阅读说明：本技术 一种基于电压检测的电磁炮自动打靶控制系统 (Automatic target shooting control system of electromagnetic gun based on voltage detection ) 是由 张娟 何少鹏 宗欣瑜 肖建 童祎 何南 于 2019-10-25 设计创作，主要内容包括：本发明公开了一种基于电压检测的电磁炮自动打靶控制系统,包括通过OpenCV图像识别定位具有颜色特征的靶标,采用激光雷达传感器测量电磁炮炮筒与目标靶的距离,具有较高的精确度。提出一种基于电压检测的方法,预先拟合储能电容两端电压与电磁炮发射距离的关系曲线,每一个放电电压对应一个固定的发射距离,放电时根据距离远近,确定储能电容两端的放电电压,并产生电磁力将弹丸射出,击中目标靶。实现了电磁炮的高度自动性,为未来电磁炮的深远发展提供了一种可能。(The invention discloses an automatic target shooting control system of an electromagnetic gun based on voltage detection, which comprises a target with color characteristics and is identified and positioned through OpenCV images, and a laser radar sensor is adopted to measure the distance between a gun barrel of the electromagnetic gun and the target, so that the accuracy is higher. A voltage detection-based method is provided, a relation curve of voltages at two ends of an energy storage capacitor and the launching distance of an electromagnetic gun is fitted in advance, each discharging voltage corresponds to a fixed launching distance, the discharging voltages at the two ends of the energy storage capacitor are determined according to the distance during discharging, electromagnetic force is generated to eject a projectile to hit a target. The high automation of the electromagnetic gun is realized, and a possibility is provided for the deep development of the electromagnetic gun in the future.)

1. The utility model provides an automatic control system that hits target of electromagnetism big gun based on voltage detection which characterized in that: the control system comprises a mechanical part and a control part;

the mechanical part comprises an electromagnetic gun barrel, a laser ranging module and a target identification module which are arranged on the steering engine holder; the laser ranging module, the target identification module and the steering engine holder are fixed on the same vertical line in the center;

the control part comprises a single chip microcomputer connected with the serial port screen; the single chip microcomputer is connected with the capacitor circuit through a relay and used for controlling the charge and discharge of the capacitor circuit;

the single chip microcomputer is respectively and electrically connected with the laser ranging module, the target identification module and the steering engine cradle head; the single chip microcomputer receives the identification information of the target identification module on the target and then controls the steering engine holder to rotate, after the position of the electromagnetic gun barrel is calibrated, the single chip microcomputer controls the laser ranging module to acquire the positions of the electromagnetic gun barrel and the target, and the discharge voltage of the capacitive circuit is obtained according to a relation curve of the discharge voltage and the distance pre-fitted by the single chip microcomputer; the capacitance circuit is connected with the electromagnetic gun barrel and controls the electromagnetic gun barrel to emit;

the capacitor circuit comprises a power supply, and the power supply and the charging relay switch are connected in series on the left side of the boosting module; the right side of the boosting module is sequentially connected with a rectifier diode and an energy storage capacitor in series; two ends of the energy storage capacitor are connected with a coil and a silicon controlled switch in parallel; the silicon controlled switch is connected with a power supply through a discharge relay.

2. The automatic target shooting control system of the electromagnetic gun based on the voltage detection as claimed in claim 1, characterized in that: the method for fitting the discharge voltage-distance relation curve is as follows:

(1) two resistors which are connected in series and have proper proportion are connected in parallel at two ends of the energy storage capacitor, the single chip microcomputer collects the voltage value of one of the smaller resistors, and the voltage at two ends of the energy storage capacitor is calculated through the proportional relation of the two resistors connected in series;

(2) slowly increasing the voltage at two ends of the energy storage capacitor, launching three times of electromagnetic cannons at each voltage, collecting the shooting range of the electromagnetic cannons, and obtaining an average value;

(3) and fitting a required curve according to the relation between the voltage at two ends of the discrete energy storage capacitor and the shooting distance of the electromagnetic gun.

3. The automatic target shooting control system of the electromagnetic gun based on the voltage detection as claimed in claim 1, characterized in that: the laser ranging module is preferably a laser radar sensor.

4. The automatic target shooting control system of the electromagnetic gun based on the voltage detection as claimed in claim 1, characterized in that: the target recognition module is preferably an OpenCV camera which is driven by a raspberry group, and communication between the raspberry group and the single chip microcomputer is achieved through the Bluetooth module.

Technical Field

The invention relates to the technical field of electromagnetic gun emission, in particular to an automatic target shooting control system of an electromagnetic gun based on voltage detection.

Background

With the continuous development and improvement of the theory of physics, the military energy is continuously changed, the war weapons are continuously updated, and the gun and cannon are one of the main weapons for war. Due to the increasing of the combat space, the gunpowder has limited capability of improving the launching speed and accuracy of the cannonball at the muzzle, and a new way is needed. Therefore, people focus on developing and researching some new concept ultra-high-speed kinetic energy armor piercing weapons, and the electromagnetic cannon is one of the new concept ultra-high-speed kinetic energy armor piercing weapons. The electromagnetic gun is an advanced kinetic energy killing weapon made by utilizing an electromagnetic emission technology, and accelerates a metal shot by utilizing Lorentz force generated by an electromagnetic field so as to obtain kinetic energy required by hitting a target. The technology of using electromagnetic force to replace gunpowder to launch objects is a novel high technology appearing in the 21 st century, and can not only utilize ultrahigh kinetic energy to kill and destroy targets, but also add ammunition to strike the targets. The method has wide application prospect in the field of military and national defense, and is a research hotspot in recent years.

Compared with other artillery, the electromagnetic artillery has the following characteristics that (1) the initial speed of the shot is high, and the kinetic energy of a muzzle is large; (2) the shooting is noiseless and has no muzzle flame; (3) the injection speed is high, and the reaction capacity is strong; (4) simple logistics supply, safety, reliability and the like. However, the existing electromagnetic cannon has the following defects: firstly, the electric energy provided for the electromagnetic gun is not easy to store and easy to lose. And secondly, the energy storage voltage of the electromagnetic cannon is fixed and cannot be adjusted, so that the shooting speed and the shooting range of the cannon are fixed and cannot be adjusted according to actual conditions, and good adjustability and strain are not provided. Third, it is not possible to automatically target shoot or target a given object. Fourthly, the whole device is complex to manufacture, heavy and poor in adjustability. In order to overcome the defects of the existing electromagnetic gun and optimize the existing system, a miniaturized electromagnetic gun model needs to be researched.

Disclosure of Invention

The purpose of the invention is as follows: the invention provides an automatic target shooting system of an electromagnetic gun, which can be used for identifying and positioning targets with color characteristics through OpenCV images and meeting the requirement of target diversity. The laser radar sensor is adopted to measure the distance between the electromagnetic gun barrel and the target, and the accuracy is high. The super capacitor stores energy, the charging and discharging state is determined by detecting the voltage at two ends of the capacitor, and the shot is shot out by electromagnetic force generated during discharging to hit a target. The high automation of the electromagnetic gun is realized, and a possibility is provided for the deep development of the electromagnetic gun in the future.

The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:

an electromagnetic gun automatic target shooting control system based on voltage detection comprises a mechanical part and a control part;

the mechanical part comprises an electromagnetic gun barrel, a laser ranging module and a target identification module which are arranged on the steering engine holder; the laser ranging module, the target identification module and the steering engine holder are fixed on the same vertical line in the center;

the control part comprises a single chip microcomputer connected with the serial port screen; the single chip microcomputer is connected with the capacitor circuit through a relay and used for controlling the charge and discharge of the capacitor circuit;

the single chip microcomputer is respectively and electrically connected with the laser ranging module, the target identification module and the steering engine cradle head; the single chip microcomputer receives the identification information of the target identification module on the target and then controls the steering engine holder to rotate, after the position of the electromagnetic gun barrel is calibrated, the single chip microcomputer controls the laser ranging module to acquire the positions of the electromagnetic gun barrel and the target, and the discharge voltage of the capacitive circuit is obtained according to a relation curve of the discharge voltage and the distance pre-fitted by the single chip microcomputer; the capacitance circuit is connected with the electromagnetic gun barrel and controls the electromagnetic gun barrel to emit;

the capacitor circuit comprises a power supply, and the power supply and the charging relay switch are connected in series on the left side of the boosting module; the right side of the boosting module is sequentially connected with a rectifier diode and an energy storage capacitor in series; two ends of the energy storage capacitor are connected with a coil and a silicon controlled switch in parallel; the silicon controlled switch is connected with a power supply through a discharge relay.

Further, the method for fitting the discharge voltage-distance relationship curve is as follows:

(1) two resistors which are connected in series and have proper proportion are connected in parallel at two ends of the energy storage capacitor, the single chip microcomputer collects the voltage value of one of the smaller resistors, and the voltage at two ends of the energy storage capacitor is calculated through the proportional relation of the two resistors connected in series;

(2) slowly increasing the voltage at two ends of the energy storage capacitor, launching three times of electromagnetic cannons at each voltage, collecting the shooting range of the electromagnetic cannons, and obtaining an average value;

(3) and fitting a required curve according to the relation between the voltage at two ends of the discrete energy storage capacitor and the shooting distance of the electromagnetic gun.

Further, the laser ranging module is preferably a laser radar sensor.

Further, the object recognition module preferably selects an OpenCV camera, the OpenCV camera is driven by a raspberry pi, and communication between the raspberry pi and the single chip microcomputer is achieved through a bluetooth module.

Has the advantages that: the system has the following advantages:

(1) the OpenCV identifies the targets with color characteristics in the visual field range, ensures that the electromagnetic cannon has shooting targets in different scenes and environments, meets the requirement of target diversity, realizes automatic shooting of the electromagnetic cannon, has high instantaneity, and solves the problem of poor autonomy of the existing electromagnetic cannon.

(2) Adopt relay and silicon controlled rectifier switch to control the charge-discharge state of energy storage capacitor, the effectual security that improves the device prevents to continue to charge and damages booster and electric capacity.

(3) The method of fitting a discharge voltage and emission distance curve in advance is adopted, the range is controlled by controlling the charging voltage, and the method has higher accuracy and intuition compared with the method of controlling the charging time; when the distance is determined, the charging voltage is uniquely determined, so that the reliability of the electromagnetic gun emission is improved; the voltage is easy to adjust, so that the electromagnetic gun device has height adjustability, and the defects that the existing electromagnetic gun is poor in maneuverability and not easy to adjust and the like are overcome.

Drawings

FIG. 1 is a schematic diagram of the system architecture of the present invention;

FIG. 2 is a schematic flow chart of the main program of the present invention;

FIG. 3 is a schematic diagram of an electromagnetic gun drive circuit;

fig. 4 is a schematic diagram of the operation of the laser ranging module.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The automatic target shooting control system of the electromagnetic gun based on the voltage detection as shown in the figures 1-3 comprises a mechanical part and a control part.

The mechanical part comprises an electromagnetic gun barrel, a laser ranging module and a target identification module, wherein the electromagnetic gun barrel, the laser ranging module and the target identification module are arranged on a steering engine holder. The laser ranging module, the target identification module and the steering engine holder are fixed on the same vertical line in center. The control part comprises a singlechip connected with the serial port screen; the single chip microcomputer is connected with the capacitor circuit through the relay and used for controlling charging and discharging of the capacitor circuit.

The singlechip is respectively and electrically connected with the laser ranging module, the target identification module and the steering engine holder. The single chip microcomputer receives the identification information of the target identification module on the target and then controls the steering engine holder to rotate, after the position of the electromagnetic gun barrel is calibrated, the single chip microcomputer controls the laser ranging module to acquire the positions of the electromagnetic gun barrel and the target, and the discharge voltage of the capacitor circuit is obtained according to a relation curve of the discharge voltage and the distance pre-fitted by the single chip microcomputer. The capacitance circuit is connected with the electromagnetic gun barrel and controls the electromagnetic gun barrel to emit;

the capacitor circuit comprises a power supply, and the power supply and the charging relay switch are connected in series on the left side of the boosting module; and the right side of the boosting module is sequentially connected with a rectifier diode and an energy storage capacitor in series. And two ends of the energy storage capacitor are connected with a coil and a silicon controlled switch in parallel. The thyristor switch is connected to the power supply through a discharge relay as shown in figure 3.

The single-chip microcomputer is a TM4C123GH6PM single-chip microcomputer, the laser ranging module is a laser radar sensor, the target identification module is preferably an OpenCV camera, the OpenCV camera is driven by a raspberry group, and communication between the raspberry group and the single-chip microcomputer is achieved through the Bluetooth module.

The realization function of each part is as follows:

(1) the boosting module can provide 100-400V continuous variable direct-current voltage for the electromagnetic gun device, and continuous adjustment of the range of the electromagnetic gun is guaranteed. When the LED lamp is continuously used, heat dissipation needs to be paid attention, and the output end cannot be short-circuited. The booster rated input and output voltages must match the rated voltages of the dc power supply and the capacitor or otherwise be easily damaged.

(2) The capacitor circuit consists of an energy storage capacitor, a controlled silicon, a rectifier diode and a relay. The power source obtains high voltage after passing through the boosting module, the high voltage charges the energy storage capacitor through the rectifier diode, and the rectifier diode has obvious one-way conductivity and can convert alternating current electric energy into direct current electric energy. The silicon rectifier diode is adopted, so that the breakdown voltage is high, the reverse leakage current is small, the high-temperature performance is good, and the high-efficiency and stable operation of an electromagnetic gun system is facilitated. The energy storage capacitor adopts a super capacitor with larger capacity, and a plurality of capacitors with increased capacity can be connected in parallel. Adopt relay and silicon controlled rectifier switch to control the charge-discharge state of energy storage capacitor, the effectual security that improves the device prevents to continue to charge and damages booster and electric capacity.

(3) The laser radar sensor is used for accurately measuring the distance between the electromagnetic gun and the target. The unique optical, electrical and algorithm design can realize the functions of stable, accurate, high-sensitivity and high-speed distance measurement. And the electromagnetic cannon can be ensured to work normally under different environments such as outdoor strong light, different temperatures, different reflectivity and the like, and reliability is provided for the high-precision shooting target of the cannonball.

(4) The OpenCV identifies the targets with color characteristics in the visual field range, ensures that the electromagnetic cannons have shooting targets in different scenes and environments, and meets the requirement of target diversity. The camera collects the pixel value of the target in the image in real time, and compares the pixel value with the pixel value of the image center, so that the rotation of the steering engine is continuously adjusted, the target is positioned in the center of the image, namely the gun barrel points to the target. The OpenCV automatically detects the position of the target, realizes the automatic shooting of the electromagnetic cannon and has high real-time performance. The technology solves the problem that the existing electromagnetic cannon is poor in autonomy.

(5) The serial port screen displays the voltage value at two ends of the current energy storage capacitor in real time and plays a key starting function for the whole electromagnetic gun device. The intuition is strong.

The method for fitting the relation curve of the discharge voltage and the distance comprises the following steps:

1) two resistors which are connected in series and have proper proportion are connected in parallel at two ends of the energy storage capacitor, the single chip microcomputer collects the voltage value of one of the smaller resistors, and the voltage at two ends of the energy storage capacitor is calculated through the proportional relation of the two resistors connected in series;

2) slowly increasing the voltage at two ends of the energy storage capacitor, launching three times of electromagnetic cannons at each voltage, collecting the shooting range of the electromagnetic cannons, and obtaining an average value;

3) and fitting a required curve according to the relation between the voltage at two ends of the discrete energy storage capacitor and the shooting distance of the electromagnetic gun.

One specific example is given below:

firstly, a target with color (such as red) is placed, and automatic target shooting can be realized by the electromagnetic gun through the serial port screen one-key starting device. The following is detailed in conjunction with fig. 2:

OpenCV is driven by a raspberry pi, and after reading each frame of image, OpenCV converts the RGB color system into HSV color system, wherein HSV represents hue, saturation and brightness respectively. The HSV color parameters are set according to the required colors, due to the influence of light, the problem that each frame of image is too bright or too dark possibly exists, and the pixel points in each interval can be distributed more uniformly by histogram equalization, so that the image is stronger in layering sense. Since we read a color map, histogram equalization needs to operate under the HSV regime. And carrying out binarization operation on the obtained image, removing some noise points through opening operation, connecting some connected domains through closing operation, outputting the image after filtering operation, and obtaining the coordinate value of the target.

The red target is placed in the visual field randomly, the position of the red target is identified in real time by OpenCV, and the pixel difference between the position and the image center (X axis) is calculated. Realize the raspberry group through bluetooth module and the communication of singlechip, guaranteed that the singlechip obtains the pixel difference in real time, this pixel difference multiplies certain scale factor P as steering wheel platform PWM regulating value, and the steering wheel platform of continuous adjustment rotates about afterwards, until the pixel difference tends to zero, shows that the shell can be just facing target outgoing.

As shown in fig. 4, after the steering engine stops rotating, the laser radar acquires the distance from the electromagnetic gun to the red target, and the average value is acquired for multiple times. And transmits the distance to the singlechip through a serial port. And obtaining the discharge voltage of the capacitor circuit according to a relation curve between the discharge voltage and the distance pre-fitted by the singlechip.

As shown in fig. 3, a 12V power supply voltage passes through a boost module to obtain a continuously variable dc high voltage of 100V to 400V, and the high voltage charges an energy storage capacitor after passing through a rectifier diode, which has an obvious unidirectional conductivity and can convert ac power into dc power. The silicon rectifier diode is adopted, so that the breakdown voltage is high, the reverse leakage current is small, the high-temperature performance is good, and the high-efficiency and stable operation of an electromagnetic gun system is facilitated. The energy storage capacitor adopts a super capacitor with larger capacity, and a plurality of capacitors with increased capacity can be connected in parallel. When the boosting module is continuously used, heat dissipation needs to be paid attention to, and the output end cannot be short-circuited. It must be noted here that the input and output voltages to which the booster is rated must match the voltage ratings of the dc power supply and the capacitor, otherwise they are easily damaged. The detailed steps of capacitor charging and discharging are as follows:

(1) when the switch 1 is closed, the energy storage capacitor is charged through the boosting module, the single chip microcomputer detects the voltage value of the resistor 1 in real time, once the voltage value reaches a preset value, the charging is stopped, and the switch 1 is switched off.

(2) When the switch 1 is off, the circuit is in a standby state, and the capacitor cannot discharge to the coil due to the obstruction of the thyristor switch. The silicon controlled switch plays a good role in protecting the circuit, realizes the function of manually controlling the discharge state and improves the performance of the electromagnetic gun.

(3) Then the switch 2 is closed, the silicon controlled switch is excited and conducted, the capacitor starts to discharge to the coil, and the shot is shot.

(4) The switches 1 and 2 are realized by relays in a program automatic operation state, wherein the switch 1 is a charging relay, and the switch 2 is a discharging relay. In addition, the device is additionally connected with a manual button, so that the capacitor can be charged and discharged manually, manual discharging of the capacitor can be guaranteed under emergency, and safety of the system is enhanced.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.