阅读说明：本技术 一种基于红外图像识别的自动枪塔 (A kind of automatic gun tower based on infrared image identification ) 是由 邱亚峰 顾捷 于 2019-08-13 设计创作，主要内容包括：本发明提供了一种基于红外图像识别的自动枪塔,包括机枪组件、红外观瞄箱、高低机、方向机,机枪组件与红外观瞄箱安装在高低机上,高低机安装在方向机上,方向机固定；红外观瞄箱上设置激光测距机、红外探测器、窄视场镜头、宽视场镜头、校准机构,激光测距机测量枪塔与被测目标之间的距离,红外探测器用于捕捉红外图像,窄视场镜头的视场角为3°×2.2°且±5％偏差,宽视场镜头的视场角为11°×8°且±10％偏差,校准机构用于微调红外观瞄箱。(The present invention provides a kind of automatic gun towers based on infrared image identification, including machine gun component, infrared sight to take aim at case, elevating mechanism, steering wheel, and machine gun component and infrared sight are taken aim at case and be mounted on elevating mechanism, and elevating mechanism is mounted on steering wheel, and steering wheel is fixed；Setting laser range finder, infrared detector, narrow visual field camera lens, wide visual field camera lens, correcting mechanism on case is taken aim in infrared sight, laser range finder measures the distance between rifle tower and measured target, infrared detector is for capturing infrared image, the field angle of narrow visual field camera lens is 3 ° × 2.2 ° and ± 5% deviation, the field angle of wide visual field camera lens is 11 ° × 8 ° and ± 10% deviation, and correcting mechanism takes aim at case for finely tuning infrared sight.)

1. a kind of automatic gun tower based on infrared image identification, which is characterized in that take aim at case including machine gun component (1), infrared sight (2), elevating mechanism (3), steering wheel (4)；Wherein

Machine gun component (1) and infrared sight are taken aim at case (2) and are mounted on elevating mechanism (3),

Elevating mechanism (3) is mounted on steering wheel (4),

Steering wheel (4) is fixed；

Setting laser range finder (2-1), infrared detector (2-2), narrow visual field camera lens (2-3), wide visual field on case (2) is taken aim in infrared sight Camera lens (2-4), correcting mechanism (2-5),

Laser range finder (2-1) measures the distance between rifle tower and measured target,

Infrared detector (2-2) is used to capture infrared image,

The field angle of narrow visual field camera lens (2-3) be 3 ° × 2.2 ° and ± 5% deviation,

The field angle of wide visual field camera lens (2-4) is 11 ° × 8 ° and ± 10% deviation),

Correcting mechanism (2-5) takes aim at case (2) for finely tuning infrared sight.

2. automatic gun tower according to claim 1, which is characterized in that elevating mechanism (3) includes left trunnion (3-1), auris dextra axis (3-2), machine gun hanger (3-3), elevating mechanism rack (3-4), servomotor (3-5), gear assembly (3-6)；Wherein

Elevating mechanism rack (3-4) is fixed on steering wheel (4),

Servomotor (3-5) is set on elevating mechanism rack (3-4),

Left trunnion (3-1) rotates axis connection by gear assembly (3-6) and servomotor (3-5),

Gear assembly (3-6) and elevating mechanism rack (3-4) are rotatablely connected,

The auris dextra axis outer ring (3-2) and elevating mechanism rack (3-4) are rotatablely connected,

The two sides machine gun hanger (3-3) are fixedly connected with left trunnion (3-1) with auris dextra axis (3-2) inner ring respectively.

3. automatic gun tower according to claim 1, which is characterized in that steering wheel (4) includes servomotor (4-4), side To machine rack (4-5), gear set (4-7), main shaft (4-10), revolution connecting plate (4-12)；Wherein

Steering wheel rack (4-5) is fixed,

Servomotor (4-4) is set on steering wheel rack (4-5),

Gear set (4-7) is connect with servomotor (4-4) transmission of rotary axis,

Main shaft (4-10) and gear set (4-7) are sequentially connected,

Revolution connecting plate (4-12) is fixedly connected with main shaft (4-10),

Elevating mechanism (3) is fixedly connected with revolution connecting plate (4-12).

4. automatic gun tower according to claim 3, which is characterized in that steering wheel (4) further includes sleeve (4-1), jackshaft Flange (4-2), intermediate thrust ball bearing (4-3), jackshaft (4-6), spindle flange (4-8), main shaft thrust ball bearing (4-9), Main shaft deep groove ball bearing (4-11)；Wherein

Jackshaft (4-6) is connect by intermediate thrust ball bearing (4-3) with intermediate shaft flange (4-2),

Intermediate shaft flange (4-2) is fixed in steering wheel rack (4-5),

Gear set (4-7) is fixed on jackshaft (4-6),

Spindle flange (4-8) is fixed in steering wheel rack (4-5),

The main shaft lower end (4-10) is connect by main shaft thrust ball bearing (4-9) with spindle flange (4-8),

Main shaft (4-10) outer wall is connect by two groups of main shaft deep groove ball bearings (4-11) with steering wheel rack (4-5) inner wall,

Sleeve (4-1) is set between two groups of main shaft deep groove ball bearings (4-11)

Main shaft (4-10) is set in sleeve (4-1).

Technical field

The present invention relates to one kind to rob tower technology, especially a kind of automatic gun tower based on infrared image identification.

Background technique

On unattended island and military base, need to be equipped with a kind of full automatic rifle tower carry out it is on duty, to appearance Target in rifle tower strike range is hit in real time.Existing rifle tower mostly be remote control rifle tower, need operator into The round-the-clock observation of row and operation, high operation requirements；There are also the full automatic stations of intelligence, but need to be equipped with a large amount of fire Power Reconnaissance system, such as unmanned plane, radar, this not only adds the complexities of system, while also improving automatic gun tower Cost.

Summary of the invention

The purpose of the present invention is to provide a kind of automatic gun towers based on infrared image identification.

Realize the technical solution of the object of the invention are as follows: a kind of automatic gun tower based on infrared image identification, including machine gun group Case, elevating mechanism, steering wheel are taken aim in part, infrared sight；Machine gun component and infrared sight are taken aim at case and are mounted on elevating mechanism, the elevating mechanism side of being mounted on To on machine, steering wheel is fixed；Setting laser range finder, infrared detector, narrow visual field camera lens, wide visual field mirror on case is taken aim in infrared sight Head, correcting mechanism, laser range finder measure the distance between rifle tower and measured target, and infrared detector is for capturing infrared figure Picture, the field angle of narrow visual field camera lens are 3 ° × 2.2 ° and ± 5% deviation, the field angle of wide visual field camera lens be 11 ° × 8 ° and ± 10% deviation, correcting mechanism take aim at case for finely tuning infrared sight.

Further, elevating mechanism includes left trunnion, auris dextra axis, machine gun hanger, elevating mechanism rack, servomotor, gear Transmission device；Elevating mechanism rack is fixed on steering wheel, and servomotor is set in elevating mechanism rack, and left trunnion passes through gear Transmission device and servomotor rotate axis connection, and gear assembly is connect with elevating mechanism gantry rotation, auris dextra axis outer ring and The connection of elevating mechanism gantry rotation, machine gun hanger two sides are fixedly connected with left trunnion with auris dextra axis inner ring respectively.

Further, steering wheel includes servomotor, steering wheel rack, gear set, main shaft, revolution connecting plate；Direction Machine rack is fixed, and servomotor is set in steering wheel rack, and gear set is connect with servomotor transmission of rotary axis, main shaft It is sequentially connected with gear set, revolution connecting plate is fixedly connected with main shaft, and elevating mechanism is fixedly connected with revolution connecting plate.

Further, steering wheel further include sleeve, intermediate shaft flange, intermediate thrust ball bearing, jackshaft, spindle flange, Main shaft thrust ball bearing, main shaft deep groove ball bearing；Wherein jackshaft is connect by intermediate thrust ball bearing with intermediate shaft flange, in Between shaft flange be fixed in steering wheel rack, gear set is fixed on jackshaft, and spindle flange is fixed in steering wheel rack, main Axis lower end is connect by main shaft thrust ball bearing with spindle flange, and spindle outer wall passes through two groups of main shaft deep groove ball bearings and steering wheel Frame inner wall connects, and setting quill spindle is set in sleeve between two groups of main shaft deep groove ball bearings.

The present invention is using a kind of automatic gun identified, tracked based on infrared image, locked and carrying out strike assessment Tower hits in range automatic gun tower by infrared equipment and carries out round-the-clock investigation, is carried out according to the infrared image of real-time Transmission Human bioequivalence, tracking, locking and strike assessment realize the automatic strike of rifle tower.

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

Detailed description of the invention

Fig. 1 is overall structure of the present invention.

Fig. 2 is elevating mechanism structural schematic diagram of the present invention.

Fig. 3 is steering wheel structural schematic diagram of the present invention.

Fig. 4 is that box structure schematic diagram is taken aim in the infrared sight of the present invention.

Fig. 5 is control system block diagram of the present invention.

Specific embodiment

In conjunction with Fig. 1, a kind of automatic gun tower based on infrared image identification, including machine gun component 1, infrared sight take aim at case 2, height Machine 3, steering wheel 4；Wherein machine gun component 1 and infrared sight are taken aim at case 2 and are mounted on elevating mechanism 3, and elevating mechanism 3 is mounted on steering wheel 4, Steering wheel 4 is fixed.

In conjunction with Fig. 2, setting laser range finder 2-1, infrared detector 2-2, narrow visual field camera lens 2-3, width on case 2 is taken aim in infrared sight Visual field camera lens 2-4, correcting mechanism 2-5, laser range finder 2-1 measure the distance between rifle tower and measured target, infrared detector 2-2 is 3 ° × 2.2 ° and ± 5% deviation, wide visual field camera lens 2-4 for capturing infrared image, the field angle of narrow visual field camera lens 2-3 Field angle be 11 ° × 8 ° and ± 10% deviation, correcting mechanism 2-5 takes aim at case 2 for finely tuning infrared sight.Pass through laser range finder 2- 1 pair of target carries out ranging, and gives the coordinate information real-time Transmission of the human body target recognized to control computer, is counted by control Control software and program in calculation machine analyze image, send information to actuator driven module.Drive module respectively corresponds Elevating mechanism servomotor 3-5, steering wheel servo motor 4-4 are driven, so that machine gun component 1 is carried out tracking lock to target, and real Injection is hit.

The correcting mechanism 2-5 is a screw rod, and one end is ined succession lower flange, and case 2 is taken aim in one end infrared sight of ining succession, and passes through adjusting The direction for taking aim at case is seen in screw rod, fine tuning.Lower flange is fixed on elevating mechanism 3.

In conjunction with Fig. 5, when target enters in tested region, infrared sight takes aim at case 2 and obtains realtime graphic, passes through image analysis pair Target carries out the determination of position, is then tracked, is locked, target position information is transferred to control system at the same time, controls System processed sends order control elevating mechanism and steering wheel, and machine gun component is made to carry out aiming strike to target.After the completion of strike, pass through Strike front and back image comparison assesses target, stops hitting if assessment result is 100%, otherwise control system will be after Continuous control machine gun component continues target to aim at strike.

In conjunction with Fig. 3, elevating mechanism 3 includes left trunnion 3-1, auris dextra axis 3-2, machine gun hanger 3-3, elevating mechanism rack 3-4, servo Motor 3-5, gear assembly 3-6.Elevating mechanism rack 3-4 is fixed on steering wheel 4, and elevating mechanism rack 3-4 setting is U-shaped Slot.Servomotor 3-5 is set in the outer wall of u-shaped groove of elevating mechanism rack 3-4.Gear assembly 3-6 can be include more A gear is set on the U-type groove inner wall of height rack 3-4 respectively by bearing.The outer ring auris dextra axis 3-2 is set to by bearing On the U-type groove inner wall of height rack 3-4, left trunnion 3-1 and auris dextra axis 3-2 are first to setting.The two sides machine gun hanger 3-3 respectively with a left side Trunnion 3-1, auris dextra axis 3-2 inner ring are fixedly connected.Machine gun hanger 3-3 for carrying machine gun component 1, take aim at case 2 and be fixed on by infrared sight In the outer wall of u-shaped groove of elevating mechanism rack 3-4.

In conjunction with Fig. 4, steering wheel 4 includes sleeve 4-1, intermediate shaft flange 4-2, intermediate thrust ball bearing 4-3, servomotor 4-4, steering wheel rack 4-5, jackshaft 4-6, gear set 4-7, spindle flange 4-8, main shaft thrust ball bearing 4-9, main shaft 4-10, Main shaft deep groove ball bearing 4-11, revolution connecting plate 4-12.Steering wheel rack 4-5 is cylindrical in shape, and bottom end is fixedly mounted.Servomotor 4-4 is set in steering wheel rack 4-5.Jackshaft 4-6 is connect by intermediate thrust ball bearing 4-3 with intermediate shaft flange 4-2, in Between shaft flange 4-2 be fixed in steering wheel rack 4-5, gear set 4-7 is fixed on jackshaft 4-6, gear set 4-7 and servo electricity The connection of motivation 4-4 transmission of rotary axis.Spindle flange 4-8 is fixed in steering wheel rack 4-5, and the lower end main shaft 4-10 is pushed away by main shaft Power ball bearing 4-9 is connect with spindle flange 4-8, and main shaft 4-10 outer wall passes through two groups of main shaft deep groove ball bearing 4-11 and steering wheel machine Frame 4-5 inner wall connects, and sleeve 4-1 is arranged between two groups of main shaft deep groove ball bearing 4-11, and main shaft 4-10 is set in sleeve 4-1, Gear and gear set 4-7 on main shaft 4-10 are sequentially connected.Revolution connecting plate 4-12 is fixedly connected with main shaft 4-10, elevating mechanism 3 It is fixedly connected with revolution connecting plate 4-12.

Since gear assembly 3-6 is connect with left trunnion 3-1, left trunnion 3-1 is connect with machine gun hanger 3-3, and then band Motivation rifle hanger 3-3 carries out the adjusting of pitch angle, and adjustable range is -10 °~+60 °；Steering wheel servomotor 4-4 band movable tooth Wheel group 4-7, since the bottom main shaft 4-10 is connect with gear set 4-7, top is connect with revolution connecting plate 4-12, therefore turns round connection Plate 4-12 is rotated as servomotor 4-4 is rotated, to realize the movement of circumferential n × 360 °.By red after the completion of strike Appearance takes aim at case 2 and continues to obtain the infrared image of target, calculates and analyze strike efficiency, if measures of effectiveness value reaches 100%, Think that target has lost operational efficiency；If assessed value is not 100%, continues transmission order and target is hit.