CN101881580A - Quick automatic artillery aiming device - Google Patents

Abstract

The invention relates to a quick automatic artillery aiming device which comprises an omnidirectional vision sensor, an embedded system, a touch display screen, a periscopic aiming drive unit and a periscopic aiming mechanical device, wherein the omnidirectional vision sensor is used for acquiring a panoramic video image around a chariot and fixed at the top of an external artillery turret of the chariot; and the touch display screen is used for displaying the panoramic video image around the chariot and a local video image of an attack object, helping a gunner discover a suspicious attack object and confirm the attack object and providing the periscopic aiming mechanical device for the gunner to aim and attack the attack object. The device greatly lightens the work intensity of the artillery gunner, improves the emission efficiency of the artillery and the automation level of the artillery device and extends the attack range of the artillery gunner.

Description

Quick automatic artillery aiming device

Technical field

The present invention relates to a kind of cannon slewing device, belong to the application aspect various gun layings of embedded technology, omnibearing vision sensor and cannon Servocontrol device, mainly be applicable to the closely weapon equipment such as various tanks of cannon attack.

Background technology

Tank gun control system is from coming out till now; four important stages have been experienced substantially; phase I is only to be furnished with simple optical sight; second stage is to increase to have joined stereoscopic formula or coincidence type rangefinder and be the mechanical type ballistic computer of function parts with cam etc. on the basis of former optical sight; phase III is an optical sight; optical rangefinder and electromechanical analogy formula ballistic computer are formed, and the technology of quadravalence section is the laser ranging gun sight; the gun commander is gun sight round the clock; the hybrid fire control computer of digital-to-analogue; target angular velocity measurement mechanism and various trajectory correction sensor are formed.The basic demand to the fire control system of new type tank equipment at present is: find fast, catch and recognition objective; Reaction time is short; Long-range shooting first round hit probability height; Between advancing, can shoot by tank fixing or moving target; Round-the-clock strong with the night operations ability; Easy and simple to handle, the reliability height; Be furnished with self-checking system, keep in repair easy; Has higher efficiency-cost ratio.To the basic demand of reequiping the fire control system that old-fashioned tank uses be: under the prerequisite that is complementary with old-fashioned tank performance, satisfy some requirement of modern advanced tank fire control system basically; Install simply rapidly, versatility is good, both has been applicable to the old-fashioned tank that western countries make, and also is applicable to T series tank made in CCCP; Tank change amount is little, and the repacking cost is low; The reliability height, operation and maintenance is easy; Low in energy consumption, utilize original power supply on the vehicle as far as possible; Volume is little, takies the useful space in the tank turret with exceeding.

Promptly need quick discovery in the fire control system, catch target and need identification, tracking and run-home again, one low range, big visual field are used for battlefield surveillance and ferret out; High magnification, small field of view are used for identification, tracking and run-home.Present technology for high magnification, small field of view be used to discern, the technology of tracking and run-home has been fairly perfect, the first round hit probability of some artillery system reaches more than 80%, but for quick discovery, catch target, the discovery of 360 ° of visual field internal objects does not especially on a large scale still have good solution.

The control of the angle of rotation of the angle of pitch in the artillery system and gun turret at present realizes that by " surely looking like formula " fire control system sight line independently is stablized, and as the benchmark of system works.Stablizing of sight line is to realize by reflecting prism or speculum in the gyroscope steady aim mirror.In aiming during state, the gunner drives the sight line of gun sight with hand-control device, follows the tracks of, run-home, and the cannon servo-actuated is in sight line; When shooting, fire control computer calculates the firing data, is transferred to cannon and gun turret transmission device, makes cannon turn the advance angle position automatically and accurately, and sight line still keeps following the tracks of and run-home, realizes automatic track aiming.In order to find the target around the cannon, the cannon hand need expose and makes battlebus and observe outward sometimes, and this observation is abnormally dangerous for the gunner, simultaneously for making battlebus, exposes the weakest place that part also is a battlebus.Therefore, have two improvements at least for present this gun laying means: the field range that 1) needs to enlarge the gunner, do not expose as far as possible and make the battlebus outward appearance and examine, preferably can allow the cannon hand in making battlebus, see on every side real time panoramic video image in 360 ° of visuals field; 2) to reduce gunner's manual operation as much as possible, prepare, finally realize the full-automation of cannon device for the few peopleization and the unmanned technology of carrying out of cannon device.

The key to the issue that realizes the full-automation of gun laying device is to need coarse alignment goal fast before entering the aiming state, if can allow the gunner on the display screen of omnidirectional images, click run-home, make the cannon device promptly aim at shooting matter, utilize the existing hunting gear of cannon to realize automatic track aiming then.This is to design because present cannon servo-actuated sighting device is aiming at some zonules, and goal can occur in 360 ° of scopes of angle of rotation and the scope of the angle of pitch more than 40 ° that gun turret is the center, therefore must exist the problem of coarse alignment and fine alignment.Utilize omnibearing vision sensor can directly detect the azimuth of shooting matter and angle of rotation that incidence angle is come unmanned turret and the angle of pitch and realize the coarse alignment shooting matter, then utilize present cannon automatic track aiming system to realize fine alignment, can alleviate the working strength of cannon hand so greatly, improve the emission effciency of cannon, improve the automatization level of cannon device, the firing area of expansion cannon hand.

Summary of the invention

, cannon hand little for a field of view overcoming existing gun laying device exposes big etc. the deficiency of the working strength of risk factor height that the operation car body observes, cannon hand manual operation cannon device outward, the invention provides a kind of cannon hand can be in battlebus the full-view video image at scene, Real Time Observation battlefield and the local video image of target of attack thing, the gunner can click run-home on the display screen of omnidirectional images, make the cannon device promptly aim at the quick automatic artillery aiming device of shooting matter.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of quick automatic artillery aiming device comprises omnibearing vision sensor, embedded system, periscopic aiming driver element and periscopic aiming mechanical device; Be used to obtain the outside cannon gun turret top that full-view video image omnibearing vision sensor around the battlebus is fixed on battlebus; Described embedded system is connected with described omnibearing vision sensor, and described embedded system is connected with the video image interface of described periscopic aiming mechanical device, and described embedded system connects described periscopic aiming driver element; Described periscopic aiming driver element is used to receive the serial port control signal from described embedded system, and drives described periscopic aiming mechanical device and make that periscope can clear acquisition object of attack target image;

Described omnibearing vision sensor is used to take battlebus full-view video image on every side, comprise image unit, catadioptric minute surface, secondary catadioptric minute surface, wide-angle lens and an outer cover, the incident light V1 of a light source point P on the space is at described catadioptric minute surface (t1, a F ₁) reflect on the point, reverberation V2 reflexes to described secondary catadioptric minute surface (t2, F ₂) reflect again on the point, reverberation V3 enters the camera lens of image unit, imaging on described image unit with angle θ 1;

Described periscopic aiming driver element comprises built-in decoder, its decoder control protocol is controlled described periscopic aiming mechanical device, after described periscopic aiming driver element receives serial port control signal, serial port control signal is resolved, and the command conversion of resolving become can correspondingly drive the control voltage that described periscopic aiming mechanical device rotates, will control voltage at last and pass to described periscopic aiming mechanical device and aim at horizontal direction rotary electric machine in the mechanical device to control described periscopic, the rotation of vertical direction rotary electric machine, the focusing of periscope camera lens and shut-down operation.

As preferred a kind of scheme: described periscopic aiming mechanical device comprises rotating shaft, first motor, first gear, second motor, second gear, the 3rd gear, periscope and fixed mount, do first motor-driven, first gear rotation of vertical rotation, external gear engagement in first gear and the rotating shaft, rotating shaft rotates in vertical plane by first motor-driven, and vertical rotation control parameter is determined by incidence angle Ф; The mechanical device that work horizontally rotates is placed on the fixed mount, and fixed mount is fixedlyed connected with the outer wall of rotating shaft, and the first driven by motor fixed mount rotates in vertical plane; Fix second motor, second gear, the 3rd gear and periscope on the fixed mount simultaneously, the 3rd motor drives second moving gear and rotates in the fixed mount plane, second gear and the 3rd gears engaged, the top of the 3rd gear is periscope fixedly, the second driven by motor periscope rotates in the fixed mount plane, and horizontally rotating the control parameter is to be determined by azimuthal angle beta; Dispose the focusing control device in latent the prestige, the focus controlling parameter is determined by focal length ζ;

The full-view video image that described omnibearing vision sensor is obtained is divided into several zonules, each zonule all corresponding a certain three control parameters of periscopic sighting device to azimuth, incidence angle and focal length, wherein, azimuth information is used to control the rotational angle that horizontally rotates motor of periscopic sighting device, incidence angle information is used to control the rotational angle of the vertical electric rotating machine of periscopic sighting device, and focal length is used to control the focal length of periscope; When the gunner clicks some whens zone in the full-view video image, read three control parameters of this area relative azimuth, incidence angle and focal length automatically.

Further, described sighting device also comprises touch display screen, described embedded system is controlled described touch display screen by the GPIO interface, described touch display screen be used to show full-view video image and object of attack target around the battlebus local video image, be used to offer the man-machine interface that the gunner finds the suspected attack subject object and confirms the object of attack target, be used to the gunner to provide control device to come to aim at the object of attack target for described periscopic aiming mechanical device.

Further again, in the described embedded system, on the panorama sketch of gunner, found a suspicious goal at touch display screen, the gunner is by clicking suspicious goal, described embedded system is obtained the coordinate figure of the pixel of click place on this panoramic picture automatically when clicking, according to setting up specific mapping relations between full-view video image and the local video image, obtain the physical coordinates on the pairing space of this pixel, promptly the pairing azimuth of this pixel, incidence angle and focal length value are finished the thick aiming of suspected attack subject object; The parameter control of then passing through to be obtained is rotated periscope and is taken the local video image that suspicious goal obtains the right, whether by the further affirmation of local video image gunner is to attack goal, the gunner is according to the position relation between sight line and the attack goal, make just in time aimed fire target of sight line by adjusting button, finish the essence aiming of object of attack target; When pressing start button after the gunner aims at goal, the fire control computer of cannon calculates the firing data, is transferred to cannon and gun turret transmission device.

Further, described adjustment button comprises: rotate first button that second motor turns left in order to the control horizontal direction, rotate second button that second motor turns right in order to the control horizontal direction, rotate the 3rd button that first motor upwards rotates in order to the control vertical direction, in order to control the 4th button that the vertical direction rotary electric machine rotates, the 5th button that increases in order to the focal length of control periscope, the 5th button that reduces in order to the focal length of control periscope.

In the described built-in decoder, adopt the control protocol of PELCO-D control protocol as described periscopic aiming mechanical device.

The gun tube interlock of described periscopic aiming mechanical device and battlebus.

The image unit of described omnibearing vision sensor is adopted as CMOS or CCD imager chip.

The image unit of described omnibearing vision sensor adopts the imager chip of thermal imaging system.

Beneficial effect of the present invention mainly shows: (1) gunner can see macroscopical full-view video image on the battlefield in real time in battlebus, can see the local video image of shooting matter target simultaneously again; (2) gunner is as long as the display screen of clicking in the battlebus just can realize aiming at, following the tracks of goal automatically; (3) in real time convenient, present battlebus is transformed little, can keep the sighting device in the former battlebus, on the manual function basis of aiming at, increased the automatic aiming function; (4) alleviate the working strength of cannon hand greatly, improve the emission effciency of cannon, improve the automatization level of cannon device, the firing area of expansion cannon hand.

Description of drawings

The battlefield panorama sketch of Fig. 1 on the screen of battlebus, being obtained.

The target of attack object diagram of Fig. 2 on the screen of battlebus, being obtained.

Fig. 3 is the structure chart of periscopic aiming mechanical device.

Fig. 4 is embedded system and related peripheral hardware interface block diagram.

Fig. 5 is the full-view video image that omnibearing vision sensor obtained.

Fig. 6 is installed in the schematic diagram at the gun turret top of battlebus for omnibearing vision sensor.

Fig. 7 is the structure chart of omnibearing vision sensor.

Fig. 8 is the compound lens imaging schematic diagram of omnibearing vision sensor.

Fig. 9 asks F for utilizing 4 rank Runge-Kutta algorithms ₁And F ₂The catadioptric minute surface curve map of digital solution.

Figure 10 is the omnibearing vision sensor imaging schematic diagram.

Figure 11 offers the man-machine interface image that the gunner aims at target of attack.

The specific embodiment

Below in conjunction with accompanying drawing the present invention is further described.

With reference to Fig. 1～Figure 11, a kind of quick automatic artillery aiming device comprises omnibearing vision sensor, embedded system, touch display screen, periscopic aiming driver element and periscopic aiming mechanical device; Described omnibearing vision sensor is used to obtain battlebus full-view video image on every side, is fixed on the outside cannon gun turret top of battlebus, as shown in Figure 6; Described embedded system is used to read the full-view video image that obtains from described omnibearing vision sensor and the local video image of the object of attack target that obtains from described periscopic aiming mechanical device, be used to obtain described touch display screen control signal, be used to control described periscopic aiming driver element, described embedded system is configured in the inside of battlebus near described periscopic aiming driver element; Described touch display screen be used to show full-view video image and object of attack target around the battlebus local video image, be used to offer the gunner and find the suspected attack subject object and confirm the object of attack target, be used to the gunner to provide the described periscopic aiming of control mechanical device to aim at the object of attack target; Described periscopic aiming driver element is used to receive the serial port control signal from described embedded system, is used to drive described periscopic aiming mechanical device and makes that periscope can clear acquisition object of attack target image;

Described omnibearing vision sensor comprises image unit 3, catadioptric minute surface 4, secondary catadioptric minute surface 5, wide-angle lens 6 and an outer cover 2, and the incident light V1 of a light source point P on the space is at catadioptric minute surface 4 (t1, a F ₁) reflect on the point, reverberation V2 reflexes to secondary catadioptric minute surface 5 (t2, F ₂) reflect again on the point, reverberation V3 goes up imaging with the camera lens that angle θ 1 enters camera head at image unit 3 (CCD or CMOS);

According to the omnibearing imaging principle, the angle of incident ray V1 and catadioptric main shaft Z is Ф, and the angle of primary event light V2 and catadioptric main shaft Z is θ ₂, cross P ₁Point (t ₁, F ₁) tangent line and the angle of t axle be σ, the angle of normal and Z axle is ε; The angle of secondary reflection light V3 and catadioptric main shaft Z is θ ₁, cross P ₂Point (t ₂, F ₂) tangent line and the angle of t axle be σ, the angle of normal and Z axle is ε ₁, can obtain formula (1) based on above-mentioned relation:

Wherein $\tan \mathrm{\&phi;}=\frac{t_1}{F_1(t_1-s)},$ $\tan {\mathrm{\&theta;}}_2=\frac{t_1-t_2}{F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">F</figure-callout>}}_1},$ ${\tan \mathrm{\&theta;}}_1=\frac{t_2}{{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HDA0000022821670000041.png"\; state="\{\{state\}\}">F</figure-callout>}}_2}$

In the formula, F ₁Be a catadioptric minute surface curve, F ₂It is secondary catadioptric minute surface curve;

Utilize triangle relation and simplify arrangement, obtain formula (2), (3):

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;2}-2\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}-1=0---\left(2\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HDA0000022821670000041.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;2}-2\mathrm{\&beta;}{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HDA0000022821670000041.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}-1=0---\left(3\right)$

In the following formula,

$\mathrm{\&sigma;}=\frac{(F_1-s)(F_2-F_1)-t_1(t_1-t_2)}{t_1(F_2-F_1)-(t_1-t_2)(F_1-s)}$

$\mathrm{\&beta;}=\frac{t_2(t_1-t_2)+F_2(F_2-F_1)}{t_2(F_2-F_1)-F_2(t_1-t_2)}$

Solution formula (2), (3) can obtain formula (4), (5);

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}=\mathrm{\&alpha;}\&PlusMinus;\sqrt{{\mathrm{\&alpha;}}^2+1}---\left(4\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="HDA0000022821670000041.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}=\mathrm{\&beta;}\&PlusMinus;\sqrt{{\mathrm{\&beta;}}^2+1}---\left(5\right)$

In the formula: F ' ₁Be F ₁The differential of curve, F ' ₂Be F ₂The differential of curve;

Point on the described imaging plane and the relation between the point on the horizontal plane have certain linear relationship, with the distance of viewpoint S be C and with the perpendicular horizontal plane L of Z axle on arbitrfary point P, the pixel p that a correspondence is arranged on imaging plane, as shown in Figure 10, with the coordinate polar coordinate representation on the horizontal plane, at this moment (r z) can represent with following formula the arbitrfary point P on the horizontal plane L

r＝C*tanφ，z＝s+C (6)

In order to have average resolution rate omnibearing vision sensor on the design level face, i.e. the indeformable omnibearing vision sensor of horizontal direction, the coordinate r of arbitrfary point P on horizontal plane L and the perpendicular direction of Z axle and pixel p and Z axle apart from t ₂/ F ₂(t ₂) between to guarantee to have linear relationship.Make following formula to set up,

r＝a*f*t ₂/F ₂(t ₂)+b (7)

There is following relation to set up according to image-forming principle, incidence angle formula (8) expression,

$\tan \mathrm{\&phi;}=\frac{t_1}{F_1-s}---\left(8\right)$

With formula (6), (8) substitution formula (7) and arrangement, obtain indeformable in the horizontal direction condition, with formula (9) expression,

${\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HDA0000022821670000041.png"\; state="\{\{state\}\}">t</figure-callout>}}_2=\frac{F_2\left(t_2\right)}{a*f}(\frac{t_1}{F_1\left(t_1\right)-s}-b)---\left(9\right)$

The minute surface curve design of satisfying formula (9) meets the requirement of horizontal direction average resolution rate;

Further, by formula (2), (3), (9) being utilized 4 rank Runge-Kutta algorithms ask F ₁And F ₂Digital solution, the catadioptric minute surface and the secondary catadioptric minute surface curve that calculate like this can be realized horizontal direction average resolution rate; Fig. 9 utilizes 4 rank Runge-Kutta algorithms to ask F ₁And F ₂The catadioptric minute surface curve map of digital solution;

Design transparent housing 2 is in order to make transparent housing 2 can not produce the reflection interference light of inwall, as shown in Figure 7.Specific practice is transparent housing to be designed to bowl-shape, promptly is designed to semi-round ball, can avoid like this at transparent housing 2 the reflection interference light taking place, and the structure of omnibearing vision sensor as shown in Figure 7;

Fig. 8 is the location diagram of image unit camera lens and wide-angle lens, in Fig. 8 wide-angle lens is configured on the place ahead and secondary catadioptric minute surface of a catadioptric mirror, the central shaft arrangement of image unit camera lens, wide-angle lens, catadioptric mirror and secondary catadioptric mirror is on same axial line; The camera lens of image unit is placed on the viewpoint position at the first catadioptric minute surface rear portion, by the circular hole imaging between wide-angle lens and image unit camera lens on catadioptric mirror, be called first imaging point, this imaging point passes through the image unit camera lens in the imaging of viewpoint place.Here with the focal length of image unit camera lens as the focal length of f1, wide-angle lens as the distance of the focus of f2, image unit camera lens and image unit camera lens as S1, focal length from the image unit camera lens to first imaging point as S2, distance from wide-angle lens to first imaging point as S3, the distance of point can obtain following relational expression as S4 according to the imaging formula of camera lens from the wide-angle lens to the material object:

$\frac{1}{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">f</figure-callout>}1}=\frac{1}{\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">S</figure-callout>}1}+\frac{1}{S2}---\left(10\right)$

$\frac{1}{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA0000022821670000041.png"\; state="\{\{state\}\}">f</figure-callout>}2}=\frac{1}{\mathrm{<figure-callout\; id="3"\; label="S"\; filenames="HDA0000022821670000041.png"\; state="\{\{state\}\}">S</figure-callout>}3}+\frac{1}{S4}---\left(11\right)$

d＝S2+S3 (12)

Formula (12) is set up, and is the place configuration wide-angle lens of d with the image unit distance of camera lens behind the first catadioptric minute surface among Fig. 3 just, just can obtain the shown wide-angle image in image middle part among Fig. 2; But be that wide-angle lens is configured on the second catadioptric minute surface among the present invention, therefore with between image unit camera lens and the wide-angle lens apart from d as a constraints, have only focal length f2 to satisfy the requirement of formula (12) by designing wide-angle lens;

For among Fig. 8 image unit camera lens and wide-angle lens being considered that as a compound lens its focal distance f can be represented by following formula:

$\frac{1}{f}=\frac{(\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">f</figure-callout>}1+f2-d)}{\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="HDA0000022821670000052.png"\; state="\{\{state\}\}">f</figure-callout>}1*f2}---\left(13\right)$

In addition, as D, its multiplication factor can be represented by following formula with the diameter of process shot:

$n=\frac{D}{f}---\left(14\right)$

For the visual field of process shot and the dead angle part of omnibearing vision sensor are matched, when the design process shot, need satisfy following formula:

$n=\frac{D}{f}=2{\mathrm{\&theta;}}_{1\max }---\left(15\right)$

In the formula, θ _1maxIt is the maximum angle of secondary reflection light V3 and catadioptric main shaft Z; The image effect figure that takes out through the omnibearing vision sensor of above-mentioned design can cover the dead angle part of original omnibearing vision sensor as shown in Figure 5 effectively, and promptly the gunner can be at the image that can observe on the screen above the battlebus;

The image unit of described omnibearing vision sensor is connected with described embedded system by USB interface, the image unit of described periscopic aiming mechanical device is connected with described embedded system by USB interface, described periscopic aiming driver element is connected with described embedded system by the RS232/RS485 converter, and described periscopic aiming driver element directly drives described periscopic aiming mechanical device;

Be provided with built-in decoder in the described periscopic aiming driver element, described embedded system sends serial port command by serial ports to com port, after described periscopic aiming driver element receives serial port command, control command is resolved, and the command conversion of resolving become can correspondingly drive the control voltage that described periscopic aiming mechanical device rotates, will control voltage at last and pass to described periscopic aiming mechanical device and aim at horizontal direction rotary electric machine in the mechanical device to control described periscopic, the rotation of vertical direction rotary electric machine, the focusing of periscope camera lens and operation such as stop;

Described built-in decoder, its decoder control protocol is controlled described periscopic aiming mechanical device, specifically adopts the control protocol of PELCO-D control protocol as described periscopic aiming mechanical device;

Described periscopic aiming mechanical device comprises rotating shaft 40, first motor 41, first gear 42, second motor 44, second gear 45, the 3rd gear 46, periscope 47 and fixed mount 48, first motor 41 of doing vertical rotation drives 42 rotations of first gear, external gear engagement in first gear 42 and the rotating shaft 40, rotating shaft 40 drives by first motor 41 and rotates in vertical plane like this, and vertical rotation control parameter is determined by incidence angle Ф; Therefore the mechanical device that work horizontally rotates is placed on the fixed mount 48, and fixed mount 48 is fixedlyed connected with the outer wall of rotating shaft 40, and first motor 41 drives and also can drive fixed mount 48 and rotate in vertical plane; Second motor 44, second gear 45, the 3rd gear 46 and periscope 47 have been fixed on the fixed mount 48 again, second motor 44 drives second gear 45 and rotates in fixed mount 48 planes, second gear 45 and 46 engagements of the 3rd gear, periscope 47 has been fixed on the top of the 3rd gear 46, therefore second motor 44 drives and also can drive periscope 47 and rotate in fixed mount 48 planes, horizontally rotates the control parameter and is determined by azimuthal angle beta; Dispose the focusing control device in the periscope 47, the focus controlling parameter is determined by focal length ζ;

In order to obtain to be used to control three control parameters of described periscopic aiming mechanical device, incidence angle Ф, azimuthal angle beta and focal length ζ, need between full-view video image and local video image, set up specific mapping relations, among the present invention, full-view video image as shown in Figure 1 is divided into several zonules, each zonule all corresponding a certain three control parameters of periscopic sighting device to azimuth, incidence angle and focal length; Promptly some whens zone in the full-view video image have been clicked as the gunner, device just reads three control parameters of this area relative azimuth, incidence angle and focal length automatically, wherein azimuth information is used to control the rotational angle that horizontally rotates motor of periscopic sighting device, incidence angle information is used to control the rotational angle of the vertical electric rotating machine of periscopic sighting device, and focal length is used to control the focal length of periscope;

By man-machine interface shown in Figure 11 explanation quick automatic artillery aiming device three control parameters of the azimuth, incidence angle and the focal length that how to obtain the aiming of object of attack target; At first the gunner has found a suspicious goal 12 on the panorama Figure 11 of the left side of display, the gunner is by clicking suspicious goal 12, described embedded system has been obtained the coordinate figure of the pixel of click place on this panoramic picture automatically when clicking, according to setting up specific mapping relations between full-view video image and the local video image, obtain the physical coordinates on the pairing space of this pixel, promptly at this moment the pairing azimuth of this pixel, incidence angle and focal length value have finished the thick aiming of suspected attack subject object; Then rotate periscope 47 and take the local video image 13 that suspicious goal obtains the right by the parameter control that these obtained, whether by the further affirmation of local video image 13 gunners is to attack goal, the gunner is according to the position relation between sight line and the attack goal, by adjusting first button 15, second button 16, the 3rd button 17, the 4th button 18, the 5th button 19 and the 6th button 20, make just in time aimed fire target of sight line, at this moment finished the essence aiming of object of attack target; Wherein first button 15 is that the control horizontal direction is rotated second motor 44 and turned left, second button 16 is that the control horizontal direction is rotated second motor 44 and turned right, the 3rd button 17 is that the control vertical direction is rotated the first upwards rotation of motor 41, the 4th button 18 is that the control vertical direction is rotated first motor 41 and rotated, the 5th button 19 is that the focal length of control periscope increases, the 6th button 20 is that the focal length of control periscope reduces, when after the gunner aims at goal, pressing start button 10, the fire control computer of cannon calculates the firing data, be transferred to cannon and gun turret transmission device, make cannon turn the advance angle position automatically and accurately, and sight line still keeps following the tracks of and run-home, realizes automatic track aiming;

The image unit of described omnibearing vision sensor, except adopting CMOS or CCD imager chip, in order to make the round-the-clock fight capability of battlebus under night, rain, snow, thick fog and dark plume spare, adopt the imager chip of thermal imaging system to replace CMOS or CCD imager chip;

The gun tube of described periscopic aiming mechanical device and battlebus links, and after promptly in a single day described periscopic aiming mechanical device had been aimed at goal, the gun tube of battlebus was also along with having aimed at goal;

Described omnibearing vision sensor is installed in the gun turret top of battlebus, as shown in Figure 6; Described periscopic aiming mechanical device is installed near the gun turret of battlebus.

Claims (9)

1. a quick automatic artillery aiming device is characterized in that: comprise omnibearing vision sensor, embedded system, periscopic aiming driver element and periscopic aiming mechanical device; Be used to obtain the outside cannon gun turret top that full-view video image omnibearing vision sensor around the battlebus is fixed on battlebus; Described embedded system is connected with described omnibearing vision sensor, and described embedded system is connected with the video image interface of described periscopic aiming mechanical device, and described embedded system connects described periscopic aiming driver element; Described periscopic aiming driver element is used to receive the serial port control signal from described embedded system, and drives described periscopic aiming mechanical device and make that periscope can clear acquisition object of attack target image;

Described omnibearing vision sensor is used to take battlebus full-view video image on every side, comprise image unit, catadioptric minute surface, secondary catadioptric minute surface, wide-angle lens and an outer cover, the incident light V1 of a light source point P on the space is at described catadioptric minute surface (t1, a F ₁) reflect on the point, reverberation V2 reflexes to described secondary catadioptric minute surface (t2, F ₂) reflect again on the point, reverberation V3 enters the camera lens of image unit, imaging on described image unit with angle θ 1;

Described periscopic aiming driver element comprises built-in decoder, its decoder control protocol is controlled described periscopic aiming mechanical device, after described periscopic aiming driver element receives serial port control signal, serial port control signal is resolved, and the command conversion of resolving become can correspondingly drive the control voltage that described periscopic aiming mechanical device rotates, will control voltage at last and pass to described periscopic aiming mechanical device and aim at horizontal direction rotary electric machine in the mechanical device to control described periscopic, the rotation of vertical direction rotary electric machine, the focusing of periscope camera lens and shut-down operation.

2. quick automatic artillery aiming device as claimed in claim 1, it is characterized in that: described periscopic aiming mechanical device comprises rotating shaft, first motor, first gear, second motor, second gear, the 3rd gear, periscope and fixed mount, do first motor-driven, first gear rotation of vertical rotation, external gear engagement in first gear and the rotating shaft, rotating shaft rotates in vertical plane by first motor-driven, and vertical rotation control parameter is determined by incidence angle Ф; The mechanical device that work horizontally rotates is placed on the fixed mount, and fixed mount is fixedlyed connected with the outer wall of rotating shaft, and the first driven by motor fixed mount rotates in vertical plane; Fix second motor, second gear, the 3rd gear and periscope on the fixed mount simultaneously, the 3rd motor drives second moving gear and rotates in the fixed mount plane, second gear and the 3rd gears engaged, the top of the 3rd gear is periscope fixedly, the second driven by motor periscope rotates in the fixed mount plane, and horizontally rotating the control parameter is to be determined by azimuthal angle beta; Dispose the focusing control device in latent the prestige, the focus controlling parameter is determined by focal length ζ;

The full-view video image that described omnibearing vision sensor is obtained is divided into several zonules, each zonule all corresponding a certain three control parameters of periscopic sighting device to azimuth, incidence angle and focal length, wherein, azimuth information is used to control the rotational angle that horizontally rotates motor of periscopic sighting device, incidence angle information is used to control the rotational angle of the vertical electric rotating machine of periscopic sighting device, and focal length is used to control the focal length of periscope; When the gunner clicks some whens zone in the full-view video image, read three control parameters of this area relative azimuth, incidence angle and focal length automatically.

3. quick automatic artillery aiming device as claimed in claim 1 or 2, it is characterized in that: described sighting device also comprises touch display screen, described embedded system is controlled described touch display screen by the GPIO interface, described touch display screen be used to show full-view video image and object of attack target around the battlebus local video image, be used to offer the man-machine interface that the gunner finds the suspected attack subject object and confirms the object of attack target, be used to the gunner to provide control device to come to aim at the object of attack target for described periscopic aiming mechanical device.

4. quick automatic artillery aiming device as claimed in claim 3, it is characterized in that: in the described embedded system, on the panorama sketch of gunner, found a suspicious goal at touch display screen, the gunner is by clicking suspicious goal, described embedded system is obtained the coordinate figure of the pixel of click place on this panoramic picture automatically when clicking, according to setting up specific mapping relations between full-view video image and the local video image, obtain the physical coordinates on the pairing space of this pixel, the i.e. pairing azimuth of this pixel, incidence angle and focal length value are finished the thick aiming of suspected attack subject object; The parameter control of then passing through to be obtained is rotated periscope and is taken the local video image that suspicious goal obtains the right, whether by the further affirmation of local video image gunner is to attack goal, the gunner is according to the position relation between sight line and the attack goal, make just in time aimed fire target of sight line by adjusting button, finish the essence aiming of object of attack target; When pressing start button after the gunner aims at goal, the fire control computer of cannon calculates the firing data, is transferred to cannon and gun turret transmission device.

5. quick automatic artillery aiming device as claimed in claim 3, it is characterized in that: described adjustment button comprises: rotate first button that second motor turns left in order to the control horizontal direction, rotate second button that second motor turns right in order to the control horizontal direction, rotate the 3rd button that first motor upwards rotates in order to the control vertical direction, in order to control the 4th button that the vertical direction rotary electric machine rotates, the 5th button that increases in order to the focal length of control periscope, the 5th button that reduces in order to the focal length of control periscope.

6. quick automatic artillery aiming device as claimed in claim 1 or 2 is characterized in that: in the described built-in decoder, adopt the control protocol of PELCO-D control protocol as described periscopic aiming mechanical device.

7. quick automatic artillery aiming device as claimed in claim 1 or 2 is characterized in that: the gun tube interlock of described periscopic aiming mechanical device and battlebus.

8. quick automatic artillery aiming device as claimed in claim 1 or 2 is characterized in that: the image unit of described omnibearing vision sensor is adopted as CMOS or CCD imager chip.

9. quick automatic artillery aiming device as claimed in claim 1 or 2 is characterized in that: the image unit of described omnibearing vision sensor adopts the imager chip of thermal imaging system.

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