of the integrated sensing-storage-computing chip. It not only requires consideration of the internal heat dissipation of the chip during the chip design process, but also requires full consideration of the chip's heat dissipation issues in the design of the application platform installation structure.

[0010] The integrated sensing, storage and computing system provides fast and low-latency perception and computing results for the mobile platform. High-speed perception requires that the mobile platform also has a perception structure design with low-latency response. After the calculation results are fed back to the control unit and converted into control commands, the camera rotation mechanism can respond quickly and quickly aim at the target to be detected. Therefore, it is necessary to design an adaptive two-dimensional infrared camera gimbal structure. Utility Model Content

[0011] The technical problem to be solved by the present invention is to solve the problem that the heat dissipation function of the chip in the integrated sensing, storage and computing target recognition platform is poor, and the target perception image acquisition module cannot flexibly adjust the spatial posture.

[0012] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0013] A mobile platform for infrared target recognition includes a mobile body 100, a two-dimensional infrared camera platform 200, and an integrated sensing, storage, and computing infrared target recognition chip module 300. The two-dimensional infrared camera platform 200 is fixedly located at the front end of the mobile body 100, and the integrated sensing, storage, and computing infrared target recognition chip module 300 is openly distributed and fixedly located on the top of the mobile body 100.

[0014] The two-dimensional infrared camera platform 200 includes an infrared image sensor 210, a length adjustment rod 220, a pitch assembly 230, a yaw assembly 240, a base 250 and a mast 260;

[0015] The two ends of the mast 260 are fixedly connected to the front end of the mobile body 100 and the base 250 respectively; the yaw assembly 240 is fixed on the base 250, and the pitch assembly 230 is universally connected to the yaw assembly 240; one end of the length adjustment rod 220 is fixedly connected to the pitch assembly 230; the infrared image sensor 210 is fixed at the other end of the length adjustment rod 220, and the infrared image sensor 210 is communicatively connected to the sensing, storage and computing integrated infrared target recognition chip component module 300.

[0016] In one embodiment of the present invention, the yaw assembly 240 includes a yaw drive motor 241 and a yaw joint 242; the pitch assembly 230 includes a pitch drive motor 231 and a pitch joint 232;

[0017] The yaw drive motor 241 is fixed on the base 250, and the yaw joint 242 is connected to the power output end of the yaw drive motor 241; the yaw drive motor 241 drives the yaw joint 242 to swing left and right in the horizontal direction;

[0018] The pitch drive motor 231 is fixedly connected to the yaw joint 242; the pitch joint 232 is connected to the power output end of the pitch drive motor 231;

[0019] The pitch joint 232 contacts the universal ball 24 in the yaw joint 242 , so that the yaw assembly 240 is linked to the pitch assembly 230 ; and the pitch drive motor 231 drives the pitch joint 232 to swing axially.

[0020] In one embodiment of the present invention, the length adjustment rod 220 is fixedly connected to the pitch joint 232, so that the pitch assembly 230 is linked to the infrared image sensor 210, and the axial swing of the pitch assembly 230 is converted into the up and down movement and horizontal linear movement of the infrared image sensor 210.

[0021] In one embodiment of the present invention, the yaw drive motor 241 and the pitch drive motor 231 are communicatively connected to the sensing, storage and computing integrated infrared target recognition chip assembly module 300 .

[0022] In one embodiment of the present invention, the sensing, storage and computing integrated infrared target recognition chip component module 300 includes a target recognition main control chip MCU, a D / A converter 310, an A / D sampling chip 320 and a storage and computing integrated memristor array 330;

[0023] The data output port of the infrared image sensor 210 is connected to the data input port of the target recognition main control chip MCU; the data output port of the target recognition main control chip MCU is connected to the input port of the D / A converter 310, and the output port of the D / A converter 310 is connected to the storage and computing integrated memristor array 330;

[0024] The input port of the A / D sampling chip 320 is connected to the data output port of the target recognition main control chip MCU.

[0025] In one embodiment of the present invention, the mobile platform further includes a display 400 ; the display 400 is fixed on the top of the mobile body 100 , and the output port of the A / D sampling chip 320 is connected to the display 400 .

[0026] In one embodiment of the present invention, the target recognition main control chip MCU is vertically fixed on the main plane of the sensing, storage and computing integrated infrared target recognition chip component module 300, and is perpendicular to the plane where the computing integrated memristor array 330 is located.

[0027] In one embodiment of the present invention, each of the four wheels of the mobile vehicle 100 is equipped with an independent driving motor 110 .

[0028] In one embodiment of the present invention, the driving motor 110 is communicatively connected to the sensing, storage and computing integrated infrared target recognition chip assembly module 300 .

[0029] In one embodiment of the present invention, the mobile platform further comprises a waterproof and breathable shed; the structure of the waterproof and breathable shed is a waterproof and breathable cloth assembled on the top of the hollow frame; and the waterproof and breathable shed is detachably connected to the mobile vehicle body (100), and the shielding portion of the waterproof and breathable shed is suspended above the sensing, storage and computing integrated infrared target recognition chip component module (300).

[0030] Compared with the existing technology, the beneficial effects of the utility model are: the open distribution of the sensing, storage and computing integrated infrared target recognition chip component module avoids the problems such as severe chip heating caused by the traditional closed vehicle body structure. While reducing the system computing power consumption, it enhances the spatial compactness of the system from the basic structural form, solves problems such as chip heat dissipation management, and improves the reliability of the vehicle-mounted target recognition mobile platform.

[0031] The utility model adopts a two-dimensional infrared camera gimbal to automatically collect infrared image data. It has two rotational degrees of freedom, namely, pitch up and down and yaw left and right, and one linear degree of freedom, namely, length adjustment. It can flexibly change the spatial posture of the target object in real time following the infrared image collection, and can be linked with the control signal of the integrated sensing, storage and computing infrared target recognition chip to form a feedback control closed-loop system for the vehicle movement, thereby improving the recognition accuracy and stability of infrared target objects.

[0032] This utility model integrates an intelligent infrared target recognition system with integrated sensing, storage and computing into the same mobile platform, providing an effective mobile carrier for system operation, improving heat dissipation performance while reducing system power consumption, and the spatial detection posture of the target perception image acquisition module can be flexibly adjusted following the storage, computing and control integrated functional chip, so that the spatial detection position of the new generation of infrared target recognition equipment with integrated sensing, storage and computing is no longer restricted, thereby improving the level of automation and autonomy of infrared target recognition technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The figure is a schematic diagram of a mobile platform for infrared target recognition according to an embodiment of the present utility model.

[0034] Figure 2 Schematic diagram of a two-dimensional infrared camera pan-tilt platform according to an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the sensing, storage and computing integrated infrared target recognition chip component module of an embodiment of the utility model. DETAILED DESCRIPTION

[0036] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings.

[0037] The terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] See also Figure 1As shown, the present invention provides a mobile platform for infrared target recognition, comprising a mobile body 100, a two-dimensional infrared camera platform 200, and a sensing, storage, and computing integrated infrared target recognition chip assembly module 300. The two-dimensional infrared camera platform 200 is fixedly located at the front end of the mobile body 100 and is used to collect infrared image data from the maximum field of view of the surrounding environment. The sensing, storage, and computing integrated infrared target recognition chip assembly module 300 is openly distributed and fixedly located on the top of the mobile body 100. The sensing, storage, and computing integrated infrared target recognition chip assembly module 300 performs the sensing, storage, and computing integrated operations and is exposed and fixedly located on the top of the mobile body 100 to maximize heat dissipation.

[0039] In the present invention, the mobile body 100 serves as a movable carrier of the entire structure, integrating the main components of the intelligent infrared target recognition system with sensing, storage and computing. Among them, each of the four wheels of the mobile body 100 is equipped with a separate drive motor 110.

[0040] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, a two-dimensional infrared camera platform 200 includes an infrared image sensor 210 , a length adjustment rod 220 , a pitch assembly 230 , a yaw assembly 240 , a base 250 and a mast 260 .

[0041] In this embodiment, the ends of mast 260 are fixedly connected to the front end of mobile body 100 and base 250, respectively. Yaw assembly 240 is fixedly located on base 250, and pitch assembly 230 is universally connected to yaw assembly 240. One end of adjustment rod 220 is fixedly connected to pitch assembly 230, and infrared image sensor 210 is fixedly located at the other end of length adjustment rod 220. Furthermore, infrared image sensor 210 is in communication with infrared target recognition chip module 300, which integrates sensing, storage, and computing.

[0042] In this embodiment, the yaw assembly 240 includes a yaw drive motor 241 and a yaw joint 242. The yaw drive motor 241 is fixed to the base 250, and the yaw joint 242 is connected to the power output end of the yaw drive motor 241. The yaw drive motor 241 drives the yaw joint 242 to swing horizontally.

[0043] In this embodiment, pitch assembly 230 includes a pitch drive motor 231 and a pitch joint 232. Pitch drive motor 231 is fixedly connected to yaw joint 242, which is connected to the power output of pitch drive motor 231. Pitch joint 232 contacts the universal ball 24 in yaw joint 242, causing yaw assembly 240 to move in tandem with pitch assembly 230. Furthermore, pitch drive motor 231 drives pitch joint 232 to oscillate axially.

[0044] In this embodiment, the length adjustment rod 220 is fixedly connected to the pitch joint 232, linking the pitch assembly 230 with the infrared image sensor 210. This converts the axial swing of the pitch assembly 230 into vertical and horizontal linear movement of the infrared image sensor 210. The yaw drive motor 241 and the pitch drive motor 231 are in communication with the integrated sensing, storage, and computing infrared target recognition chip module 300.

[0045] In this embodiment, the two-dimensional infrared camera gimbal 200 has two rotational degrees of freedom, namely, pitch up and down, and yaw left and right, and one linear degree of freedom, namely, length adjustment. It automatically collects infrared image data and can be linked with the control signal of the sensing, storage and computing integrated infrared target recognition chip component module 300, thereby improving the intelligence level of infrared target recognition technology.

[0046] In this embodiment, the yaw drive motor 241 , the pitch drive motor 231 , and the drive motor 110 are communicatively connected to the sensing, storage, and computing integrated infrared target recognition chip assembly module 300 .

[0047] See also Figures 1 to 3 As shown, in one embodiment of the present invention, the sensing, storage and computing integrated infrared target recognition chip assembly module 300 includes a target recognition main control chip MCU, a D / A converter 310, an A / D sampling chip 320 and a storage and computing integrated memristor array 330. The data output port of the infrared image sensor 210 is connected to the data input port of the target recognition main control chip MCU, the data output port of the target recognition main control chip MCU is connected to the input port of the D / A converter 310, the output port of the D / A converter 310 is connected to the storage and computing integrated memristor array 330, and the input port of the A / D sampling chip 320 is connected to the data output port of the target recognition main control chip MCU.

[0048] In this embodiment, the target recognition master control chip MCU is mounted vertically on the main surface of the integrated sensing, storage, and computing infrared target recognition chip module 300, and is perpendicular to the plane of the integrated computing memristor array 330. This hardware configuration facilitates the functional distribution and interconnection of the integrated sensing, storage, and computing components, while also promoting the compactness of the entire hardware system.

[0049] In this embodiment, the target recognition main control chip MCU integrates infrared data perception, target recognition storage, and neural network calculation, and stores the weight values ​​of the target recognition neural network in the form of memristor conductance values ​​in the storage and computing array. At the same time, the perception data converts the pixel value into the voltage value at both ends of the memristor. On the other hand, it plays the role of connecting various components, and can control the drive motor 110. By changing the speed of the drive motor 110, the speed of the wheel is controlled, thereby controlling the speed and direction of the mobile body 100.

[0050] In one embodiment of the present invention, the mobile platform further includes a display 400 ; the display 400 is fixed on the top of the mobile body 100 , and the output port of the A / D sampling chip 320 is connected to the display 400 .

[0051] See also Figures 1 to 3 As shown, in this embodiment, the target recognition main control chip MCU reads the infrared image data collected by the infrared image sensor 201 in the two-dimensional infrared camera gimbal 200 for collecting surrounding environment information. The target recognition main control chip MCU linearly converts the grayscale value of the infrared image into a voltage value input to the storage and computing integrated array, and then performs digital-to-analog conversion through the D / A converter 310, and inputs it into the storage and computing integrated memristor array 330. At the same time, the target recognition main control chip MCU actively identifies the target to be detected in the infrared image and outputs the category and location information of the target to be detected. The A / D sampling chip 320 collects the storage and computing integrated calculation result and performs analog-to-digital conversion, and then displays the result through the display 400. More specifically, the sensing, storage and computing integrated infrared target recognition chip component module 300 also includes a post-processing operation module 340, the input port of which is connected to the output port of the A / D sampling chip 320, and the output port is connected to the display 400, for performing operations such as maximum value suppression before the storage and computing integrated calculation result is displayed.

[0052] In another embodiment of the present invention, the mobile platform also includes a waterproof and breathable canopy. This canopy consists of a waterproof and breathable fabric installed on top of a hollow frame. The canopy is detachably connected to the mobile body 100, with the shielding portion of the canopy suspended above the integrated sensing, storage, and computing infrared target recognition chip module 300. The waterproof and breathable fabric is installed only on top of the hollow frame, ensuring it does not interfere with the open, distributed heat dissipation of the integrated sensing, storage, and computing infrared target recognition chip module 300. It also provides waterproofing in rainy conditions, but is only suitable for use in rainy environments.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description. It is intended that all variations within the meaning and range of equivalents of the claims be encompassed within the present invention, and any reference numerals in the claims should not be construed as limiting the claims to which they relate.

[0054] The above-mentioned embodiments only represent the implementation methods of the utility model. The protection scope of the utility model is not limited to the above-mentioned embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the utility model, which all fall within the protection scope of the utility model.

Claims

1. A mobile platform for infrared target recognition, characterized in that: The invention comprises a mobile body (100), a two-dimensional infrared camera platform (200) and a sensing, storage and computing integrated infrared target recognition chip component module (300); the two-dimensional infrared camera platform (200) is fixedly located at the front end of the mobile body (100), and the sensing, storage and computing integrated infrared target recognition chip component module (300) is openly distributed and fixedly located on the top of the mobile body (100); The two-dimensional infrared camera platform (200) comprises an infrared image sensor (210), a length adjustment rod (220), a pitch component (230), a yaw component (240), a base (250) and a mast (260); The two ends of the mast (260) are fixedly connected to the front end of the mobile body (100) and the base (250) respectively; the yaw assembly (240) is fixedly located on the base (250), and the pitch assembly (230) is universally connected to the yaw assembly (240); one end of the length adjustment rod (220) is fixedly connected to the pitch assembly (230); the infrared image sensor (210) is fixedly located at the other end of the length adjustment rod (220), and the infrared image sensor (210) is communicatively connected to the sensing, storage and computing integrated infrared target recognition chip assembly module (300).

2. The mobile platform for infrared target recognition according to claim 1, characterized in that: The yaw assembly (240) includes a yaw drive motor (241) and a yaw joint (242); the pitch assembly (230) includes a pitch drive motor (231) and a pitch joint (232); The yaw drive motor (241) is fixed on the base (250), and the yaw joint (242) is connected to the power output end of the yaw drive motor (241); the yaw drive motor (241) drives the yaw joint (242) to swing left and right in the horizontal direction; The pitch drive motor (231) is fixedly connected to the yaw joint (242); the pitch joint (232) is connected to the power output end of the pitch drive motor (231); The pitch joint (232) contacts the universal ball (24) in the yaw joint (242), so that the yaw assembly (240) is linked to the pitch assembly (230); and the pitch drive motor (231) drives the pitch joint (232) to swing axially.

3. The mobile platform for infrared target recognition according to claim 2, characterized in that: The length adjustment rod (220) is fixedly connected to the pitch joint (232), so that the pitch assembly (230) is linked to the infrared image sensor (210), and the axial swing of the pitch assembly (230) is converted into the up and down movement and the horizontal linear movement of the infrared image sensor (210).

4. The mobile platform for infrared target recognition according to claim 2, characterized in that: The yaw drive motor (241) and the pitch drive motor (231) are communicatively connected to the sensing, storage and computing integrated infrared target recognition chip assembly module (300).

5. The mobile platform for infrared target recognition according to claim 1, characterized in that: The sensing, storage and computing integrated infrared target recognition chip component module (300) comprises a target recognition main control chip MCU, a D / A converter (310), an A / D sampling chip (320) and a storage and computing integrated memristor array (330); The data output port of the infrared image sensor (210) is connected to the data input port of the target recognition main control chip MCU; The data output port of the target recognition main control chip MCU is connected to the input port of the D / A converter (310), and the output port of the D / A converter (310) is connected to the storage and computing integrated memristor array (330); The input port of the A / D sampling chip (320) is connected to the data output port of the target recognition main control chip MCU.

6. The mobile platform for infrared target recognition according to claim 5, characterized in that: The mobile platform further comprises a display (400); the display (400) is fixedly located on the top of the mobile vehicle body (100), and the output port of the A / D sampling chip (320) is connected to the display (400).

7. The mobile platform for infrared target recognition according to claim 5, characterized in that: The target recognition main control chip MCU is vertically fixed on the main plane of the sensing, storage and computing integrated infrared target recognition chip component module (300), and is perpendicular to the plane where the computing integrated memristor array (330) is located.

8. The mobile platform for infrared target recognition according to claim 1, characterized in that: The four wheels of the mobile vehicle body (100) are each equipped with a separate driving motor (110).

9. The mobile platform for infrared target recognition according to claim 7, characterized in that: The driving motor (110) is communicatively connected to the sensing, storage and computing integrated infrared target recognition chip assembly module (300).

10. The mobile platform for infrared target recognition according to claim 1, characterized in that: The mobile platform also includes a waterproof and breathable canopy; the structure of the waterproof and breathable canopy is that a waterproof and breathable cloth is assembled on the top of the hollow frame; and the waterproof and breathable canopy is detachably connected to the mobile vehicle body (100), and the shielding part of the waterproof and breathable canopy is suspended above the sensing, storage and computing integrated infrared target recognition chip component module (300).

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