CN204956941U - A airborne system for unmanned aerial vehicle helps and falls vision -guided - Google Patents
A airborne system for unmanned aerial vehicle helps and falls vision -guided Download PDFInfo
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- CN204956941U CN204956941U CN201520611764.4U CN201520611764U CN204956941U CN 204956941 U CN204956941 U CN 204956941U CN 201520611764 U CN201520611764 U CN 201520611764U CN 204956941 U CN204956941 U CN 204956941U
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Abstract
The utility model discloses an airborne system for unmanned aerial vehicle helps and falls vision -guided belongs to flight navigation control field. This airborne system carries camera, toughened glass cover, fixed shell, damping spring, fixing bolt, waterproof aviation connector, protective cover, image processing module including the machine, the protective cover passes through flange dish or screw or screw connection with fixed shell, makes and forms cavity I between protective cover and the fixed shell, image processing module is located cavity I and links firmly with fixed shell insulation, form cavity II between fixed shell and the toughened glass cover, the toughened glass cover is half spherical structure, and the machine carries the camera and is located cavity II and links firmly with fixed shell, image processing module links to each other with unmanned aerial vehicle's state of flight controller through waterproof aviation connector. This system helps the vision falls guide required image acquisition and image processing module and adopts miniaturized modular structure to realize, waterproof anticorrosive antidetonation has effectively improved unmanned aerial vehicle and has helped to fall and guide efficiency and reliability.
Description
Technical field
The utility model relates to a kind of mobile system falling vision guide for unmanned machine aided, relates to particularly and adopts computer vision technique to carry out the mobile system that guiding falls in unmanned machine aided.Belong to flight navigation control field.
Background technology
Unmanned plane (Unmannedaerialvehicle) is compared with manned aircraft, there is the features such as lightweight, personal casualty risk is little, manoevreability good, cabin design is simple, except application prospect militarily, it also shows one's promises gradually at civil area.Navigation of Pilotless Aircraft technology mainly comprises inertial navigation, radar navigation, GPS navigation, microwave aerospace navigation and vision guided navigation etc.Wherein, along with the development of computer vision and acquisition technology, optical measuring technique, high rate bioreactor and memory technology, the airmanship of view-based access control model information becomes study hotspot in recent years, and have that equipment is simple, low in energy consumption, volume is little, the autonomous advantage such as passive, and do not rely on ground and aerial navigational aid, especially GPS restriction (GPS navigation system utilizes navigation satellite to carry out navigator fix, have that signal is easily disturbed, the problem such as resolving accuracy and technical monopoly) is not limited by.In electronic countermeasure, there is greater advantage.
Landing navigation is the important stage in unmanned plane during flying, and because approach is by the impact of the factors such as flying height, meteorology and geographical environment, accurately reliably helping of automation is fallen method and become one of crucial research contents in unmanned air vehicle technique.According to the difference of camera installation locations, vision-aided landing system can be divided into: the UAV Landing navigationsystem based on foundation information, the airborne land navigation system based on artificial target's thing and the airborne land navigation system based on natural scene.Ground helps the system of falling by the picture pick-up device sync pulse jamming unmanned plane image of the ground number of demarcation, extract minutiae or cooperation mark, and calculating location and attitude also feed back to control system and control to land.The airborne image helping the system of falling to obtain ground control mark by being arranged on pick up camera on unmanned plane, estimates measuring and calculating unmanned plane during flying state by pose and relative to the position of landing point and orientation, implements to help to fall guiding through control system.
Airbornely help the ground control mark in the system of falling mostly to adopt ground signal cloth, namely vision guided navigation airborne help the system of falling usually need ground realize laying there is special shape landing indicator signal cloth as ground cooperation mark.Depopulated helicopter, by the feature of the image of identification signal cloth, revises self horizontal displacement and course.The research of domestic and international related research institutes in vision-aided landing concentrate on select landing indicator signal cloth to comprise ground cooperation character shape, utilize the information such as visual pattern geometric parameter to resolve unmanned plane position and attitude, obtain navigator fix parameter.Cooperative target detection algorithm should have higher real-time and noiseproof feature, design cooperative target require this mark to comprise relative position that enough information makes computer vision system can utilize these needed for information extraction unmanned plane independent landing and attitude information, and this mark should easily identify, easily and other objects and environment distinguish, certainly also wish that pattern is fairly simple, to promote the processing speed of vision guide system simultaneously.
Airborne camera and associated circuit module is included above-mentioned existing airborne the helping in the system of falling mentioned, how to make airborne helping fall system compact modularization, and in flight course, be in reliable and stable state, for landing guidance, there is vital meaning.
Utility model content
In order to solve the problem, the utility model builds that a kind of miniaturization is modular airbornely helps the system of falling, and utilizes static nature and the behavioral characteristics identification of airborne camera photographic images, realizes unmanned machine aided and fall vision guide.
Fall a mobile system for vision guide for unmanned machine aided, comprise airborne camera, case hardened glass cover, fixed housing, damping spring, bolt of rear end plate, waterproof Aviation Connector, protective cover, image processing module; Wherein,
Protective cover is circular hat shape metal shell and edge comprises flange; Protective cover is placed in above fixed housing, and protective cover and fixed housing are connected by flange or screw thread or screw, make to form cavity I between protective cover and fixed housing; Image processing module is positioned at cavity I and adopts insulation mode to be connected with fixed housing;
The below of fixed housing is closed with case hardened glass cover and is connected, and makes to form cavity II between fixed housing and case hardened glass cover; Case hardened glass cover is hemispherical dome structure, and airborne camera is positioned at cavity II and is connected with fixed housing; The mouth of airborne camera is also connected with image processing module;
Protective cover is also provided with waterproof Aviation Connector, and image processing module is connected with the state of flight controller of unmanned plane, for carrying out data exchange by waterproof Aviation Connector;
Bolt of rear end plate, through the flange at protective cover edge, is connected with fuselage compartment body bracket, and the screw rod of each bolt of rear end plate all overlaps the damping spring having same model outward, and namely each damping spring is between flange and fuselage compartment body bracket.
Contrast prior art, the beneficial effects of the utility model are: the image acquisition needed for vision-aided landing guides by the utility model and image processing module adopt miniaturization modular construction to realize, water-tight corrosion-proof antidetonation, effectively improves unmanned machine aided and falls boot efficiency and reliability.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is that image processing module forms schematic diagram.
Wherein: the airborne camera of 1-; 2-case hardened glass cover; 3-fixed housing; 4-damping spring; 5-bolt of rear end plate; 6-waterproof Aviation Connector; 7-protective cover; 8-damping spring; 9-image processing module; 10-bolt of rear end plate; 11-flange; 12 fuselage compartment body brackets; 13-cavity I; 14-cavity II.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in detail, also describe technical matters and the beneficial effect of technical solutions of the utility model solution simultaneously, it is to be noted, described embodiment is only intended to be convenient to understanding of the present utility model, and does not play any restriction effect to it.
Below in conjunction with embodiment, explanation is described to a kind of detailed description of the invention of falling the mobile system of vision guide for unmanned machine aided described in the utility model, as shown in Figure 1:
Fall the mobile system of vision guide for unmanned machine aided, comprise airborne camera 1, case hardened glass cover 2, fixed housing 3, damping spring 4, damping spring 8, bolt of rear end plate 5, bolt of rear end plate 10, waterproof Aviation Connector 6, protective cover 7, image processing module 9; Wherein,
Protective cover 7 is for circular hat shape metal shell and edge comprises flange 11; Protective cover 7 is placed in above fixed housing 3, and the two is by flange 11 or be threaded, and makes to form cavity I between protective cover 7 and fixed housing 3.Image processing module 9 is positioned at cavity I and adopts insulation mode to be connected with fixed housing; Image processing module 9 described in the present embodiment is circuit cards, if polylith circuit card then also adopts insulation mode to be connected each other.
The below of fixed housing 3 is closed with case hardened glass cover 2 and is connected, and makes to form cavity II between fixed housing 3 and case hardened glass cover 2.Case hardened glass cover 2 is hemispherical dome structure, and airborne camera 1 is positioned at cavity II and is connected with fixed housing 3.The mouth of airborne camera is also connected with image processing module; The optical axis of airborne camera 1 is adjustable.
Protective cover 7 is also provided with waterproof Aviation Connector 6, and image processing module 9 is communicated with the state of flight controller of unmanned plane by waterproof Aviation Connector 6.
Bolt of rear end plate 5 is connected with fuselage compartment body bracket 12 through flange 11 respectively with bolt of rear end plate 10, and, the screw rod of bolt of rear end plate 5 and bolt of rear end plate 10 overlaps the damping spring 4 and the damping spring 8 that there are same model outward respectively, and namely each damping spring is between flange 11 and fuselage compartment body bracket 12; Damping spring makes to cushion at unmanned plane during flying and taking off the concussion that various action causes this device in descent, effectively improves the stability of image acquisition.
As preferably, protective cover 7 adopts stainless steel products and outside face is coated with corrosion prevention film; Plated film preferably also meets three anti-standards, and namely moisture proof Defend salt fog is mould proof.Fixed housing 3 adopts macromolecule resin material.
As preferably, under the optical axis of airborne camera 1 keeps depending on and with perpendicular line, there are at least 1.5 ° of angles, and tilt to install to unmanned plane dead ahead;
As preferably, as shown in Figure 2, described image processing module 9 comprises and connects A/D module, signal transacting and time-sequence control module, communication module successively; Further, wherein:
A/D module comprises the differential buffer amplifier, ADC, the photoisolator that connect successively, also comprises constant current source and comparator; Comparator starts constant current source and powers to airborne camera 1; Airborne camera 1 is connected with differential buffer amplifier.
Signal transacting and time-sequence control module comprise signal processing unit, FPGA, FLASH, PROM, image compression module, and described signal processing unit is connected respectively with FPGA, FLASH, and FPGA is also connected with image compression module; Wherein FPGA be used for image AD gather and data buffer storage, and for airborne camera 1, ADC and signal processing unit read-write sequential and logic control are provided; Signal processing unit has been used for image characteristics extraction, target identification and predicting tracing and has calculated; PROM is FPGA program store; The image that image compression module is used for FPGA gathers compresses and stores;
The data that communication module is sent for sending image compression module, and carry out data exchange with the state of flight controller of unmanned plane, communication module is connected with waterproof Aviation Connector 6.
As preferably, between communication module and image compression module, adopt LVDS to carry out communication, and adopt full duplex RS422 agreement between the state of flight controller of unmanned plane and carry out communication through Phototube Coupling.
In the utility model embodiment, airborne camera is mainly used in the image gathering ground cooperation mark or naturally indicate, cooperation mark in ground is mainly convenient to image processing module and is detected, identifies, follows the tracks of and unmanned plane landing.Because technical requirements is all weather operation, therefore mark and ground contrast are larger better, and thus in the utility model, cooperation mark in ground is all laid in dark-background as the dark nylon cloth of ground laying is fixed.
The above; be only detailed description of the invention of the present utility model; but protection domain of the present utility model is not limited thereto; any people being familiar with this technology is in the technical scope disclosed by the utility model; the conversion and replacement expected can be understood; all should be encompassed in and of the present utility modelly comprise within scope, therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (7)
1. fall a mobile system for vision guide for unmanned machine aided, it is characterized in that, comprise airborne camera, case hardened glass cover, fixed housing, damping spring, bolt of rear end plate, waterproof Aviation Connector, protective cover, image processing module; Wherein,
Protective cover is circular hat shape metal shell and edge comprises flange; Protective cover is placed in above fixed housing, and protective cover and fixed housing are connected by flange or screw thread or screw, make to form cavity I between protective cover and fixed housing; Image processing module is positioned at cavity I and adopts insulation mode to be connected with fixed housing;
The below of fixed housing is closed with case hardened glass cover and is connected, and makes to form cavity II between fixed housing and case hardened glass cover; Case hardened glass cover is hemispherical dome structure, and airborne camera is positioned at cavity II and is connected with fixed housing; The mouth of airborne camera is also connected with image processing module;
Protective cover is also provided with waterproof Aviation Connector, and image processing module is connected with the state of flight controller of unmanned plane, for carrying out data exchange by waterproof Aviation Connector;
Bolt of rear end plate, through the flange at protective cover edge, is connected with fuselage compartment body bracket, and the screw rod of each bolt of rear end plate all overlaps the damping spring having same model outward, and namely each damping spring is between flange and fuselage compartment body bracket.
2. a kind of mobile system falling vision guide for unmanned machine aided according to claim 1, is characterized in that, under the optical axis of airborne camera keeps depending on and with perpendicular line, there are at least 1.5 ° of angles, and tilt to install to unmanned plane dead ahead.
3. a kind of mobile system falling vision guide for unmanned machine aided according to claim 1, is characterized in that, described image processing module comprises and connects A/D module, signal transacting and time-sequence control module, communication module successively.
4. a kind of mobile system falling vision guide for unmanned machine aided according to claim 3, is characterized in that, described A/D module comprises the differential buffer amplifier, ADC, the photoisolator that connect successively, also comprises constant current source and comparator; Constant current source and comparator are used for powering to airborne camera; Airborne camera is connected with differential buffer amplifier.
5. a kind of mobile system falling vision guide for unmanned machine aided according to claim 3, it is characterized in that, described signal transacting and time-sequence control module comprise signal processing unit, FPGA, FLASH, PROM, image compression module, described signal processing unit is connected respectively with FPGA, FLASH, and FPGA is also connected with image compression module; Wherein FPGA be used for image AD gather and data buffer storage, and for airborne camera, ADC and signal processing unit read-write sequential and logic control are provided; Signal processing unit has been used for image characteristics extraction, target identification and predicting tracing and has calculated; PROM is FPGA program store; The image that image compression module is used for FPGA gathers compresses and stores.
6. a kind of mobile system falling vision guide for unmanned machine aided according to claim 3, it is characterized in that, communication module is connected with waterproof Aviation Connector 6.
7. a kind of mobile system falling vision guide for unmanned machine aided according to claim 5, it is characterized in that, adopt LVDS to be connected between communication module with image compression module, and adopt full duplex RS422 agreement between the state of flight controller of unmanned plane and be connected through Phototube Coupling.
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| CN201520611764.4U CN204956941U (en) | 2015-08-13 | 2015-08-13 | A airborne system for unmanned aerial vehicle helps and falls vision -guided |
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| CN201520611764.4U CN204956941U (en) | 2015-08-13 | 2015-08-13 | A airborne system for unmanned aerial vehicle helps and falls vision -guided |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106290246A (en) * | 2016-08-09 | 2017-01-04 | 上海禾赛光电科技有限公司 | The terrestrial positioning device of unmanned plane and gas remote measurement system without GPS |
| CN107402396A (en) * | 2017-09-09 | 2017-11-28 | 厦门大壮深飞科技有限公司 | UAV Landing guiding system and method based on multimode navigation |
| CN107817508A (en) * | 2017-10-26 | 2018-03-20 | 仙桃市动物卫生监督所 | One kind is based on the dead poultry collecting path optimization system of GPS location analysis |
| CN107933944A (en) * | 2018-01-17 | 2018-04-20 | 安徽翼讯飞行安全技术有限公司 | A kind of protective device of instrument and meter |
| WO2019100832A1 (en) * | 2017-11-23 | 2019-05-31 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle and photographing structure thereof |
| CN111595301A (en) * | 2020-05-20 | 2020-08-28 | 福建省伟志地理信息科学研究院 | Aerial surveying device for geographic information system and surveying method thereof |
| CN113867316A (en) * | 2021-09-27 | 2021-12-31 | 桐庐中通云航科技有限公司 | Electric unmanned aerial vehicle navigation flight control system test bed |
-
2015
- 2015-08-13 CN CN201520611764.4U patent/CN204956941U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106290246A (en) * | 2016-08-09 | 2017-01-04 | 上海禾赛光电科技有限公司 | The terrestrial positioning device of unmanned plane and gas remote measurement system without GPS |
| CN107402396A (en) * | 2017-09-09 | 2017-11-28 | 厦门大壮深飞科技有限公司 | UAV Landing guiding system and method based on multimode navigation |
| CN107817508A (en) * | 2017-10-26 | 2018-03-20 | 仙桃市动物卫生监督所 | One kind is based on the dead poultry collecting path optimization system of GPS location analysis |
| WO2019100832A1 (en) * | 2017-11-23 | 2019-05-31 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle and photographing structure thereof |
| CN107933944A (en) * | 2018-01-17 | 2018-04-20 | 安徽翼讯飞行安全技术有限公司 | A kind of protective device of instrument and meter |
| CN111595301A (en) * | 2020-05-20 | 2020-08-28 | 福建省伟志地理信息科学研究院 | Aerial surveying device for geographic information system and surveying method thereof |
| CN113867316A (en) * | 2021-09-27 | 2021-12-31 | 桐庐中通云航科技有限公司 | Electric unmanned aerial vehicle navigation flight control system test bed |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20170813 |