CN107084643A - A pan-tilt transmitter and its automatic identification and aiming system - Google Patents

Abstract

Include steering mechanism the invention discloses a kind of head transmitter, trigger mechanism and picture charge pattern mechanism, also disclose one kind and include controller, the automatic identification and sighting system of sensor, camera operates comprehensive collection picture signal by Yaw axles steering wheel and Pitch axles steering wheel and transmitted to controller, controller controls the Yaw spindle motors of transmission mechanism, Pitch spindle motors operate and drive trigger mechanism to adjust angle, the orientation angles of Sensor monitoring trigger mechanism gun barrel, controller drives driver plate and friction pulley operating to project bullet feeding gun barrel, the present invention has the reaction time short, speed is fast, accuracy is good, the high advantage of stability, and other operations can also be carried out during head automatic identification emission bullet, realize many-sided operation.

Description

A pan-tilt transmitter and its automatic identification and aiming system

technical field

The present invention relates to a pan-tilt launcher, in particular to a pan-tilt launch system based on graphic processing.

Background technique

At present, most of the pan-tilt mechanisms still need to be manipulated by humans, and they all have disadvantages such as long response time, low accuracy, instability, and weak adaptability.

Contents of the invention

Purpose of the invention: the purpose of the present invention is to provide a kind of pan-tilt transmitter for the deficiencies in the prior art, which has a wide range of angle adjustment, and also provides the automatic identification and aiming system of the pan-tilt transmitter, which automatically finds And identify the target, the gimbal transmitter launches the attack accurately and quickly, and the stability is greatly improved.

Technical solution: A kind of pan-tilt transmitter according to the present invention includes a steering mechanism, a launching mechanism and an image tracking mechanism, the steering mechanism includes a Yaw axis motor, the output shaft of the Yaw axis motor is connected to the first Yaw axis bracket, the first The Yaw shaft bracket is rotatably connected with a Pitch shaft bracket, and the Pitch shaft bracket is driven by a fixed Pitch shaft motor on the first Yaw shaft bracket. The device, the gun barrel and the dial used to feed the bullet are provided with a friction wheel for accelerating bullets between the dial and the gun barrel. The image tracking mechanism includes a Yaw axis steering gear connected to the launch frame, and the Yaw axis steering gear A second Yaw axis bracket is connected, and the second Yaw axis bracket is connected with a Pitch axis steering gear, and the Pitch axis steering gear is fixed with a camera for collecting image signals.

Both the first Yaw axis bracket and the second Yaw axis bracket are Y-shaped brackets.

The bomb storage device is a bent plate erected on the upper part of the launching frame.

Both the Yaw axis motor and the Pitch axis motor are stepper motors.

The Yaw-axis steering gear is connected to the transmitter frame through the base plate.

The gimbal transmitter also includes a controller and sensors.

The automatic identification and aiming system of the gimbal transmitter, including steps:

1) The camera collects images in all directions driven by the Yaw axis servo and the Pitch axis servo;

2) The controller processes the images collected by the camera;

3) Find the attack target and enter step 4), otherwise return to step 1);

4) Determine the space where the launch target is located;

5) The Yaw axis motor and the Pitch axis motor drive the barrel to move;

6) The sensor detects the current angle of the barrel;

7) Aim at the target and enter step 8), otherwise return to step 5);

8) The dial and friction wheel are activated to fire the bullet from the barrel.

The communication signal between the controller and the sensor is I ² C protocol or SPI protocol.

The input signal of the Yaw axis motor and the Pitch axis motor is an electric pulse signal, and the output signal is an angular displacement signal.

The sensor is a nine-axis sensor.

Working principle: The camera collects image signals in all directions through the operation of the Yaw axis servo and the Pitch axis servo and transmits them to the controller. The controller controls the operation of the Yaw axis motor and the Pitch axis motor of the transmission mechanism and drives the launch mechanism to adjust the angle. The sensor monitors the launch Mechanism gun barrel azimuth angle, controller drive dial and friction wheel operation send bullet into gun barrel and shoot.

Beneficial effects: the pan-tilt transmitter of the present invention and the automatic identification and aiming system of the pan-tilt transmitter can realize the function of automatic identification and aiming, and have the advantages of short reaction time, fast speed, good accuracy and high stability, and It can also perform other operations during the process of the gimbal automatically identifying and firing bullets, realizing various operations.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of steering mechanism of the present invention;

Fig. 3 is the structural representation of launch mechanism of the present invention;

Fig. 4 is a structural schematic diagram of the image tracking mechanism of the present invention;

Fig. 5 is the local schematic diagram of gun barrel and friction wheel of the present invention;

Fig. 6 is a control schematic diagram of the present invention;

Fig. 7 is a flowchart of the system of the present invention.

detailed description

The technical solutions of the present invention will be described in detail below, but the protection scope of the present invention is not limited to the embodiments.

As shown in Figures 1 to 4, a kind of pan-tilt transmitter of the present invention includes a steering mechanism, a launching mechanism and an image tracking mechanism, the steering mechanism includes a Yaw axis motor 1, and the output shaft of the Yaw axis motor 1 is connected to the first Yaw axis Bracket 2, the first Yaw axis support 2 is rotatably connected with a Pitch axis support 3, and the Pitch axis support 3 is driven by a fixed Pitch axis motor 4 on the first Yaw axis support 2, and the launch mechanism includes a launch frame connected to the Pitch axis support 3 5. A bullet storage device 6, a gun barrel 7 and a dial 8 for feeding bullets are arranged on the launch frame 5. A friction wheel 9 for accelerating bullets is arranged between the dial 8 and the gun barrel 7. The image tracking mechanism includes Be connected to the Yaw axis steering gear 10 of the launch frame 5, the Yaw axis steering gear 10 is connected with a second Yaw axis bracket 11, the second Yaw axis bracket 11 is connected with a Pitch axis steering gear 12, and the Pitch axis steering gear 12 is fixed with a The camera 13 of the image signal, the first Yaw shaft support 2 and the second Yaw shaft support 11 are Y-shaped supports, the bomb storage device 6 is a bent plate erected on the launch frame 5 top, the Yaw shaft motor 1 and the Pitch shaft The motors 4 are all stepping motors, and the Yaw axis steering gear 10 is connected to the launch frame 5 through the base plate 14, and also includes a controller and a sensor.

As shown in Figure 5 and Figure 6, the automatic identification and aiming system of the pan-tilt transmitter includes steps:

1) The camera collects images in all directions driven by the Yaw axis servo and the Pitch axis servo, and the camera follows a certain trajectory

All-round scanning to obtain images, automatic recognition of targets is realized through image processing, and the front is used as the reference position;

2) The controller processes the images collected by the camera;

3) Find the attack target and enter step 4, otherwise return to step 1;

4) Determine the space where the launch target is located;

5) The Yaw axis motor and the Pitch axis motor drive the barrel to move;

6) The sensor detects the current angle of the barrel;

7) Aim at the target and enter step 8, otherwise return to step 5;

8) The dial and friction wheel are activated to fire the bullet from the barrel.

Among them, as a preference, STM32F407ZET6 is selected as the controller. The STM32F407ZET6 controller has a wealth of expandable peripheral reserved interfaces, a main frequency up to 168MHZ, a high processing speed, and can meet the requirements of image processing. As a preference, the camera 13 is selected The digital camera of the OV7620 model collects images. The images are in YUV422 format and are interlaced. The communication direction between the OV7620 and the controller is SCCB (Serial Camera Control Bus). This protocol is similar to the I ² C communication protocol. As a preference, MPU9250 is selected as the sensor for detecting the spatial position of the gun barrel 7. The sensor has three 16-bit acceleration AD outputs, three 16-bit gyroscope AD outputs, and three 6-bit three magnetometer outputs. The communication with the controller can be Choose the 400KHz I2C protocol or the 1MHz SPI protocol. As a preference, the stepper motors of the Yaw axis motor 1 and the Pitch axis motor 4 use electric pulse signals as input and angular displacement as output, which can achieve precise control of the angle. When using, The camera 13 collects image signals in all directions through the operation of the Yaw-axis steering gear 10 and the Pitch-axis steering gear 12 and transmits them to the controller. Monitor the azimuth angle of the gun barrel 7 of the firing mechanism, and the controller drives the dial 8 and the friction wheel 9 to run and send the bullet into the gun barrel 7 to shoot out.

Claims (10)

1. a kind of head transmitter, it is characterised in that：Including steering mechanism, trigger mechanism and picture charge pattern mechanism, the steering Mechanism includes Yaw spindle motors (1), and the output shaft of Yaw spindle motors (1) connects the first Yaw bracing struts (2), the first Yaw bracing struts (2) Pitch bracing struts (3) are rotatably connected to, Pitch bracing struts (3) pass through Pitch axles fixed on the first Yaw bracing struts (2) Motor (4) is driven, and the trigger mechanism, which includes being connected in the transmitting frame (5) of Pitch bracing struts (3), transmitting frame (5), to be set There is storage to play device (6), gun barrel (7) and be used for the driver plate (8) into bullet, being provided between driver plate (8) and gun barrel (7) is used to accelerate bullet Friction pulley (9), described image follow the trail of mechanism include be connected to transmitting frame (5) Yaw axles steering wheel (10), Yaw axle steering wheels (10) the 2nd Yaw bracing struts (11) are connected with, the 2nd Yaw bracing struts (11) are connected with Pitch axles steering wheel (12), Pitch axle rudders Machine (12) is fixed with the camera (13) for gathering picture signal.

2. head transmitter according to claim 1, it is characterised in that：The first Yaw bracing struts (2) and the 2nd Yaw Bracing strut (11) is Y type supports.

3. head transmitter according to claim 1, it is characterised in that：The storage plays device (6) to erect in emitter The bending plate on frame (5) top.

4. head transmitter according to claim 1, it is characterised in that：The Yaw spindle motors (1) and Pitch spindle motors (4) it is stepper motor.

5. head transmitter according to claim 1, it is characterised in that：The Yaw axles steering wheel (10) passes through bottom plate (14) It is connected to transmitting frame (5).

6. head transmitter according to claim 1, it is characterised in that：Also include controller and sensor.

7. the automatic identification and sighting system of head transmitter according to claim 6, it is characterised in that：Including step：

1) camera comprehensive collection image in the case where Yaw axles steering wheel and Pitch axles steering wheel drive；

2) controller is handled the collection image of camera；

3) target of attack is searched out into step 4), otherwise return to step 1)；

4) space where transmitting target is determined；

5) Yaw spindle motors and Pitch spindle motors drive gun barrel motion；

6) sensor detection gun barrel current angular；

7) run-home enters step 8), otherwise return to step 5)；

8) driver plate and friction pulley, which start, projects bullet from gun barrel.

8. the automatic identification and sighting system of head transmitter according to claim 7, it is characterised in that：The controller Communication signal between sensor is I²C agreements or SPI protocol.

9. the automatic identification and sighting system of head transmitter according to claim 7, it is characterised in that：The Yaw axles Motor and Pitch spindle motors input signal are electric impulse signal, and output signal is angular displacement signal.

10. the automatic identification and sighting system of head transmitter according to claim 7, it is characterised in that：The sensing Device is nine axle sensors.