CN118331341B - Drive-by-wire laser target guiding device - Google Patents
Drive-by-wire laser target guiding device Download PDFInfo
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- CN118331341B CN118331341B CN202410764626.3A CN202410764626A CN118331341B CN 118331341 B CN118331341 B CN 118331341B CN 202410764626 A CN202410764626 A CN 202410764626A CN 118331341 B CN118331341 B CN 118331341B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of line-control laser indication, in particular to a line-control laser target guiding device, which comprises: the winding and unwinding mechanism comprises a control cable roll, a control cable head and a current sensing module, wherein the input end of the control cable roll is electrically connected with the output end of the control cable head; the current sensing module is electrically connected with the output end of a power line of the electric transmission shaft bracket in the winding and unwinding mechanism and is used for detecting the actual working current of the electric transmission shaft bracket; the wire control target guiding mechanism is electrically connected with the wire control target guiding mechanism through the control cable reel and the control cable head. According to the invention, the laser indication module is arranged on the unmanned equipment in a mode of combining the unmanned equipment and the laser indication module, so that the exposure risk of personnel in complex and dangerous environments is effectively reduced, the unmanned equipment can flexibly move to reach a designated position rapidly, and the accurate pointing capability of the laser indication module is combined, so that efficient target guidance and positioning are realized.
Description
Technical Field
The invention relates to the field of line-control laser indication, in particular to a line-control laser target guiding device.
Background
The laser indication module is a laser source for designating a target, and generally provides aiming for a laser guided bomb, a missile or an accurate fire projectile, signals are reflected from the target into the sky, the signals are detected and redirected to the center of the reflected signals by a guide head of the laser guided weapon, the laser indication module is installed on unmanned equipment to form natural selection in consideration of the complexity and danger of a use scene, and the unmanned equipment (such as an unmanned plane, an unmanned vehicle, a robot dog and the like) controls the laser indication module to emit laser marks to the designated target;
However, with the popularization of the "anti-unmanned" device, unmanned equipment (such as unmanned aerial vehicle, unmanned vehicle, robot dog, etc.) is at risk of being interfered and not working, the unmanned equipment usually realizes the communication between the satellite positioning system and the control system by means of radio signals, and if the radio signals of corresponding frequency bands are interfered, the unmanned equipment can start a built-in self-protection mechanism, or be forced to fall/stop, hover in the air, or turn back to a departure place. In order to solve the above-mentioned problems, a drive-by-wire laser target guiding device is proposed.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present invention has been made in view of the above-mentioned problems with the conventional drive-by-wire laser target guidance apparatus.
In order to solve the technical problems, the invention provides the following technical scheme: a laser-by-wire target guidance apparatus, comprising:
The winding and unwinding mechanism comprises a control cable roll, a control cable head and a current sensing module, wherein the input end of the control cable roll is electrically connected with the output end of the control cable head;
The current sensing module is electrically connected with the output end of a power line of the electric transmission shaft bracket in the winding and unwinding mechanism and is used for detecting the actual working current of the electric transmission shaft bracket;
the wire control target guiding mechanism is electrically connected with the winding and unwinding mechanism through the control cable coil and the control cable head;
The drive-by-wire target guiding mechanism is arranged on the unmanned equipment and comprises a communication module, a laser indicating module, a light spot modulating module and a speed sensing module; the input end of the control cable head is electrically connected with the laser indication module; the communication module is used for establishing a communication channel with a control system of the unmanned equipment, transmitting control instructions and receiving feedback information;
The output end of the control cable roll is electrically connected with a PID controller, the drive-by-wire target guiding mechanism further comprises an imaging processing module, and the imaging processing module is used for capturing an image of a target area and transmitting image data to external remote control equipment through a communication module by the connected PID controller;
The PID controller is also connected with the speed sensing module and the current sensing module, the speed sensing module is used for detecting the running speed of the unmanned equipment in real time, transmitting the detected speed data to the PID controller, and calculating the required real-time winding and unwinding speed of the cable tray according to the real-time running speed of the unmanned equipment acquired by the speed sensing module; the current sensing module is used for detecting the working current of the electric transmission shaft bracket in real time and transmitting the current value to the PID controller, comparing a preset reference current value with the current value detected in real time, and calculating a current deviation value; so that the PID controller adjusts the winding and unwinding speed of the cable drum and the running speed of the unmanned equipment according to the real-time running speed and the positive and negative of the real-time current deviation value.
Further, the imaging processing module is arranged at one side of the laser indicating module, the output end of the control cable coil is electrically connected with the PID controller, and the imaging processing module is used for capturing an image of a target area and transmitting image data to external remote control equipment through the PID controller by the communication module;
the speed sensing module detects the running speed of the unmanned equipment in real time, transmits the detected speed data to the PID controller, and calculates the required real-time winding and unwinding speed of the cable tray according to the real-time running speed of the unmanned equipment acquired by the speed sensing module;
wherein, To control the real-time take-up and pay-off speed of the cable reel,Real-time driving speed of unmanned equipment;
Detecting working current of the electric transmission shaft bracket in real time through a current sensing module, transmitting a current value to a PID controller, comparing a preset reference current value with the current value detected in real time, and calculating a current deviation value;
wherein, As the value of the current bias in real time,For the current value detected in real time,Is a preset reference current value;
Judging the relation between the winding and unwinding speed of the control cable winding and the running speed of the unmanned equipment according to the real-time running speed and the positive and negative of the real-time current deviation value, and if the current deviation is positive, increasing the winding and unwinding speed; if the current deviation is negative, the receiving and releasing speed needs to be reduced;
PID calculation is carried out on the real-time current deviation value through a PID controller, and PID control quantity is obtained The PID control formula is as follows:
wherein, Is a coefficient of proportionality and is used for the control of the power supply,As an integral coefficient of the power supply,Is a differential coefficient;
the current value of the motor in the electric transmission shaft bracket is regulated in real time according to the PID control quantity, so that the motor is ensured to work according to the calculated winding and unwinding speed;
wherein, And the current value of the transmission motor is adjusted.
Further, the unmanned devices include, but are not limited to, unmanned ground vehicles, unmanned robotic dogs, and unmanned aerial vehicles;
The control cable coil and the control cable head are optical fibers or copper cables and have reusability, can extend along with the movement of the unmanned equipment and shrink when the unmanned equipment returns.
Further, a tool box is arranged outside the winding and unwinding mechanism, and the winding and unwinding mechanism further comprises a side bracket, two fixing rods and a wire coil;
The winding and unwinding mechanism is mounted on the inner wall of the tool box through side bracket bolts, one ends of the two fixing rods are symmetrically welded on two sides of the side bracket, a wire coil is fixedly mounted on a transmission shaft of the electric transmission shaft bracket, and the other ends of the two fixing rods are fixedly mounted on the electric transmission shaft bracket.
Further, the control cable is wound on the outer wall of the wire coil, an open slot is formed in one side, opposite to the wire coil, of the tool box, and the control cable head penetrates through the open slot when extending to the outside of the tool box.
Further, the drive-by-wire target guiding mechanism further comprises a mounting rack, a micro-electric cylinder, a hinged support, a stepping motor and a support;
the bottom of the cylinder barrel of the micro-electric cylinder is mounted on the top of the mounting frame through bolts, the bottom of the hinged support is fixedly connected with the output shaft end of the micro-electric cylinder, the outer wall of the support is hinged to the inner wall of the hinged support through a pin shaft, one end of the pin shaft extends to the outside of the hinged support, and the output shaft of the stepping motor is fixedly connected with the extending end of the pin shaft;
Two groups of electromagnetic suction plates are symmetrically arranged at the bottom of the mounting frame;
The input end of the control cable head is electrically connected with the laser indication module; the light spot modulation module is arranged at the laser emission head of the laser indication module, the communication module is arranged at the rear side of the laser indication module, and the laser indication module is arranged at one side of the support; the speed sensing module is arranged at the bottom middle part of the support and used for detecting the running speed of unmanned equipment in real time.
Further, a navigation coordinate module is installed at the bottom of the support, and a searchlight module is installed at the other side of the top of the support.
Further, the imaging processing module includes:
an imaging sensor for capturing an image;
an image processing unit connected with the imaging sensor for processing the captured image data and generating a target image;
And the image transmission unit is connected with the communication module and used for transmitting the processed image data to external remote control equipment through the communication module.
Further, the light spot modulation module is used for generating an information light spot carrying a task instruction, wherein the pattern of the information light spot comprises a receiver number and task content, and modulating the light spot shape and content of the laser beam.
Further, the method for performing the guiding operation by the drive-by-wire laser target guiding device comprises the following steps:
The remote control device transmits a control signal to the line control target guiding mechanism through the control cable head, and the communication module receives the control signal and transmits the control signal to the control system of the unmanned device;
The unmanned equipment moves to the vicinity of the target according to the control signal, the winding and unwinding mechanism starts the control cable winding and starts to unwind, so that the cable extends along with the movement of the unmanned equipment, the speed sensing module detects the running speed of the unmanned equipment in real time, and speed data are transmitted to the PID controller;
the PID controller calculates the required real-time winding and unwinding speed of the cable drum according to the real-time running speed of the unmanned equipment acquired by the speed sensing module;
When the unmanned equipment approaches the target area, the laser indicating module is started to emit a laser beam to point to the target, and the spot modulating module modulates the spot shape and the content of the laser beam according to the task requirement to ensure that the laser beam is accurately pointed to the target;
The imaging processing module is started, the imaging sensor captures an image of a target area, the image processing unit processes the captured image data and generates a target image, and the image transmission unit transmits the processed image data to the PID controller through the control cable reel and then to the remote control equipment through the communication module;
The remote control equipment receives the image data transmitted by the imaging processing module, and an operator checks the real-time image through the remote control equipment to judge whether the laser spot points to the target accurately;
If the laser indication position is inaccurate, an operator sends an adjustment instruction through remote control equipment;
The PID controller receives the adjustment instruction and transmits the instruction to the laser indication module through the communication module;
And the laser indication module adjusts the pointing position of the laser emission head according to the instruction, and after confirming that the laser spot position is accurate, the unmanned equipment executes the task to complete the target guiding operation.
The invention has the beneficial effects that:
According to the invention, the unmanned equipment and the laser indication module are combined, the laser indication module is arranged on the unmanned equipment, so that the exposure risk of personnel in complex and dangerous environments is effectively reduced, the unmanned equipment can flexibly move to reach a designated position rapidly, and the accurate pointing capability of the laser indication module is combined, so that efficient target guidance and positioning are realized;
According to the invention, a wire control mode is adopted, data and control signals are transmitted through the control cable, so that the interference problem of radio signals is avoided, unmanned equipment can still work stably even in a strong radio interference environment, and the reliability and safety of a system are improved;
The invention is suitable for unmanned devices of different types, and unmanned equipment (robot dog and unmanned vehicle) running on the ground is suitable for operation in a complex terrain or closed space; the unmanned aerial vehicle flying in the air is suitable for being operated in a wide area and a high-altitude environment, and the application range of the device is expanded due to diversified application scenes;
the laser indication module can emit light spots (visible or invisible) of different types according to task requirements, is suitable for various environments and task requirements, wherein the visible light spots are suitable for target guidance in general environments, and the invisible light spots are suitable for hidden operation or night tasks;
according to the invention, the light spot pattern is embedded with the number of the receiving party and the task content information, so that the task instruction is accurately transmitted, the accuracy and the efficiency of task execution are improved, and by adopting the mode, the instruction transmission is more definite, misoperation and information confusion are avoided, and the reliability of a system is improved;
the control wire can select optical fibers or copper cables, has diversity and flexibility, has high-speed data transmission and electromagnetic interference resistance, and is suitable for long-distance and high-precision control; the copper cable has the advantages of low cost and convenient connection.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a schematic diagram of a line-controlled laser target guidance apparatus according to the present invention;
FIG. 2 is a schematic view of a drive-by-wire target guiding mechanism according to the present invention;
FIG. 3 is a schematic view of another view of the drive-by-wire target guiding mechanism of the present invention;
FIG. 4 shows the invention a paying-off mechanism schematic diagram;
FIG. 5 is a schematic illustration of the installation of the drive-by-wire target indexing mechanism of the present invention with an unmanned ground vehicle;
FIG. 6 is a schematic diagram of the installation of the drive-by-wire target indexing mechanism of the present invention with an unmanned robotic dog;
FIG. 7 is a schematic diagram of the drive-by-wire target guiding mechanism of the present invention installed with an unmanned aerial vehicle;
FIG. 8 is a system schematic step diagram of a line-controlled laser target guidance apparatus of the present invention;
Fig. 9 is a flow chart of the guiding of the laser-by-wire target guiding device of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Further, in describing the embodiments of the present invention in detail, the cross-sectional view of the device structure is not partially enlarged to a general scale for convenience of description, and the schematic is only an example, which should not limit the scope of protection of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Example 1
Referring to fig. 1-9, for a first embodiment of the present invention, there is provided a laser-by-wire target guiding apparatus, including:
the winding and unwinding mechanism 20, wherein the winding and unwinding mechanism 20 comprises a control cable roll 21, a control cable head 22 and a current sensing module 29, and the input end of the control cable roll 21 is electrically connected with the output end of the control cable head 22;
The current sensing module 29 is electrically connected with the output end of the power line of the electric transmission shaft bracket 25 in the pay-off and take-up mechanism 20 and is used for detecting the actual working current of the electric transmission shaft bracket 25;
the wire control target guiding mechanism 30, the winding and unwinding mechanism 20 is electrically connected to the wire control target guiding mechanism 30 through the control cable roll 21 and the control cable head 22;
The drive-by-wire target guiding mechanism 30 is installed on the unmanned equipment, and the drive-by-wire target guiding mechanism 30 comprises a communication module 35, a laser indicating module 38, a light spot modulation module 39 and a speed sensing module 314; the input end of the control cable head 22 is electrically connected with the laser indicating module 38; the light spot modulation module 39 is installed at the laser emission head of the laser indication module 38, and the communication module 35 is used for establishing a communication channel with the control system of the unmanned equipment, transmitting control instructions and receiving feedback information;
The output end of the control cable roll 21 is electrically connected with a PID controller 28, the drive-by-wire target guiding mechanism 30 further comprises an imaging processing module 313, the imaging processing module 313 is used for capturing an image of a target area, and the image data is transmitted to an external remote control device through the communication module 35 by the connected PID controller 28;
The PID controller 28 is further connected to a speed sensing module 314 and a current sensing module 29, where the speed sensing module 314 is configured to detect a running speed of the unmanned device in real time, transmit detected speed data to the PID controller 28, and calculate a required real-time wire winding and unwinding speed of the cable drum according to the real-time running speed of the unmanned device acquired by the speed sensing module 314; the current sensing module 29 detects the working current of the electric transmission shaft bracket 25 in real time, and is used for transmitting the current value to the PID controller 28, comparing the preset reference current value with the current value detected in real time, and calculating a current deviation value; so that the PID controller 28 adjusts the winding and unwinding speed of the cable drum and the unmanned device running speed according to the real-time running speed and the positive and negative of the real-time current deviation value.
The two groups of electromagnetic suction plates 312 are symmetrically arranged at the bottom of the mounting frame 31 to provide a fixed supporting function, so that stable installation of other components is ensured, the mounting frame 31 is symmetrically arranged on the unmanned equipment through the two groups of electromagnetic suction plates 312, the wire control target guiding mechanism 30 is ensured to be stable in the moving process of the unmanned equipment, the electromagnetic suction plates 312 are used for firmly installing the wire control target guiding mechanism 30 on the unmanned equipment, the two groups of electromagnetic suction plates 312 are symmetrically arranged, stability and firmness are ensured, and the movement of the unmanned equipment in various terrains and environments can be adapted;
The laser indicating module 38 is mounted on one side of the support 36, where the support 36 is used for mounting the laser indicating module 38, providing a stable emitting platform, and the laser indicating module 38 includes a laser generator and a laser emitting head for emitting a laser beam to the target;
The spot modulation module 39 is arranged at the laser emission head of the laser indication module 38, the spot modulation module 39 is used for modulating the spot shape and the content of the laser beam, the information spot is modulated by the spot modulation module 39, the carried task instruction information comprises the number of a receiving party and the task content, the main function of the spot modulation module 39 is to modulate the spot shape and the content of the laser beam, so that a spot with specific information is generated in a target area to realize accurate target guidance and task execution, and the spot modulation module 39 changes the propagation path and the intensity distribution of the laser beam through an internal optical element, so that a spot with specific shape and information is formed in the target area;
The specific functions include:
Spot shape modulation: according to task demands, laser beams are modulated into different geometric shapes such as circles, rectangles, crosses and the like so as to adapt to different target guiding scenes;
Information content modulation: specific task instruction information, such as the number of a receiver and task content, is embedded in the laser light spot, so that the light spot can not only indicate the position, but also transmit specific task instructions;
Visibility adjustment: according to task requirements, the spectral characteristics of the light spots are modulated to enable the light spots to emit in a visible light range or an invisible light range, so that different environments and task requirements are met;
Example 1: visible light spot
The task is to guide an unmanned vehicle (unmanned ground vehicle 40) of a ground army to detect the entrance position of a certain building, a light spot modulation module 39 modulates a laser beam into a circular visible light spot, and information 'C1' is embedded in the light spot, wherein the circular light spot is convenient to identify and position, and the information 'C1' indicates that a receiver numbered C needs to detect a number 1 target;
The unmanned ground vehicle 40 sees a circular red spot at the entrance of the target building, with a central display of "C1", defining the specific location and content of its investigation task.
Example 2: invisible light spot
The task is to guide the unmanned aerial vehicle (unmanned aerial vehicle 60) to carry out a hidden monitoring task at night, the light spot modulation module 39 modulates the laser beam into rectangular infrared light spots, and information 'D2' is embedded in the light spots, the infrared light spots are invisible at night but can be detected by an infrared camera of the unmanned aerial vehicle, and the information 'D2' indicates that a receiver with the number D needs to monitor a No. 2 target;
the unmanned aerial vehicle 60 can see a rectangular infrared light spot at night through the infrared camera, the center of the rectangular infrared light spot is displayed with 'D2', the specific position and content of the monitoring task are clear, the spot is invisible to naked eyes, and the concealment of the task is ensured.
The communication module 35 is installed at the rear side of the laser indication module 38, and is used for transmitting data and control signals with the remote control equipment, the communication module 35 ensures remote control and data transmission of the laser indication module 38 and the imaging processing module 313, and has high-efficiency bidirectional communication capability;
the input end of the control cable head 22 is electrically connected with the laser indicating module 38;
The drive-by-wire target guiding mechanism 30 is installed on the unmanned equipment, the communication module 35 establishes a communication channel with the control system of the unmanned equipment, transmits a control instruction and receives feedback information, the remote control equipment sends a control signal to the communication module 35 of the drive-by-wire target guiding mechanism 30 through the control cable head 22, the communication module 35 receives the signal and transmits the signal to the control system of the unmanned equipment, and after receiving the control instruction, the control system of the unmanned equipment analyzes the instruction and executes corresponding operation;
The wire-controlled object guiding mechanism 30 is mounted on an unmanned device through two sets of electromagnetic suction plates 312, and the unmanned device includes, but is not limited to, an unmanned ground vehicle 40 (the wire-controlled object guiding mechanism 30 shown in fig. 5 is mounted on the unmanned ground vehicle 40), an unmanned robot dog 50 (the wire-controlled object guiding mechanism 30 shown in fig. 6 is mounted on the unmanned robot dog 50), and an unmanned plane 60 (the wire-controlled object guiding mechanism 30 shown in fig. 7 is mounted on the unmanned plane 60);
The control cable reel 21 and the control cable head 22 are optical fibers or copper cables and have a re-use capability, which can extend following the movement of the unmanned device and retract when the unmanned device returns.
The outer part of the winding and unwinding mechanism 20 is provided with a tool box 11, and the winding and unwinding mechanism 20 also comprises a side bracket 23, two fixing rods 24, an electric transmission shaft bracket 25 and a wire coil 26;
The winding and unwinding mechanism 20 is mounted on the inner wall of the tool box 11 through a side bracket 23 through bolts, one ends of two fixing rods 24 are symmetrically welded on two sides of the side bracket 23, a wire coil 26 is fixedly mounted on a transmission shaft of the electric transmission shaft bracket 25, the other ends of the two fixing rods 24 are fixedly mounted on the electric transmission shaft bracket 25, the control cable roll 21 is wound on the outer wall of the wire coil 26, an open slot 12 is formed in one side, facing the wire coil 26, of the tool box 11, and the control cable head 22 penetrates through the open slot 12 when extending to the outside of the tool box 11;
Before the device is used, all components in the tool box 11, including the take-up and pay-off mechanism 20 and the wire control target guide mechanism 30, are all in a storage state, after the device is used, an operator sends out an instruction through external remote control equipment, activates the take-up and pay-off mechanism 20 through a PID controller 28, an electric transmission pedestal 25 of the take-up and pay-off mechanism starts to operate, drives a wire coil 26 to rotate, a control cable roll 21 is wound on the outer wall of the wire coil 26, and is gradually paid out along with the rotation of the wire coil 26, so that a control cable head 22 passes through the tool box 11 and faces an opening groove 12 formed in one side of the wire coil 26, and extends to the outside, the control cable head 22 is electrically connected to the wire control target guide mechanism 30, so that data and control signals are transmitted, under the instruction of the external remote control equipment, the unmanned equipment (an unmanned ground vehicle 40, an unmanned robot dog 50 or an unmanned aerial vehicle 60) starts to move, the control cable roll 21 is controlled by the PID controller 28 synchronously, the control cable roll 21 keeps proper tightness in the moving process, the control cable is ensured, and after the unmanned equipment reaches a specified position, the wire control target guide mechanism 30 starts to work and a target image capture task is performed;
After the task is completed, a return instruction is sent through the external remote control equipment, the unmanned equipment starts to return to the initial position, the wire coil 26 starts to retract the control cable by controlling the electric transmission shaft bracket 25 of the winding and unwinding mechanism 20 to reversely run, the control cable reel 21 gradually retracts the control cable onto the wire coil 26, and the neatly and unreeling of the cable is further kept through the communication cooperation of the external remote control equipment, the PID controller 28 and the electric transmission shaft bracket 25.
The drive-by-wire target guiding mechanism 30 further includes a micro-cylinder 32, a hinge support 33, and a stepping motor 34;
The cylinder bottom bolt of micro-electric cylinder 32 is installed in the top of mounting bracket 31, can adjust the vertical height of drive-by-wire target guide mechanism 30 through electric control, in order to adapt to different operation demands and environment, the bottom fixed connection of hinge support 33 is in micro-electric cylinder 32's output axle head, the outer wall of support 36 articulates in the inner wall of hinge support 33 through the round pin axle, and the one end of round pin axle extends to the outside of hinge support 33, step motor 34's output shaft and round pin axle extension fixed connection for the angle fine setting of control support 36, step motor 34 can realize the fine angle adjustment of support 36 and laser indication module 38 through accurate step control.
The navigation coordinate module 311 is installed to the bottom of support 36, and navigation coordinate module 311 is used for providing real-time location data, ensures that unmanned equipment knows self accurate position all the time in the removal in-process, and the searchlight module 37 is installed to the top opposite side of support 36, and searchlight module 37 is used for illuminating the target area under low light or night environment, ensures that laser instruction module and formation of image processing module 313 can clearly catch target information, and in the image capture process, the illumination that searchlight module 37 provided can show the reinforcing imaging effect, improves definition and contrast of image.
The drive-by-wire target guiding mechanism 30 further comprises an imaging processing module 313, the imaging processing module 313 is mounted on one side of the laser indicating module 38, the output end of the control cable roll 21 is electrically connected with the PID controller 28, the imaging processing module 313 is used for capturing an image of a target area, and image data is transmitted to external remote control equipment through the PID controller 28 by the communication module 35;
After the system is started, the imaging processing module 313 and the PID controller 28 are synchronously activated to prepare for starting image capturing and data transmission, the unmanned device moves to a target area, the imaging sensor starts capturing an image of the target area, the imaging processing module 313 processes the image captured in real time according to real-time image data, the image processing unit transmits the processed image data to the image transmission unit, the image transmission unit transmits the image data to the external remote control device in real time through the PID controller 28 and the communication module 35, the external remote control device receives the image data for further analysis and processing, after the task is completed, the imaging processing module 313 stops image capturing and processing, and all the image data are stored in the local storage device through the PID controller 28 and are backed up to the remote server through the communication module 35.
The line-control laser target guiding device performs guiding operation comprising the following steps:
the remote control device transmits a control signal to the drive-by-wire target guiding mechanism 30 through the control cable head 22, and the communication module 35 receives the control signal and transmits the control signal to the control system of the unmanned device;
the unmanned device moves to the vicinity of the target according to the control signal, the winding and unwinding mechanism 20 starts the control cable winding 21 to start winding and unwinding, the cable is ensured to extend along with the movement of the unmanned device, the speed sensing module 314 detects the running speed of the unmanned device in real time, and speed data is transmitted to the PID controller 28;
the PID controller 28 calculates the required real-time winding and unwinding speed of the cable tray according to the real-time running speed of the unmanned equipment acquired by the speed sensing module 314;
Acquiring real-time running speed: the speed sensing module 314 detects the running speed of the unmanned equipment in real time and transmits the detected speed data to the PID controller 28, and the PID controller 28 calculates the required real-time winding and unwinding speed of the control cable roll 21 according to the acquired real-time running speed;
wherein, To control the real-time take-up and pay-off speed of the cable reel 21,Real-time driving speed of unmanned equipment;
Acquiring a real-time current value of a motor:
the current sensing module 29 detects the working current of the electric transmission shaft bracket 25 in real time and transmits the current value to the PID controller 28, and the PID controller 28 compares the preset reference current value with the current value detected in real time to calculate a current deviation value;
wherein, As the value of the current bias in real time,For the current value detected in real time,Is a preset reference current value;
judging the relation between the winding and unwinding speed and the running speed:
Judging the relation between the winding and unwinding speed of the control cable roll 21 and the running speed of the unmanned equipment according to the positive and negative of the real-time running speed and the real-time current deviation value, wherein the winding and unwinding speed needs to be increased if the current deviation is positive; if the current deviation is negative, the receiving and releasing speed needs to be reduced;
PID control amount calculation:
PID calculation is performed on the real-time current deviation value through the PID controller 28 to obtain PID control quantity The PID control formula is as follows:
wherein, Is a coefficient of proportionality and is used for the control of the power supply,As an integral coefficient of the power supply,Is a differential coefficient;
according to PID control quantity Adjusting the current value of the transmission motor in the electric transmission shaft bracket 25 in real time;
wherein, The current value of the transmission motor is adjusted;
When the unmanned equipment approaches the target area, the laser indicating module 38 is started to emit a laser beam to point to the target, and the spot modulating module 39 modulates the spot shape and the content of the laser beam according to the task requirements to ensure accurate pointing to the target;
The imaging processing module 313 is started, the imaging sensor captures an image of the target area, the image processing unit processes the captured image data and generates a target image, and the image transmission unit transmits the processed image data to the PID controller 28 through the control cable reel 21 and then to the remote control device through the communication module 35;
The remote control device receives the image data transmitted by the imaging processing module 313, and an operator checks the real-time image through the remote control device to judge whether the laser spot accurately points to the target;
If the laser indication position is inaccurate, an operator sends an adjustment instruction through remote control equipment;
The PID controller 28 receives the adjustment instruction and transmits the instruction to the laser pointer module 38 through the communication module 35;
The laser indication module 38 adjusts the pointing position of the laser emission head according to the instruction, after confirming that the laser spot position is accurate, the unmanned device executes the task, the target guiding operation is completed, after the task is completed, the remote control device sends a return instruction, and the unmanned device starts to return to the starting position.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (9)
1. A laser-by-wire target guidance apparatus, comprising:
the winding and unwinding mechanism (20), wherein the winding and unwinding mechanism (20) comprises a control cable roll (21), a control cable head (22) and a current sensing module (29), and the input end of the control cable roll (21) is electrically connected with the output end of the control cable head (22);
The current sensing module (29) is electrically connected with the power line output end of the electric transmission shaft bracket (25) in the winding and unwinding mechanism (20) and is used for detecting the actual working current of the electric transmission shaft bracket (25);
the wire control target guiding mechanism (30), wherein the winding and unwinding mechanism (20) is electrically connected to the wire control target guiding mechanism (30) through a control cable roll (21) and a control cable head (22);
The wire control target guiding mechanism (30) is arranged on unmanned equipment, and the wire control target guiding mechanism (30) comprises a communication module (35), a laser indicating module (38), a light spot modulating module (39) and a speed sensing module (314); the input end of the control cable head (22) is electrically connected with the laser indication module (38); the light spot modulation module (39) is arranged at the laser emission head of the laser indication module (38), and the communication module (35) is used for establishing a communication channel with a control system of the unmanned equipment, transmitting control instructions and receiving feedback information;
The imaging processing module (313) is arranged on one side of the laser indicating module (38), the output end of the control cable roll (21) is electrically connected with the PID controller (28), and the imaging processing module (313) is used for capturing an image of a target area and transmitting image data to external remote control equipment through the PID controller (28) through the communication module (35);
the speed sensing module (314) detects the running speed of the unmanned equipment in real time, transmits detected speed data to the PID controller (28), and calculates the required real-time wire winding and unwinding speed of the cable tray according to the real-time running speed of the unmanned equipment acquired by the speed sensing module (314);
wherein, To control the real-time take-up and pay-off speed of the cable reel (21),Real-time driving speed of unmanned equipment;
detecting working current of the electric transmission shaft bracket (25) in real time through a current sensing module (29), transmitting a current value to a PID controller (28), comparing a preset reference current value with the current value detected in real time, and calculating a current deviation value;
wherein, As the value of the current bias in real time,For the current value detected in real time,Is a preset reference current value;
judging the relation between the winding and unwinding speed of the control cable roll (21) and the running speed of unmanned equipment according to the positive and negative of the real-time running speed and the real-time current deviation value, wherein the winding and unwinding speed needs to be increased if the current deviation is positive; if the current deviation is negative, the receiving and releasing speed needs to be reduced;
PID calculation is carried out on the real-time current deviation value through a PID controller (28) to obtain PID control quantity The PID control formula is as follows:
wherein, Is a coefficient of proportionality and is used for the control of the power supply,As an integral coefficient of the power supply,Is a differential coefficient;
The current value of the motor in the electric transmission shaft bracket (25) is regulated in real time according to the PID control quantity, so that the motor is ensured to work according to the calculated retraction speed;
wherein, And the current value of the transmission motor is adjusted.
2. The laser-by-wire target guidance arrangement of claim 1, wherein the unmanned equipment comprises an unmanned ground vehicle (40), an unmanned robot dog (50), and an unmanned aerial vehicle (60);
The control cable reel (21) and the control cable head (22) are optical fibers or copper cables and have reusability, can extend along with the movement of the unmanned equipment and shrink when the unmanned equipment returns.
3. The line-controlled laser target guiding device according to claim 2, wherein a tool box (11) is arranged outside the wire winding and unwinding mechanism (20), and the wire winding and unwinding mechanism (20) further comprises a side bracket (23), two fixing rods (24) and a wire coil (26);
The coiling and uncoiling mechanism (20) is mounted on the inner wall of the tool box (11) through a side bracket (23) through bolts, one ends of two fixing rods (24) are symmetrically welded on two sides of the side bracket (23), a wire coil (26) is fixedly mounted on a transmission shaft of the electric transmission shaft bracket (25), and the other ends of the two fixing rods (24) are fixedly mounted on the electric transmission shaft bracket (25).
4. A line control laser target guiding device according to claim 3, characterized in that the control cable coil (21) is wound on the outer wall of the wire coil (26), an open slot (12) is formed on one side, facing the wire coil (26), of the tool box (11), and the control cable head (22) passes through the open slot (12) when extending to the outside of the tool box (11).
5. The line-controlled laser target guiding apparatus according to claim 1, wherein the line-controlled target guiding mechanism (30) further comprises a mounting frame (31), a micro-cylinder (32), a hinge support (33), a stepping motor (34) and a support (36);
The bottom of the cylinder barrel of the micro-electric cylinder (32) is mounted on the top of the mounting frame (31) through bolts, the bottom of the hinged support (33) is fixedly connected to the output shaft end of the micro-electric cylinder (32), the outer wall of the support (36) is hinged to the inner wall of the hinged support (33) through a pin shaft, one end of the pin shaft extends to the outside of the hinged support (33), and the output shaft of the stepping motor (34) is fixedly connected with the extending end of the pin shaft;
Two groups of electromagnetic suction plates (312) are symmetrically arranged at the bottom of the mounting frame (31);
The input end of the control cable head (22) is electrically connected with the laser indication module (38); the light spot modulation module (39) is arranged at the laser emission head of the laser indication module (38), the communication module (35) is arranged at the rear side of the laser indication module (38), and the laser indication module (38) is arranged at one side of the support (36); the speed sensing module (314) is arranged at the bottom middle part of the support (36) and is used for detecting the running speed of unmanned equipment in real time.
6. The line-controlled laser target guiding device according to claim 5, wherein a navigation coordinate module (311) is mounted at the bottom of the support (36), and a searchlight module (37) is mounted at the other side of the top of the support (36).
7. The laser-by-wire target directing device of claim 1, wherein said imaging processing module (313) comprises:
an imaging sensor for capturing an image;
an image processing unit connected with the imaging sensor for processing the captured image data and generating a target image;
and the image transmission unit is connected with the communication module (35) and is used for transmitting the processed image data to an external remote control device through the communication module (35).
8. A laser-by-wire target directing arrangement as claimed in claim 1, characterized in that the spot modulation module (39) is adapted to generate an information spot carrying a task instruction, the pattern of the information spot comprising a receiver number and a task content, and to modulate the spot shape and content of the laser beam.
9. The laser-by-wire target directing device of any of claims 1-8, wherein the directing operation performed by the laser-by-wire target directing device comprises the steps of:
The remote control device transmits a control signal to the drive-by-wire target guiding mechanism (30) through the control cable head (22), and the communication module (35) receives the control signal and transmits the control signal to the control system of the unmanned device;
the unmanned equipment moves to the vicinity of a target according to a control signal, a winding and unwinding mechanism (20) starts a control cable winding (21) to start winding and unwinding, so that the cable is ensured to extend along with the movement of the unmanned equipment, a speed sensing module (314) detects the running speed of the unmanned equipment in real time, and speed data are transmitted to a PID controller (28);
The PID controller (28) calculates the required real-time winding and unwinding speed of the cable drum according to the real-time running speed of the unmanned equipment acquired by the speed sensing module (314);
when the unmanned equipment approaches the target area, a laser indicating module (38) is started to emit a laser beam to point to the target, and a light spot modulating module (39) modulates the light spot shape and the content of the laser beam according to task requirements to ensure accurate pointing to the target;
An imaging processing module (313) is started, an imaging sensor captures an image of a target area, an image processing unit processes the captured image data and generates a target image, and an image transmission unit transmits the processed image data to a PID controller (28) through a control cable reel (21) and then to a remote control device through a communication module (35);
The remote control equipment receives the image data transmitted by the imaging processing module (313), and an operator checks the real-time image through the remote control equipment to judge whether the laser spot points to the target accurately;
If the laser indication position is inaccurate, an operator sends an adjustment instruction through remote control equipment;
The PID controller (28) receives the adjustment instruction and transmits the instruction to the laser indication module (38) through the communication module (35);
and the laser indication module (38) adjusts the pointing position of the laser emission head according to the instruction, and after confirming that the laser spot position is accurate, the unmanned equipment executes the task to finish the target guiding operation.
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| CN109891443A (en) * | 2016-09-28 | 2019-06-14 | 联邦快递公司 | System and method for using the internal reservoir content of one or more internal control monitoring unmanned shipment reservoirs |
| CN109997057A (en) * | 2016-09-20 | 2019-07-09 | 创新科技有限公司 | Laser radar system and method |
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| US20200209886A1 (en) * | 2018-12-28 | 2020-07-02 | Cube Ai Co., Ltd. | Method for guiding path of unmanned autonomous vehicle and assistant system for unmanned autonomous vehicle therfor |
| US11385659B2 (en) * | 2019-05-17 | 2022-07-12 | Anduril Industries, Inc. | Counter drone system |
| CN211943773U (en) * | 2019-12-31 | 2020-11-17 | 广西电网有限责任公司百色供电局 | Unmanned aerial vehicle anchoring descending auxiliary device |
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| CN109997057A (en) * | 2016-09-20 | 2019-07-09 | 创新科技有限公司 | Laser radar system and method |
| CN109891443A (en) * | 2016-09-28 | 2019-06-14 | 联邦快递公司 | System and method for using the internal reservoir content of one or more internal control monitoring unmanned shipment reservoirs |
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