CN216817246U - Unmanned aerial vehicle tracking system - Google Patents
Unmanned aerial vehicle tracking system Download PDFInfo
- Publication number
- CN216817246U CN216817246U CN202220482566.2U CN202220482566U CN216817246U CN 216817246 U CN216817246 U CN 216817246U CN 202220482566 U CN202220482566 U CN 202220482566U CN 216817246 U CN216817246 U CN 216817246U
- Authority
- CN
- China
- Prior art keywords
- module
- unmanned aerial
- aerial vehicle
- wireless communication
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application relates to an unmanned aerial vehicle tracker, it includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a target identification mark, wherein a first GPS positioning module, a first wireless communication module, an image acquisition module, an image identification module, a processor and a flight controller are arranged on the unmanned aerial vehicle body; the target identification mark is arranged on a target to be tracked, the target identification mark comprises an identification body, and a second GPS positioning module and a second wireless communication module which are arranged in the identification body, the second GPS positioning module is connected with the second wireless communication module, and the first wireless communication module is in communication connection with the second wireless communication module so as to realize the connection of the second GPS positioning module and the processor. This application has the accurate tracking of being convenient for realize unmanned aerial vehicle, improves the effect of the accuracy of tracking.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle tracking system.
Background
The drone is a drone operated by a radio remote control device and a self-contained program control device
When needs carry out continuous tracking monitoring to certain target, can adopt unmanned aerial vehicle to carry monitoring facilities to carry out continuous tracking monitoring in order to practice thrift the manpower, at present, unmanned aerial vehicle is when tracking the target, because the topography is complicated or there are more interference factors similar with the target, in addition unmanned aerial vehicle self tracking performance is not stable enough, and the accuracy is not high, loses the target easily.
SUMMERY OF THE UTILITY MODEL
In order to facilitate the accurate tracking of realizing unmanned aerial vehicle, improve the accuracy of tracking, this application provides an unmanned aerial vehicle tracker.
The application provides a pair of unmanned aerial vehicle tracker adopts following technical scheme:
an unmanned aerial vehicle tracking system, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a target identification mark, wherein a first GPS positioning module, a first wireless communication module, an image acquisition module, an image identification module, a processor and a flight controller are arranged on the unmanned aerial vehicle body;
the target identification mark is arranged on a target to be tracked, the target identification mark comprises a mark body, and a second GPS positioning module and a second wireless communication module which are arranged in the mark body, the second GPS positioning module is connected with the second wireless communication module, and the first wireless communication module is in communication connection with the second wireless communication module so as to realize the connection of the second GPS positioning module and the processor;
the first GPS positioning module is used for positioning the unmanned aerial vehicle body and outputting a first positioning signal;
the second GPS positioning module is used for positioning the identification body and outputting a second positioning signal;
the second wireless communication module receives the second positioning signal and transmits the second positioning signal to the processor through the first wireless communication module;
the image acquisition module is used for acquiring the image information of the target to be tracked;
the image recognition module is used for receiving the image information, recognizing the image information, outputting first recognition information when a target recognition identifier is recognized, and outputting second recognition information when the target recognition identifier is not recognized;
the processor receives the first positioning signal, the second positioning signal and the first identification information and outputs a first control signal;
and the flight controller receives the first control signal and tracks the target to be tracked.
By adopting the technical scheme, the unmanned aerial vehicle body is provided with the first GPS positioning module, the second GPS positioning module is arranged in the mark body, the first GPS positioning module is used for positioning the unmanned aerial vehicle, outputting the first positioning signal and transmitting the first positioning signal to the processor, the second positioning module is used for positioning the mark body and outputting the second positioning signal, the second positioning signal is transmitted to the processor through the first wireless communication module and the second wireless communication module, the unmanned aerial vehicle body is also provided with the image acquisition module, the image acquisition module acquires the image information of the tracked target in real time and transmits the image information to the image identification module, the image identification module identifies the acquired image information, when the target identification mark is identified, the first identification signal is output, the processor receives the first positioning signal, Second locating signal and first identification signal, output first control signal, flight controller receives first control signal control unmanned aerial vehicle and trails the target, adopt above-mentioned scheme, through first GPS orientation module, the cooperation of second GPS orientation module and treater is realized the affirmation to distance and deviation between unmanned aerial vehicle and the target, and carry out the target tracking through flight controller control unmanned aerial vehicle, gather the target image through image acquisition module simultaneously, through image recognition module, judge whether the target of tracking is correct, be convenient for realize unmanned aerial vehicle's accurate tracking, improve the accuracy of tracking.
Optionally, this internal supersonic generator that is provided with of sign, supersonic generator connects the second wireless communication module, be provided with ultrasonic receiver on the unmanned aerial vehicle body, ultrasonic receiver connects the treater.
Through adopting above-mentioned technical scheme, when being more complicated because the topography, when carrying out the target tracking, when the image acquisition module can't gather the target image temporarily, treater output ultrasonic wave control command this moment, and transmit ultrasonic wave control command to supersonic generator through first wireless communication module and second wireless communication module, supersonic generator receives ultrasonic wave control command and sends the ultrasonic wave, ultrasonic receiver on the unmanned aerial vehicle body receives the ultrasonic wave, output ultrasonic wave received signal, the treater receives ultrasonic wave received signal, output tracking signal, flight controller receives tracking signal, carry out the target tracking.
Optionally, still include infrared scanning device, infrared scanning device sets up on the unmanned aerial vehicle body, infrared scanning device connects the treater, infrared scanning device is used for detecting when the barrier appears in unmanned aerial vehicle the place ahead, outputs barrier detected signal, the treater is received barrier detected signal outputs third control signal.
Through adopting above-mentioned technical scheme, through setting up infrared scanning device, can be at unmanned aerial vehicle flight in-process, whether the barrier is met in the real-time detection the place ahead, output barrier detected signal when detecting the barrier, the treater receives barrier detected signal, outputs the third control signal, and flight controller receives the second control signal, controls unmanned aerial vehicle and avoids the barrier.
Optionally, still be provided with the sound recorder on the unmanned aerial vehicle body, the sound recorder with the treater is connected, the sound recorder is used for acquireing the pronunciation of tracking target input, and the treater generates fourth control signal according to pronunciation.
By adopting the technical scheme, the sound recorder is arranged on the unmanned aerial vehicle, the tracked target can input voice through the sound recorder, the processor generates a fourth control signal according to the voice, the flight controller receives the third control signal, and the unmanned aerial vehicle is controlled to perform corresponding actions.
Optionally, the image acquisition module is a camera.
Optionally, the processor is an ARM processor.
Optionally, a power module is arranged in the device identifier, and the power module is respectively connected with the second GPS positioning module, the second wireless communication module, and the ultrasonic generator.
Optionally, a USB interface is provided on the identifier body, and the USB interface is connected to the power supply module.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the distance and deviation between the unmanned aerial vehicle and a target are determined through the cooperation of the first GPS positioning module, the second GPS positioning module and the processor, the unmanned aerial vehicle is controlled to track the target through the flight controller, meanwhile, the target image is acquired through the image acquisition module, and whether the tracked target is correct or not is judged through the image recognition module, so that the unmanned aerial vehicle can be accurately tracked conveniently, and the tracking accuracy is improved;
2. when being more complicated because the topography, when carrying out the target tracking, when the image acquisition module can't gather the target image temporarily, the treater output ultrasonic wave control command this moment, and transmit ultrasonic wave control command to supersonic generator through first wireless communication module and second wireless communication module, supersonic generator receives ultrasonic wave control command and sends the ultrasonic wave, ultrasonic receiver on the unmanned aerial vehicle body receives the ultrasonic wave, output ultrasonic wave received signal, the treater receives ultrasonic wave received signal, output tracking signal, flight controller receives tracking signal, carry out the target tracking.
Drawings
Fig. 1 is a schematic view of a partial structure of a drone tracking system provided by the present application.
Fig. 2 is a schematic diagram of an overall structure of the unmanned aerial vehicle tracking system provided in the present application.
Description of reference numerals: 1. an unmanned aerial vehicle body; 11. a processor; 12. a first GPS positioning module; 13. an image acquisition module; 14. an image recognition module; 15. a first wireless communication module; 16. an ultrasonic receiver; 17. an infrared scanning device; 18. a sound recorder; 19. a flight controller; 2. identifying an ontology; 21. a second wireless communication module; 22. a second GPS positioning module; 23. an ultrasonic generator; 24. a power supply module; 25. and a USB interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-2 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
The embodiment of the application discloses unmanned aerial vehicle tracker. Referring to fig. 1, the unmanned aerial vehicle tracking system includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1 and a target identification mark, wherein a first GBS positioning module, an image acquisition module 13, an image identification module 14, a processor 11, a flight controller 19 and a first wireless communication module 15 are arranged on the unmanned aerial vehicle body 1, the first GPS positioning module 12, the image identification module 14, the first wireless communication module 15 and the flight controller 19 are all connected with the processor 11, and the image identification module 14 is also connected with the image acquisition module 13; the target identification mark comprises a mark body 2, and a second wireless communication module 21 and a second GBS positioning module which are arranged in the mark body 2, wherein a second GPS positioning module 22 is connected with the second wireless communication module 21, and a first wireless communication module 15 is in communication connection with the second wireless communication module 21, so that the communication connection between the second GPS positioning module 22 and the processor 11 is realized. In this embodiment, the mark body 2 may be designed into any shape according to actual situations, and is not limited herein.
When the mark body 2 is in work, the mark body 2 is arranged on a tracking target, and the mark body 2 and the tracking target can be connected in a fixed connection mode such as bonding and clamping without limitation; the first GPS positioning module 12 is used for positioning the unmanned aerial vehicle body 1 and outputting a first positioning signal, and the processor 11 receives the first positioning signal; second GBP orientation module is used for fixing a position the output second locating signal to sign body 2, second wireless communication module 21 receives the second locating signal, and transmit the second locating signal to treater 11 through first wireless communication module 15, after treater 11 received first locating signal and second locating signal, confirm distance and deviation between unmanned aerial vehicle body 1 and sign body 2 according to first detected signal and second detected signal, distance and deviation between unmanned aerial vehicle body 1 and the tracking target promptly, preset has preset tracking distance in treater 11.
The image information of tracking target is gathered in real time to image acquisition module 13 that sets up on unmanned aerial vehicle body 1, and transmit the image information who gathers to image recognition module 14, image recognition module 14 discerns image information, when discerning when containing the target identification sign in the image information, first identifying information of output, processor 11 receives first locating signal, behind second locating signal and the first identifying information, first control signal of output, flight controller 19 receives first control signal, control unmanned aerial vehicle trails the target. In this embodiment, the image acquisition module 13 is a camera, and the specific model of the camera may be determined according to the actual situation of the tracking field, which is not limited herein.
Referring to fig. 2, in some complex environments, for example, when a target passes through some closed environments such as a tunnel and a bridge opening, a GPS positioning signal is weak, so that a situation that the target is lost due to inaccurate positioning is likely to occur, in order to improve the situation, an ultrasonic generator 23 is disposed in the identification body 2, an ultrasonic receiver 16 is disposed on the unmanned aerial vehicle body 1, the ultrasonic receiver 16 is connected to the processor 11, the ultrasonic generator 23 is connected to the second wireless communication module 21, when the image recognition module 14 recognizes image information uploaded by the image acquisition module 13, and when no target identification mark is recognized in the image information, the second recognition information is output, the processor 11 receives the second recognition information and outputs an ultrasonic control command, the first wireless communication module 15 receives the ultrasonic control command and transmits the ultrasonic control command to the ultrasonic generator 23 through the second wireless communication module 21, supersonic generator 23 receives the ultrasonic wave control command and begins work, and ultrasonic receiver 16 receives the ultrasonic wave that supersonic generator 23 sent, outputs ultrasonic wave received signal, and treater 11 receives ultrasonic wave received signal, outputs second control signal, and flight controller 19 receives second control signal, and control unmanned aerial vehicle is close to the tracking target to find the target again fast and track.
In order to guarantee that unmanned aerial vehicle is at the flight in-process, be blockked by the barrier, influence unmanned aerial vehicle's flight, be provided with infrared scanning device 17 on unmanned aerial vehicle body 1, whether there is the barrier in unmanned aerial vehicle flight in-process wireless scanning device real-time detection unmanned aerial vehicle flight direction, when detecting to have the barrier, output barrier detected signal, treater 11 receives barrier detected signal output third control signal, flight controller 19 receives third control signal, control unmanned aerial vehicle avoids the barrier.
Be provided with sound recorder 18 on unmanned aerial vehicle, unmanned aerial vehicle is when tracking the target, the pronunciation of the target input is gathered to treater 11 accessible sound recorder 18, treater 11 is according to the fourth control signal of received pronunciation generation, flight controller 19 receives the fourth control signal, control unmanned aerial vehicle carries out corresponding action, in this embodiment, the treater is the ARM treater, in other implementation modes, the treater can select according to actual conditions, do not do the restriction here.
Still be provided with power module 24 in the sign body 2, second GPS orientation module 22, second wireless communication module 21 and supersonic generator 23 all are connected with power module 24, power module 24's setting can be for second GPS orientation module 22, second wireless communication module 21 and supersonic generator 23 last power supply, guarantee the continuation of the journey of target identification sign, in this embodiment, power module 24 is rechargeable battery, be provided with USB interface 25 on sign body 2, USB interface 25 is connected with power module 24, when power module 24 electric quantity exhausts, accessible USB interface 25 connects the external power source and charges for power module 24.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (8)
1. An unmanned aerial vehicle tracking system which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and a target identification mark, wherein a first GPS positioning module (12), a first wireless communication module (15), an image acquisition module (13), an image identification module (14), a processor (11) and a flight controller (19) are arranged on the unmanned aerial vehicle body (1), the processor (11) is connected with the flight controller (19), the first GPS positioning module (12), the first wireless communication module (15) and the image identification module (14) are all connected with the processor (11), and the image acquisition module (13) is connected with the image identification module (14);
the target identification mark is arranged on a target to be tracked, the target identification mark comprises a mark body (2), and a second GPS positioning module (22) and a second wireless communication module (21) which are arranged in the mark body (2), the second GPS positioning module (22) is connected with the second wireless communication module (21), and the first wireless communication module (15) is in communication connection with the second wireless communication module (21) so as to realize the connection of the second GPS positioning module (22) and the processor (11);
the first GPS positioning module (12) is used for positioning the unmanned aerial vehicle body (1) and outputting a first positioning signal;
the second GPS positioning module (22) is used for positioning the identification body (2) and outputting a second positioning signal;
the second wireless communication module (21) receives the second positioning signal and transmits the second positioning signal to the processor (11) through the first wireless communication module (15);
the image acquisition module (13) is used for acquiring the image information of the target to be tracked;
the image recognition module (14) is used for receiving the image information, recognizing the image information, outputting first recognition information when a target recognition mark is recognized, and outputting second recognition information when the target recognition mark is not recognized;
the processor (11) receives the first positioning signal, the second positioning signal and the first identification information and outputs a first control signal;
and the flight controller (19) receives the first control signal and tracks the target to be tracked.
2. The drone tracking system of claim 1, wherein: be provided with supersonic generator (23) in sign body (2), supersonic generator (23) are connected second wireless communication module (21), be provided with ultrasonic receiver (16) on unmanned aerial vehicle body (1), ultrasonic receiver (16) are connected treater (11).
3. The drone tracking system of claim 1, wherein: still include infrared scanning device (17), infrared scanning device (17) set up on unmanned aerial vehicle body (1), infrared scanning device (17) are connected treater (11), infrared scanning device (17) are used for detecting when the barrier appears in unmanned aerial vehicle the place ahead, output barrier detected signal, treater (11) are received barrier detected signal exports third control signal.
4. The drone tracking system of claim 1, wherein: still be provided with phonographic recorder (18) on unmanned aerial vehicle body (1), phonographic recorder (18) with processor (11) are connected, phonographic recorder (18) are used for acquireing the pronunciation of tracking target input, and processor (11) generate fourth control signal according to the pronunciation.
5. The drone tracking system of claim 1, wherein: the image acquisition module (13) is a camera.
6. The unmanned aerial vehicle tracking system of any of claims 1-4, wherein: the processor (11) is an ARM processor (11).
7. The drone tracking system of claim 2, wherein: a power supply module (24) is arranged in the identification body (2), and the power supply module (24) is respectively connected with the second GPS positioning module (22), the second wireless communication module (21) and the ultrasonic generator (23).
8. The drone tracking system of claim 7, wherein: the identification body (2) is provided with a USB interface (25), and the USB interface (25) is connected with the power supply module (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220482566.2U CN216817246U (en) | 2022-03-04 | 2022-03-04 | Unmanned aerial vehicle tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220482566.2U CN216817246U (en) | 2022-03-04 | 2022-03-04 | Unmanned aerial vehicle tracking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216817246U true CN216817246U (en) | 2022-06-24 |
Family
ID=82046260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220482566.2U Active CN216817246U (en) | 2022-03-04 | 2022-03-04 | Unmanned aerial vehicle tracking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216817246U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117979168A (en) * | 2024-04-01 | 2024-05-03 | 佳木斯大学 | Intelligent camera management system for aerobics competition video shooting |
-
2022
- 2022-03-04 CN CN202220482566.2U patent/CN216817246U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117979168A (en) * | 2024-04-01 | 2024-05-03 | 佳木斯大学 | Intelligent camera management system for aerobics competition video shooting |
| CN117979168B (en) * | 2024-04-01 | 2024-06-11 | 佳木斯大学 | Intelligent camera management system for aerobics competition video shooting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018210059A1 (en) | Method and apparatus for charging robot | |
| CN103699126B (en) | The guidance method of intelligent guide robot | |
| CN202409427U (en) | Portable intelligent electronic blind guide instrument | |
| CN105629971A (en) | Robot automatic charging system and control method therefor | |
| CN216817246U (en) | Unmanned aerial vehicle tracking system | |
| CN104953709A (en) | Intelligent patrol robot of transformer substation | |
| CN104367447A (en) | Auxiliary walking system and method | |
| CN204446522U (en) | Based on hyperacoustic intelligent blind-guiding device | |
| CN205459716U (en) | Blind system is led to intelligence based on ultrasonic ranging | |
| CN110211420A (en) | Judge current scene whether be parking lot method, system and computer readable storage medium | |
| CN110584962A (en) | Combined obstacle-detection intelligent blind-guiding system | |
| CN112731922A (en) | Unmanned aerial vehicle auxiliary intelligent vehicle driving method and system based on indoor positioning | |
| CN108399813B (en) | Robot-based learning tutoring method and system, robot and handwriting equipment | |
| CN108593213A (en) | The inspection of unmanned plane sub-terrain mines and odoriferous homing device | |
| CN110623820A (en) | Blind device is led to wearable intelligence | |
| CN114448114A (en) | Intelligent wireless power supply system based on mobile robot | |
| CN109240315A (en) | A kind of underwater automatic obstacle avoiding system and underwater barrier-avoiding method | |
| CN210078040U (en) | Intelligent blind guiding device | |
| KR101568853B1 (en) | Greenhouse environment measurement device of Self-moving type having an ultrasonic sensor on the side | |
| TWM591172U (en) | Precise stop control device for multi-rotor vehicle | |
| CN212539194U (en) | Device for collecting three-dimensional audio/video and motion gestures | |
| CN210072416U (en) | Intelligent following movement device | |
| CN208207609U (en) | A kind of following device and unmanned transport vehicle | |
| CN110974642A (en) | Multifunctional blind guiding system based on FPGA | |
| CN103720574A (en) | Intelligent guiding device with GPS positioning function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |