CN107562061A - Counterreconnaissance unmanned vehicle - Google Patents
Counterreconnaissance unmanned vehicle Download PDFInfo
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- CN107562061A CN107562061A CN201710969760.7A CN201710969760A CN107562061A CN 107562061 A CN107562061 A CN 107562061A CN 201710969760 A CN201710969760 A CN 201710969760A CN 107562061 A CN107562061 A CN 107562061A
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Abstract
The invention discloses a kind of counterreconnaissance unmanned vehicle, the unmanned vehicle includes：For manipulating the line traffic control chassis of the unmanned vehicle, navigation positioning system, context aware systems for sensing the unmanned vehicle peripheral information and for generating control instruction according to the information of the context aware systems and the navigation positioning system and sending it to the autokinetic movement controller on the line traffic control chassis, wherein context aware systems are not using needing the monitoring camera of secondary light source to obtain the environmental information around unmanned vehicle, will not external transmission signal, therefore unmanned vehicle information will not be exposed；It can be all easy to expose because of external transmission signal compared to radar used on existing unmanned vehicle etc., so as to cause reconnaissance mission to fail；The counterreconnaissance unmanned vehicle of the present invention is disguised high, and recon effect is good.
Description
Technical field
The present invention relates to unmanned vehicle to scout field, especially, is related to a kind of counterreconnaissance unmanned vehicle.
Background technology
With the maturation of the unmanned technology of road, increasing special-purpose vehicle field starts to introduce unmanned skill
Art.On the one hand the introducing of unmanned technology can greatly liberate the work of people, particularly in some dangerous fields, can drop
The accident risk that low personnel occur in operation process；On the other hand, unmanned have some natural excellent of being driven compared to the mankind
Gesture, for example the precise manipulation of quantization with twenty four hours all weather operations, can be performed, can be with the shorter reaction time
Manage emergency situations etc..
Unmanned scout car such as can carry out reconnaissance patrol, dash forward at anti-terrorism at the task.At this stage, reconnaissance patrol will be police nothing
People drives a big critical function of vehicle.Carry out when approaching scouting of important goal, in order to avoid by terrorist or its
Target detection that he is scouted and trigger unnecessary trouble, it is necessary to which police automatic driving vehicle possesses certain counterreconnaissance work(
Energy.
But ultrasonic radar, laser radar and the millimeter wave that the existing context aware systems for scouting unmanned vehicle use
Radar at work, all can external transmission signal, by receive reflected signal carry out ranging.Therefore, can be led to by spot
The signal for detecting corresponding wave band is crossed, determines whether out nearby whether there is unmanned vehicle appearance, so as to cause reconnaissance mission to fail.
Therefore, in view of the above-mentioned problems, needing to provide a kind of unmanned vehicle for possessing anti-reconnaissance capability.
The content of the invention
The invention provides one kind to scout unmanned vehicle, causes to detect to solve easily to be detected by the external world when existing unmanned vehicle is scouted
Examine the technical problem of mission failure.
The technical solution adopted by the present invention is as follows：
A kind of counterreconnaissance unmanned vehicle, it is characterised in that including：For manipulating the line traffic control chassis of unmanned vehicle, for nobody
Car navigates and the navigation positioning system of positioning, for detecting around unmanned vehicle whether has barrier and unmanned vehicle to obstacle distance
Context aware systems and control instruction and sent out for being generated according to the information of context aware systems and navigation positioning system
Deliver to the autokinetic movement controller on line traffic control chassis, line traffic control chassis, navigation positioning system and context aware systems with independently
Motion controller communicates to connect,
Context aware systems include：Whether there is the detection module of barrier and for calculating nothing for detecting around unmanned vehicle
Computing module of people's car to distance between barrier；Detection module is the monitoring camera without secondary light source.
Further, monitoring camera is starlight pole camera, black light level camera or passive type Infrared imaging cameras.
Further, computing module includes：Multiple stereo vision cameras for being arranged on around unmanned vehicle vehicle body and/or multiple
Passive type Infrared imaging cameras.
Further, line traffic control chassis includes：Vehicle chassis framework, vehicle power electronic control system, Vehicular turn electricity
Sub-control system, vehicle brake electronic control system, vehicle parking electronic control system and vehicle main control device；Vehicle power electricity
The dynamical system of sub-control system is Jing Yin motor.
Further, navigation positioning system includes：For measuring the inertia measurement at unmanned vehicle three-axis attitude angle and acceleration
Unit, the receiver for receiving satellite-signal and the antenna for radiating and receiving radio wave, to ensure not to outward leakage
Electromagnetic signal.
Further, autokinetic movement controller is the embedded controller that ARM and FPGA are formed, on autokinetic movement controller
Provided with the COM1 being connected respectively with line traffic control chassis, navigation positioning system and context aware systems.
Further, the bodywork surface of counterreconnaissance unmanned vehicle be coated with for dissipate radar wave radar absorbing and/or
For isolating the infrared isolated material of unmanned vehicle infrared characteristic.
Further, the vehicle body of counterreconnaissance unmanned vehicle is provided with multiple reflecting plates, is launched with reducing extraneous reconnaissance equipment
The reflected signal of scouting ripple on to unmanned vehicle.
Further, autokinetic movement controller is also associated with pay(useful) load, and pay(useful) load, which uses, does not launch any signal
Reconnaissance equipment.
Further, autokinetic movement controller is provided with the telecommunication end being used for the communication connection of Remote terminal
Mouthful, the information for reconnaissance equipment to be detected, which is uploaded to remote monitoring terminal and receives the remote control that remote monitoring terminal issues, to be referred to
Order.
The invention has the advantages that：
The counterreconnaissance unmanned vehicle of the present invention, the unmanned vehicle include：For manipulating line traffic control chassis, the navigation of the unmanned vehicle
Alignment system, the context aware systems for sensing the unmanned vehicle peripheral information and for according to the context aware systems and
The information of the navigation positioning system generates control instruction and sends it to the autokinetic movement controller on the line traffic control chassis,
Wherein context aware systems, will not be right using not needing the monitoring camera of secondary light source to obtain the environmental information around unmanned vehicle
Outer transmission signal, therefore unmanned vehicle information will not be exposed；All can be because of external compared to radar used on existing unmanned vehicle etc.
Transmission signal is easy to expose, so as to cause reconnaissance mission to fail；The counterreconnaissance unmanned vehicle of the present invention is disguised high, recon effect
It is good.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the principle framework schematic diagram of the counterreconnaissance unmanned vehicle of the preferred embodiment of the present invention；
Fig. 2 is the principle framework schematic diagram of the context aware systems of the preferred embodiment of the present invention.
Drawing reference numeral explanation：
10th, line traffic control chassis；20th, navigation positioning system；30th, context aware systems；31st, detection module；32nd, mould is calculated
Block；40th, autokinetic movement controller；50th, pay(useful) load.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Reference picture 1 and Fig. 2, the preferred embodiments of the present invention provide a kind of unmanned vehicle of counterreconnaissance, and existing nobody detects
Examine car and do not possess counterreconnaissance function, be easy to be found by spot in the task of execution, do not reach the purpose of scouting, the present invention
A kind of unmanned vehicle for possessing counterreconnaissance function is provided, is not easy to be found by spot in use, improves reconnaissance efficiency.
The unmanned vehicle includes：For manipulating the line traffic control chassis 10 of the unmanned vehicle, navigation positioning system 20, for detecting unmanned vehicle week
Enclose whether have barrier and unmanned vehicle to the context aware systems 30 of obstacle distance and for according to context aware systems 30 and
The information of navigation positioning system 20 generates control instruction and sends it to the autokinetic movement controller 40 on line traffic control chassis 10；Line
Controlization chassis 10, navigation positioning system 20 and context aware systems 30 are connected with autokinetic movement controller 40, environment sensing system
System 30 includes：For detecting around unmanned vehicle with the presence or absence of the detection module 31 of barrier and for calculating barrier and unmanned vehicle
The computing module 32 of distance；Detection module 31 is the monitoring camera without secondary light source.
In the present embodiment, context aware systems 30 using do not need secondary light source monitoring camera come detect unmanned vehicle week
That encloses whether there is barrier, and calculate the distance between barrier and unmanned vehicle using binocular monitoring camera, because mainly adopting
The information around unmanned vehicle is obtained with the monitoring camera of secondary light source is not needed, it is not necessary to by secondary light source, therefore will not
Externally launch any signal, improve the disguise of unmanned vehicle, so as to which unmanned vehicle information will not be exposed, compared to existing unmanned vehicle
The equipment such as the radar of upper use externally transmission signal so as to be found or found by spot by the reconnaissance equipment of other side, can all be made
Fail into reconnaissance mission.The counterreconnaissance unmanned vehicle of the present invention, by using the prison without secondary light source on context aware systems
Control camera detects around unmanned vehicle with the presence or absence of barrier and calculates unmanned vehicle the distance between to barrier, and the unmanned vehicle is not
Need any secondary light source and will not externally launch any signal, avoid because exposing nothing with the presence of transmission signal or light source
People's car, so as to cause reconnaissance mission to fail.
Preferably, monitoring camera is the starlight level or black light level camera for being not added with light filling, in the present embodiment, detection module
31 is are arranged on multiple cameras around unmanned vehicle vehicle body to carry out overall view monitoring to surrounding environment, to judge to be around unmanned vehicle
It is no barrier to be present；In other embodiments, it can also be as needed be arranged on unmanned vehicle vehicle body single camera.In addition,
In the case of night or without any light, camera can use passive type Infrared imaging cameras, to be carried out to surrounding environment
Monitoring.Passive type Infrared imaging cameras is adapted to peripheral obstacle to have infrared radiation source, and passive type infrared camera can utilize barrier to send out
The infrared ray amplification gone out is converted into visible ray, so as to be examined in the case of night or no light to surrounding environment
Survey.
Alternatively, computing module 32 includes being arranged on the stereoscopic vision phase for setting multiple different baselines around unmanned vehicle vehicle body
Machine or passive type Infrared imaging cameras.In the present embodiment, computing module 32 enters row distance survey using Binocular Stereo Vision System
Amount, when detection module 31, which detects, around barrier be present, computing module 32 calculates obstacle using Binocular Stereo Vision System
Thing further carries out three-dimensional localization to the distance of unmanned vehicle to unmanned vehicle peripheral obstacle.And in night or no light
In the case of, the stereo visual system that passive type Infrared imaging cameras is combined into is used to enter row distance survey to peripheral obstacle
Amount.The quantity of specific stereo vision camera and passive type Infrared imaging cameras can be according to the situation for being actually needed detecting and fine
Degree is configured, and the present invention does not do excessive restriction.
Preferably, line traffic control chassis 10 includes：Vehicle chassis framework, vehicle power electronic control system, Vehicular turn electricity
Sub-control system, vehicle brake electronic control system, vehicle parking electronic control system and vehicle main control device, wherein, vehicle
The dynamical system of drive electronic control system uses Jing Yin motor.In the present embodiment, Jing Yin motor is to have sinusoidal wave controller
Motor, the motor noise with sinusoidal wave controller is less than environmental noise, and at work, spot can not be examined by sound
Survey or detected by other instruments.In other embodiments, the less motor of other noises can also be used, avoids nobody
Car is found because of sound by the reconnaissance equipment in the external world.
Navigation positioning system 20 includes：For measure the three-axis attitude angle of unmanned vehicle and the Inertial Measurement Unit of acceleration,
For receiving the receiver of satellite-signal and antenna for radiating and receiving radio wave.In the present embodiment, inertia is utilized
Measuring unit and receiver composition navigation equipment, then attaching antenna forms navigation positioning system 20 in navigation equipment.Specifically
Ground, hybrid navigation equipment use Ellipse-N type attitude heading reference systems, and the navigation positioning system 20 of the present embodiment will not be to outgoing
Radio magnetic signal, reconnaissance device cannot also detect unmanned vehicle according to electromagnetic signal, also further increase detecing for unmanned vehicle
Examine efficiency.
Preferably, autokinetic movement controller 40 is the embedded controller that ARM and FPGA is formed.In the present embodiment, certainly
The communication that main motion controller 40 is provided with JA(junction ambient) sensory perceptual system 30, navigation positioning system 20 and line traffic control chassis 10 connects
Mouthful.Specifically, autokinetic movement controller 40 obtains the peripheral obstacle information quantified according to context aware systems 30；Such as：Week
The size of barrier and movable information of the distance of unmanned vehicle and barrier etc. are enclosed, is calculated then in conjunction with navigation positioning system 20
Go out the driving path of unmanned vehicle, further generate control instruction, and control instruction is sent to line traffic control chassis 10, to manipulate
Unmanned vehicle performs corresponding operation.
In the present embodiment, the pay(useful) load 50 scouted is also associated with autokinetic movement controller 40.In this implementation
In example, pay(useful) load 50 is police reconnaissance equipment.Specifically, police reconnaissance equipment use need not launch the scouting of any signal
Equipment, such as：The explosive detection of the Infrared imaging cameras of long zoom, the electromagnetic spectrum detection device of passive type and passive type is set
It is standby etc..
Preferably, the telecommunication end for being communicated to connect with Remote terminal is additionally provided with autokinetic movement controller 40
Mouthful, the information for reconnaissance equipment to be detected, which is uploaded to remote monitoring terminal and receives the remote control that remote monitoring terminal issues, to be referred to
Order.In the present embodiment, communication mode uses cable communication.In the present embodiment, cable is the media such as netting twine or optical fiber.
Preferably, the radar absorbing (RAM) for the radar wave that dissipates is coated with the outer surface of unmanned vehicle vehicle body, with
Change the radar emission characteristic of unmanned vehicle, the good hidden unmanned vehicle of energy so that reconnaissance equipment can not detect nothing by radar
People's car.In addition, the bodywork surface of unmanned vehicle is also coated with the infrared isolated material for isolating unmanned vehicle infrared characteristic, to change or
Isolate the infrared characteristic of unmanned vehicle so that reconnaissance equipment can not detect unmanned vehicle by infrared camera.
Alternatively, the profile of unmanned vehicle is sent out using the structure design of increase multiple reflections with reducing extraneous reconnaissance equipment
The reflected signal for the scouting ripple being mapped on vehicle body, makes reconnaissance equipment can not detect nothing by the reflected signal of the scouting ripple of transmitting
People's car.In the present embodiment, the vehicle body of unmanned vehicle is provided with multiple reflecting plates, to reduce or weaken the scattering resonance state of radar wave
(Radar-Cross Section), the mirror-reflection and edge diffraction for making to be transmitted into unmanned vehicle vehicle body disappear substantially, reconnaissance equipment
The scattered field of radar wave can not be detected, makes unmanned vehicle be not easy to be found by the reconnaissance equipment in the external world.In addition, the vehicle body material of unmanned vehicle
Material can also use stealth structure material, for example, the radar absorbing of structural type, it is a kind of multifunctional composite, can
Structural member is made in carrying, possesses the advantages of composite is light, high-strength, and can preferably absorbs or through electromagnetic wave, used in nobody
The good hidden unmanned vehicle of vehicle body energy of car, improves reconnaissance efficiency.
Description more than can be learnt：The counterreconnaissance unmanned vehicle of the present invention, passes through the environment sensing system in unmanned vehicle
Using not needing the monitoring camera of light source to obtain ambient condition information on system, therefore it will not actively launch existing environment sensing system
Radar signal in system, reconnaissance equipment can not detect unmanned vehicle by radar signal or light source；Line traffic control chassis uses nothing to make an uproar
The electric motor of mixer provides power, will not make a noise, reconnaissance equipment can not detect unmanned vehicle by sound；In addition,
Have additional the profile of multiple reflections in the outer surface of unmanned vehicle, and unmanned vehicle surface spraying radar absorbing and it is infrared every
From material, change the infrared signature and radar reflection characteristic of vehicle, make the unmanned vehicle can not by general reconnaissance means or
Person's instrument detects, and the unmanned vehicle can perform prolonged approach to important detecting target and scout or monitor without being found, and carry
High reconnaissance efficiency, recon effect are good.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. counterreconnaissance unmanned vehicle, it is characterised in that including：For manipulating the line traffic control chassis (10) of unmanned vehicle, for nothing People's car navigate and positioning navigation positioning system (20), for detect around unmanned vehicle whether have barrier and unmanned vehicle arrive described in Context aware systems (30) of obstacle distance and for according to the context aware systems (30) and the navigation positioning system (20) information generates control instruction and sends it to the autokinetic movement controller (40) of the line traffic control chassis (10), described Line traffic control chassis (10), the navigation positioning system (20) and the context aware systems (30) control with the autokinetic movement Device (40) communicates to connect,The context aware systems (30) include：Whether there is the detection module (31) of barrier around unmanned vehicle for detecting and use In the computing module (32) of calculating unmanned vehicle to distance between the barrier；The detection module (31) is without secondary light source Monitoring camera.
- 2. counterreconnaissance unmanned vehicle according to claim 1, it is characterised in thatThe monitoring camera is starlight pole camera, black light level camera or passive type Infrared imaging cameras.
- 3. counterreconnaissance unmanned vehicle according to claim 1, it is characterised in thatThe computing module (32) includes：Multiple stereo vision cameras for being arranged on around unmanned vehicle vehicle body and/or multiple passive Formula Infrared imaging cameras.
- 4. counterreconnaissance unmanned vehicle according to claim 1, it is characterised in thatThe line traffic control chassis (10) includes：Vehicle chassis framework, vehicle power electronic control system, Vehicular turn Electronic Control System, vehicle brake electronic control system, vehicle parking electronic control system and vehicle main control device；The vehicle power electronics The dynamical system of control system is Jing Yin motor.
- 5. counterreconnaissance unmanned vehicle according to claim 1, it is characterised in thatThe navigation positioning system (20) includes：For measure unmanned vehicle three-axis attitude angle and acceleration Inertial Measurement Unit, For receiving the receiver of satellite-signal and antenna for radiating and receiving radio wave, to ensure not believe outward leakage electromagnetism Number.
- 6. counterreconnaissance unmanned vehicle according to claim 1, it is characterised in thatThe embedded controller that the autokinetic movement controller (40) forms for ARM and FPGA, the autokinetic movement controller (40) be provided with respectively with the line traffic control chassis (10), the navigation positioning system (20) and the context aware systems (30) The COM1 of connection.
- 7. counterreconnaissance unmanned vehicle according to any one of claims 1 to 6, it is characterised in thatThe bodywork surface of the counterreconnaissance unmanned vehicle is coated with for the radar wave radar absorbing and/or for isolating nothing of dissipating The infrared isolated material of people's car infrared characteristic.
- 8. counterreconnaissance unmanned vehicle according to claim 7, it is characterised in thatThe vehicle body of the counterreconnaissance unmanned vehicle is provided with multiple reflecting plates, is transmitted into the reconnaissance equipment for reducing extraneous on unmanned vehicle Scouting ripple reflected signal.
- 9. counterreconnaissance unmanned vehicle according to claim 1, it is characterised in thatThe autokinetic movement controller (40) is also associated with pay(useful) load (50), and the pay(useful) load (50), which uses not launch, appoints The reconnaissance equipment of what signal.
- 10. counterreconnaissance unmanned vehicle according to claim 9, it is characterised in thatThe autokinetic movement controller (40) is provided with the telecommunication port being used for the communication connection of Remote terminal, is used for The information that the reconnaissance equipment detects is uploaded to remote monitoring terminal and receives the remote control that the remote monitoring terminal issues Instruction.
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| CN201710969760.7A CN107562061B (en) | 2017-10-18 | 2017-10-18 | Anti-reconnaissance unmanned vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111462481A (en) * | 2020-03-03 | 2020-07-28 | 北京理工大学 | Cloud brain intelligent transportation system comprising multifunctional unmanned vehicle |
| CN113190005A (en) * | 2021-05-07 | 2021-07-30 | 江苏戎晟安防科技有限公司 | Modular small reconnaissance robot |
| CN113581090A (en) * | 2021-06-09 | 2021-11-02 | 安徽长安专用汽车制造有限公司 | All-terrain remote control scout car and system thereof |
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