阅读说明：本技术 基于动平台的光电瞄具全自动运动控制方法 (Full-automatic motion control method of photoelectric sight based on moving platform ) 是由 冯莎 周璇 于 2020-11-27 设计创作，主要内容包括：本发明提供了一种基于动平台的光电瞄具全自动运动控制方法,能够避免出现边界区域的遗漏,实现准确的全自动扫描。本发明将光电瞄具自身的速度传感器的值作为闭环的反馈,将武器站自身伺服系统的位置传感器采集的位置值取代光电瞄具自身的位置传感器的值作为光电瞄具的位置反馈量,确保光电瞄具在武器站到达每个需要覆盖的角度时,光电瞄具才进行换向,从而使武器站扫描区域无盲点,保证了在光电瞄具的指引下,每一次都能使武器站全方位的扫描到位,克服了跟随上的延迟,确保光电瞄具的指引作用精确可靠。本发明能应用于各种武器站,适用范围广；过预设扫描范围和速度,不用人为实时干涉,可实现武器站的全自动化。(The invention provides a full-automatic motion control method of a photoelectric sight based on a movable platform, which can avoid omission of boundary areas and realize accurate full-automatic scanning. The invention takes the value of the speed sensor of the photoelectric sight as the feedback of the closed loop, and takes the position value acquired by the position sensor of the servo system of the weapon station to replace the value of the position sensor of the photoelectric sight as the position feedback quantity of the photoelectric sight, thereby ensuring that the photoelectric sight is only reversed when the weapon station reaches each angle needing to be covered, so that the scanning area of the weapon station has no blind spot, ensuring that the weapon station can be scanned in place in all directions each time under the guidance of the photoelectric sight, overcoming the delay of following and ensuring the accurate and reliable guidance function of the photoelectric sight. The invention can be applied to various weapon stations and has wide application range; the full automation of the weapon station can be realized without artificial real-time interference through the preset scanning range and speed.)

1. A full-automatic motion control method of a photoelectric sight based on a moving platform is characterized by comprising the following steps of:

receiving a full-automatic scanning instruction, and starting a full-automatic mode;

resolving a scanning boundary and a speed master command to resolve a full-automatic scanning boundary;

and acquiring the position value of the weapon station in real time, taking the position value of the weapon station as the position feedback quantity of the photoelectric sighting telescope, judging whether the photoelectric sighting telescope reaches a full-automatic scanning boundary or not by using the position value of the weapon station, reversing when the photoelectric sighting telescope reaches the full-automatic scanning boundary, and otherwise, continuously moving along the current direction.

2. The full-automatic motion control method for the photoelectric sight based on the moving platform as claimed in claim 1, wherein the value of the position sensor of the photoelectric sight itself is used as position feedback information when the person is not in battle or when the person monitors enemy conditions.

3. The full-automatic motion control method of the photoelectric aiming device based on the moving platform as claimed in claim 1, wherein the specific manner of solving the scanning boundary and the speed master command is as follows: the scanning range is N, the scanning center is M, and the full-automatic scanning boundary is calculated according to the following formula:

Angle_start＝360+(M-N/2)

Angle_end＝M+N/2

wherein, Angle_startFor the start position of scanning, Angle_endIs the end position of the scan;

the speed master command is compared with a speed sensor of the photoelectric sight in real time to form speed closed-loop control.

4. The method for controlling the fully automatic movement of the electro-optical sight based on the moving platform according to claim 1, wherein the specific way of using the position value of the weapon station as the position feedback quantity of the electro-optical sight is as follows:

the weapon station converts the analog quantity of the position sensor of the servo system into an angle value and sends the angle value to the photoelectric sighting telescope through the serial port.

5. The full-automatic motion control method of the photoelectric aiming device based on the moving platform as claimed in claim 1, wherein the unit of the current position value theta of the weapon station is °/s, the range is 0-360 °, and the method for determining the first motion direction of the weapon battle is as follows:

judging whether the current position value theta of the weapon station is within a scanning range;

if the distance between the scanning starting position and the scanning ending position is within the scanning range, the distance between the scanning starting position and the scanning ending position is judged; if the distance between the starting position of scanning and the ending position of scanning is equal, the scanning robot moves to the starting position of scanning first and then reverses; otherwise, the border with a short distance is firstly moved to and then is reversed;

if the distance between the scanning starting position and the scanning ending position is not within the scanning range, the distance between the scanning starting position and the scanning ending position is judged; if the distance between the scanning starting position and the scanning ending position is equal, moving to the scanning starting position first and then continuing to move to the scanning ending position; otherwise, the moving object moves to the closer point and then continues to move to the other point.

6. The method for controlling the fully automatic movement of the electro-optical sight based on the moving platform as claimed in claim 1, wherein the electro-optical sight uses the position value of the weapon station to determine whether the fully automatic scanning boundary is reached by:

and whether the position value theta of the weapon station is within a set threshold value from the boundary, if so, reaching the full-automatic scanning boundary, and otherwise, not reaching the full-automatic scanning boundary.

Technical Field

The invention belongs to the technical field of automatic control, and particularly relates to a full-automatic motion control method of a photoelectric sight based on a movable platform.

Background

Weapon stations are usually composed of a firearm, a servo and a photoelectric sight. The gun is driven by its own servo device and used as the front end of the gun, and the photoelectric sighting telescope is used as the eyes of the gun and used for providing information such as images, angles, motions and the like of the target for the shooter, and the shooting precision can be higher due to the mutual matching of the gun and the sighting telescope. Most of the traditional weapon stations manually complete target searching, aiming and shooting, and along with the development of modern technology, the traditional weapon stations cannot meet the requirements. In order to ensure that targets can be accurately found and shot under the relatively safe condition, the fully-automatic weapon station and the unmanned weapon station must replace the traditional weapon station, and become the mainstream development trend of the modern times. The movement of the weapon station is guided by the photoelectric sighting device, so that the full automation and the unmanned realization of the weapon station depend on the full automation of the photoelectric sighting device.

For existing weapon stations which follow the movement of the photoelectric sighting telescope, such as weapon stations on unmanned vehicles, the photoelectric sighting telescope is installed on the weapon station, and the installation platform of the photoelectric sighting telescope is the weapon station, so that the installation platform of the photoelectric sighting telescope is moved. For a moving installation platform to realize unmanned control, a photoelectric sighting device installed on the installation platform must work in a full-automatic scanning mode, namely, full-automatic scanning is carried out within a set angle range at a given speed. Fig. 6 is a flowchart of a process of using a position sensor of a prior art electro-optical sight as a position feedback. Assuming that the current scanning range is 10-60 degrees, the speed is set to 20 degrees/s, and the photoelectric sight reciprocates in the interval of 10-60 degrees (the position sensor of the photoelectric sight is used as feedback) at the speed of 20 degrees/s (the speed sensor of the photoelectric sight is used as feedback). At the moment, the weapon station is set to a following mode, namely, the weapon station is closed by a self servo device by means of a self speed sensor of the weapon station by taking the moving direction and the moving speed of the photoelectric sighting telescope as guidance. The position value and the speed value acquired by the sensor of the photoelectric sight are numerical values of the relative earth of the photoelectric sight, and therefore, servo systems of respective sensors of the existing photoelectric sight mounting platform, namely a weapon station and the photoelectric sight, are independent from each other, but because the mass of the weapon station is large, the inertia is large, the time required by acceleration and deceleration is long, when the weapon station moves along with information provided by the photoelectric sight, the movement of the weapon station deviates from the indication of the photoelectric sight, the photoelectric sight mounting platform, namely the weapon station and the photoelectric sight cannot be accurately matched, the weapon station can have operation delay, and the delay can occur as follows:

for example, when the photoelectric sighting telescope reaches a boundary 10 degrees, the photoelectric sighting telescope scans in the opposite direction immediately and sends reverse information to the weapon station, and the weapon station only moves to 9 degrees at the moment, namely the reverse information of the photoelectric sighting telescope is received and starts to move in the opposite direction, so that the boundary area is lost, and if a shooting target exists in the boundary area, effective shooting cannot be performed, so that the conventional photoelectric sighting telescope based on the movable platform cannot perform accurate full-automatic scanning, and omission of the boundary area can occur.

Disclosure of Invention

In view of this, the invention provides a full-automatic motion control method for a photoelectric sight based on a moving platform, which can avoid omission of boundary areas and realize accurate full-automatic scanning.

In order to achieve the purpose, the technical scheme of the invention is as follows:

the invention relates to a full-automatic motion control method of a photoelectric sight based on a movable platform, wherein the photoelectric sight is arranged on a weapon station and guides the weapon station, and the method comprises the following steps:

receiving a full-automatic scanning instruction, and starting a full-automatic mode;

resolving a scanning boundary and a speed master command to resolve a full-automatic scanning boundary;

and acquiring the position value of the weapon station in real time, taking the position value of the weapon station as the position feedback quantity of the photoelectric sighting telescope, judging whether the photoelectric sighting telescope reaches a full-automatic scanning boundary or not by using the position value of the weapon station, reversing when the photoelectric sighting telescope reaches the full-automatic scanning boundary, and otherwise, continuously moving along the current direction.

The value of the position sensor of the photoelectric sighting device is used as position feedback information when the user does not fight or monitors enemy.

The specific method for resolving the scanning boundary and the speed master command is as follows: the scanning range is N, the scanning center is M, and the full-automatic scanning boundary is calculated according to the following formula:

Angle_start＝360+(M-N/2)

Angle_end＝M+N/2

wherein, Angle_startFor the start position of scanning, Angle_endIs the end position of the scan;

the speed master command is compared with a speed sensor of the photoelectric sight in real time to form speed closed-loop control.

The specific mode of taking the position value of the weapon station as the position feedback quantity of the photoelectric sighting telescope is as follows:

the weapon station converts the analog quantity of the position sensor of the servo system into an angle value and sends the angle value to the photoelectric sighting telescope through the serial port.

Wherein, the unit of the current position value theta of the weapon station is DEG/s, the range is 0-360 DEG, and the method for determining the first movement direction of the weapon battle is as follows:

judging whether the current position value theta of the weapon station is within a scanning range;

if the distance between the scanning starting position and the scanning ending position is within the scanning range, the distance between the scanning starting position and the scanning ending position is judged; if the distance between the starting position of scanning and the ending position of scanning is equal, the scanning robot moves to the starting position of scanning first and then reverses; otherwise, the border with a short distance is firstly moved to and then is reversed;

if the distance between the scanning starting position and the scanning ending position is not within the scanning range, the distance between the scanning starting position and the scanning ending position is judged; if the distance between the scanning starting position and the scanning ending position is equal, moving to the scanning starting position first and then continuing to move to the scanning ending position; otherwise, the moving object moves to the closer point and then continues to move to the other point.

The method for judging whether the photoelectric sighting telescope reaches the full-automatic scanning boundary by using the position value of the weapon station comprises the following steps:

and whether the position value theta of the weapon station is within a set threshold value from the boundary, if so, reaching the full-automatic scanning boundary, and otherwise, not reaching the full-automatic scanning boundary.

Has the advantages that:

the invention takes the value of the speed sensor of the photoelectric sight as the feedback of the closed loop, and takes the position value acquired by the position sensor of the servo system of the weapon station to replace the value of the position sensor of the photoelectric sight as the position feedback quantity of the photoelectric sight, thereby ensuring that the photoelectric sight is only reversed when the weapon station reaches each angle needing to be covered, so that the scanning area of the weapon station has no blind spot, ensuring that the weapon station can be scanned in place in all directions each time under the guidance of the photoelectric sight, overcoming the delay of following and ensuring the accurate and reliable guidance function of the photoelectric sight.

The invention can be applied to various weapon stations and has wide application range; the full automation of the weapon station can be realized without artificial real-time interference through the preset scanning range and speed.

Drawings

FIG. 1 is a flow chart of the fully automatic scanning of the present invention.

Fig. 2 is a working principle diagram of the fully automatic scanning of the weapon station following the photoelectric sight of the invention.

Fig. 3 is a schematic diagram of the present invention using the value of the position sensor of the weapon station as position feedback of the electro-optical sight.

Fig. 4 is a schematic diagram of the determination of the first movement direction of the present invention.

FIG. 5 is a flowchart of the programming of the weapon station of the present invention.

Fig. 6 is a flowchart of a procedure for using a position sensor of the electro-optical sight of the present invention as a position feedback.

Fig. 7 is a flowchart of the procedure of the electro-optical sight of the present invention using the position sensor of the weapon station as the position feedback.

Fig. 8 is a flow chart of the photoelectric sight position control algorithm of the present invention.

Fig. 9 is a flow chart of the speed control algorithm of the electro-optic sight of the present invention.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

According to the invention, aiming at a moving platform, the photoelectric sighting device can accurately scan each position under the guidance of the photoelectric sighting device by acquiring the position value of the platform as the position feedback of the photoelectric sighting device. Fig. 7 is a flowchart of the procedure of the electro-optical sight of the present invention using the position sensor of the weapon station as the position feedback.

The specific method implementation comprises the steps of receiving a full-automatic scanning instruction, resolving a scanning boundary and speed master instruction, acquiring a position value of a weapon station in real time, determining a first movement direction (comparing the boundary value with a current position value for the first time), and reaching a boundary point. The flow chart of the full-automatic scanning of the invention is shown in fig. 1, the working principle chart of the full-automatic scanning of the weapon station following the photoelectric sight of the invention is shown in fig. 2, and the specific implementation steps are as follows:

receiving an instruction of full-automatic scanning: when unmanned operation is carried out, the area range to be scanned needs to be set in advance through manual search, then a full-automatic scanning instruction is sent, and personnel can withdraw.

Solving scanning boundary and speed main command: for example, if the scanning range is given as 50 ° and the scanning center is given as 10 °, the full-automatic scanning boundary, i.e., the start position and the end position of the scanning, is calculated according to the following formula:

Angle_start＝360+(10-50/2)＝345

Angle_end＝10+50/2＝35

wherein, Angle_startFor the start position of scanning, Angle_endIs the end position of the scan.

The speed master command is compared with a speed sensor of the photoelectric sight in real time to form speed closed-loop control.

Acquiring the position value of the weapon station in real time: the weapon station converts the analog quantity of the position sensor of the servo system into an angle value and sends the angle value to the photoelectric sighting device through a serial port, wherein the unit is DEG/s, and the range is 0-360 degrees. The photoelectric sighting device takes the position value as a real-time position value scanned by the photoelectric sighting device, and a sensor of the photoelectric sighting device is used for keeping position feedback information when the photoelectric sighting device is not in battle or monitoring enemy. The schematic diagram of the present invention using the value of the position sensor of the weapon station as the position feedback of the electro-optical sight is shown in fig. 3. Fig. 8 is a flow chart of the photoelectric sight position control algorithm of the present invention. Fig. 9 is a flow chart of the speed control algorithm of the electro-optic sight of the present invention.

Determination of the first movement direction: judging whether the current position value theta of the weapon station is within a scanning range;

if the distance between the scanning starting position and the scanning ending position is within the scanning range, the distance between the scanning starting position and the scanning ending position is judged; if the distance between the starting position of scanning and the ending position of scanning is equal, the scanning robot moves to the starting position of scanning first and then reverses; otherwise, the border with a short distance is firstly moved to and then is reversed;

if the distance between the scanning starting position and the scanning ending position is not within the scanning range, the distance between the scanning starting position and the scanning ending position is judged; if the distance between the scanning starting position and the scanning ending position is equal, moving to the scanning starting position first and then continuing to move to the scanning ending position; otherwise, the moving object moves to the closer point and then continues to move to the other point. The schematic diagram for determining the first movement direction of the present invention is shown in fig. 4.

Processing of reaching the boundary point: the weapon station moves along with the photoelectric sight, and fig. 5 is a flow chart of the program of the weapon station. When the distance between the position value theta of the weapon station acquired by the photoelectric sight and the boundary is within a certain threshold (for example, the threshold is 0.005), reversing is performed, otherwise, the weapon station continues to move along the current direction. Namely, when the following conditions are satisfied:

|Angle_starttheta | < 0.005 or | Angle |)_end-θ|≤0.005。

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.