CN101667032A - Vision-based target tracking system using unmanned helicopter - Google Patents
Vision-based target tracking system using unmanned helicopter Download PDFInfo
- Publication number
- CN101667032A CN101667032A CN200810119586A CN200810119586A CN101667032A CN 101667032 A CN101667032 A CN 101667032A CN 200810119586 A CN200810119586 A CN 200810119586A CN 200810119586 A CN200810119586 A CN 200810119586A CN 101667032 A CN101667032 A CN 101667032A
- Authority
- CN
- China
- Prior art keywords
- target tracking
- helicopter
- tracking system
- vision
- unit
- 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.)
- Granted
Links
- 238000012545 processing Methods 0.000 claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 26
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 10
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
- 102000010029 Homer Scaffolding Proteins Human genes 0.000 description 5
- 108010077223 Homer Scaffolding Proteins Proteins 0.000 description 5
- 238000007667 floating Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Abstract
The invention relates to a vision-based target tracking system using an unmanned helicopter, which relates to intelligent control technology. The vision-based target tracking system using the unmannedhelicopter comprises the unmanned helicopter, a visual acquisition and processing unit, a central processing unit, a GPS unit and a gyroscope inertial navigation unit, wherein the unmanned helicopteris transformed from a remote-control helicopter Thunder Tiger 90 for a model aircraft competition, and can be switched between an automatic driving mode and a manual driving mode; the visual acquisition and processing unit consists of an ICETEK DM642-B embedded DSP board of realtime company; the central processing unit consists of an H9200F ARM board of Hengyi High-tech company; the GPS unit consists of a superstar receiver and an antenna which are produced by America; and the inertial navigation unit consists of a 3DM-GX1 of MicroStrain company. The vision-based target tracking system usingthe unmanned helicopter realizes the functions of vision navigation control and target tracking of the unmanned helicopter within a local scope.
Description
Technical field
The present invention relates to Based Intelligent Control and machine vision technique field, it is the target recognition and tracking system that is used for the unmanned rotary wing helicopter based on vision, can pass through vision, improve the ability that depopulated helicopter independent is executed the task, realize local intelligence flight, and realize tracking ground or aerial intended target.
Background technology
The present invention is based on two overall background technology: microminiature helicopter control technology and computer vision technique.Microminiature helicopter control technology is to utilize control theory and sensor technology to realize the autonomous flight of microminiature helicopter, and computer vision technique is to utilize imaging technique that target is discerned technology with measurement target position, motion state information.
A lot of researchs have been launched respectively around microminiature helicopter control technology and computer vision technique at present, but computer vision technique and microminiature helicopter control technology are integrated in the big system, realize unmanned plane autonomous classification target and the function of following the tracks of, the application that improves the intelligent level of depopulated helicopter does not also have at present.The invention solves the integrated of this two big technology, greatly improved the intelligent level of depopulated helicopter.
Summary of the invention
The objective of the invention is provides a kind of system that realizes vision track and local visual navigation for the microminiature helicopter, to realize the automatic driving control and the autonomous target following of microminiature helicopter, support freely switching between remote driving and automatic the driving, realize the Based Intelligent Control of microminiature helicopter.This system is applicable to the local visual navigation and tracking of various remote controlled model plane helicopters, realize the automatic target recognition and tracking of microminiature helicopter, giro, in the scope that artificial may command maybe can limit, the target of automatic identifying operation person's appointment, after vision system captures target, guarantee that ground or aerial target are within the field range of airborne camera, finish the task of autonomous tracking.
For achieving the above object, technical solution of the present invention provides a kind of target tracking system using unmanned helicopter based on vision, and it comprises ground control centre and airflight carrier two parts; The ground control centre comprises control computer, wireless communication module, manual controller, is connected for electrical equipment between control computer and the wireless communication module; The airflight carrier comprises depopulated helicopter, center processing unit, visual unit, GPS unit and gyroscope inertial navigation unit, wireless communication apparatus and electric battery, is electrically connected between the each several part;
Wherein, center processing unit comprises embedded computer system, is airborne control center; PGS receiver and aerodiscone antenna, the inertial navigation unit, the altitude gauge sensor, the data that reach the sensor device collection all enter into embedded Control in the heart, carry out data processing by control center, and realize self-navigation;
Be provided with a multichannel switching device shifter in the remote control circuit of depopulated helicopter, this switching device shifter can be realized switching between self-navigation and the manual drive by a passage of ground control computer or telepilot;
Visual unit is provided with camera and image processing apparatus, and image processing apparatus is connected with center processing unit electrical equipment;
Each parts is installed on the undercarriage of depopulated helicopter;
Connect for wireless telecommunications between above ground portion and the airflight carrier part, wireless telecommunications partly comprise the manual drive telepilot and the receiver of depopulated helicopter, the Radio Link that the wireless communication module that automated navigation system provides is set up, and wireless video transmission link.
Described Target Tracking System, the wireless communication module of its described ground control centre and the wireless telecommunications of manual controller are respectively on two frequency ranges, these two frequency ranges are not the frequency multiplication relation, and interference-free to guarantee the communication between the two, the communication frequency of wireless video link is 1.2G or 2.4G.
Described Target Tracking System, its described depopulated helicopter is to transform to form on existing RC Goblin basis, undercarriage changes homemade undercarriage into, has increased the height and the intensity of undercarriage, so that various electrical equipment, electronic installation are installed.
Described Target Tracking System, its described visual unit has image acquisition and processing capacity with after standard camera is connected, and by image processing algorithm, can obtain the locus of target image.
Described Target Tracking System, its described center processing unit is a central controller with ARM9.0, so that realize the function of Navigation Control, data acquisition, data processing and wireless telecommunications, and the image of camera collection is transferred back to ground control computer shows.
Described Target Tracking System, its described GPS unit comprises gps receiver and high-precision GPS antenna, locks at the same time under the situation of 4 above satellites, upgrades locator data with the speed of 1HZ.
Described Target Tracking System, its described inertial navigation unit combines three deflection rate gyroscopes, the three-dimensional accelerometer, three axis magnetometer under the motion state of three 360 degree, can provide the data of angle at Eulerian angle and matrix format.
Outstanding feature of the present invention is to utilize embedded computer system as airborne control center, carries out necessary electrical equipment and machine rebuilding on original remote control model helicopter, makes remote control model helicopter have the function of independent navigation flight, vision track.The machine rebuilding that carries out comprises: the original undercarriage of RC Goblin is removed, be replaced by the undercarriage that is fit to install homer.Electric equipment altering comprises: increased a multichannel switching device shifter in original remote control circuit, this switching device shifter can be realized switching between self-navigation and the manual drive by a passage of ground control computer or telepilot; On RC Goblin, multiple sensors equipment has been installed, comprise PGS receiver and aerodiscone antenna, inertial navigation set, the altitude gauge sensor, the data of these sensor device collections all enter into embedded Control in the heart, carry out data processing by control center, and realize self-navigation; On RC Goblin, the CCD camera has been installed and based on the visual processes plate of DSP, thereby has been realized the vision track and the vision guided navigation of helicopter.
System of the present invention can be applicable to the self-navigation needs of various remote controlled model plane helicopters.
Description of drawings
Fig. 1 (a), Fig. 1 (b) are depopulated helicopter vision navigation system synoptic diagram of the present invention; Wherein: Fig. 1 (a) is helicopter and airborne equipment; Fig. 1 (b) is a ground control station;
Fig. 2 is vision track of the present invention and target lock-on system architecture diagram.
Embodiment
See also Fig. 1 (a), Fig. 1 (b), be depopulated helicopter vision navigation system of the present invention, system of the present invention is made up of two parts: a part is helicopter and airborne equipment, referring to Fig. 1 (a); Another part is a ground control station, referring to Fig. 1 (b).Wherein, helicopter and airborne equipment comprise micro helicopter 1, device housings 2, undercarriage 3 flexibly connects 4, device tray 5, altitude gauge 6, embedded controller (comprising multi-way switch) 7, wireless communication module 8, GPS receiver 9, inertial navigation unit 10, electric battery 11, GPS receiving antenna 12, visual unit and wireless video sending module 13, camera and gyro locking device 14, wireless communication module 15; Ground control station comprises ground control computer 16, and terrestrial operation person 17, model copter telepilot 18, wireless video receiver module 19, video conversion module 20.
In helicopter and airborne equipment, the undercarriage 3 of microminiature helicopter 1 is special device, and size is bigger than original undercarriage, so that be fit to install airborne homer and VPU.Airborne homer and visual processes equipment comprise altitude gauge 6, embedded controller (ARM) 7, wireless communication module 8, GPS receiver 9 and gps antenna 12, inertial navigation unit 10, VPU 13, and the electric battery 11 that electric energy is provided for these equipment.Wherein altitude gauge 6, embedded controller (ARM) 7, wireless communication module 8, GPS receiver 9, inertial navigation unit 10, electric battery 11, VPU 13 are installed concentratedly in the shell 2 of an aluminum, and shell 2 plays the effect of protection internal unit when being subjected to external impacts.Undercarriage 3 is connected with helicopter 1 by fixed screw, and the undercarriage bottom has a device tray 5, is used to support Airplane Navigation Equipment.Pallet 5 flexibly connects on 4 set collars that are connected on the undercarriage 3 by four, flexibly connects 4 for rubber strip, and purpose is to reduce high-frequency vibration in the helicopter flight process to the influence of homer.Altitude gauge 6, wireless communication module 8, GPS receiver 9 and inertial navigation unit 10 are connected with embedded controller (ARM9) 7 by serial line interface respectively, and electric battery 11 is respectively the said equipment power supply is provided.
Ground control station mainly is made up of ground control computer 16, wireless communication module 15, wireless video receiver module 19, video conversion module 20, model copter telepilot 18 and terrestrial operation person 17.Wherein wireless communication module 15 is connected with ground control computer 16 by serial ports, terrestrial operation person's direct control ground control computer 16 and telepilot 18, to switch the navigation and the drive manner of helicopter: remote manual control driving or self-navigation are driven, wireless video receiver module 19 links to each other with ground control computer 16 by video conversion module 20, ground control computer 16 is a notebook computer, the video of the camera collection of airborne camera and gyro locking device 14 is input in the notebook computer, for the operator of land station 17 monitoring.
Principle of work of the present invention:
When using system of the present invention to carry out the helicopter self-navigation, at first, start ground control computer and airborne guider by terrestrial operation person, the communication of setting up wireless communication module connects, airborne embedded controller is gathered altitude gauge, GPS, the data of inertial navigation set make GPS lock 4 satellites at least.With the longitude and latitude of Current GPS initial value as the inertial navigation unit.Keyboard and the man-machine interface of operator by ground control computer then is set at the remote manual control drive manner with the drive manner of helicopter, and the manual drive that uses a teleswitch model copter starts the normal flight state that also enters.In the remote manual control driving procedure, airborne homer is noted the flight path and the attitude of helicopter incessantly, and by wireless communication module data is sent in the ground control computer.Next, the operator can switch to automatic navigation mode by the keyboard of ground control computer, and airborne navigator enters the self-navigation control mode.This moment, embedded controller was monitored the instruction of land station on one side, be that helicopter is in floating state on one side, after receiving the given impact point of ground control station, embedded controller is a starting point with the position and the attitude of current helicopter, with the impact point that receives is terminal point, cook up the direction of motion and the speed of helicopter by calculating, and control helicopter arrival impact point.Helicopter arrives after the impact point, enters floating state, waits for the instruction of land station.
When using system of the present invention to carry out the helicopter vision track, at first be that helicopter is in the armed state of hovering, send out the order of vision track then to helicopter by land station, VPU starts in the system at this moment, whether in the visual field of airborne video camera have interested target occur, if do not occur, helicopter keeps floating state if monitoring, if target occurs, helicopter will be followed target travel.In the helicopter tracking target, the image of airborne camera acquisition is sent back to land station by wireless channel, for terrestrial operation personnel monitoring.
In the present embodiment, the thunder tiger 90 type fuel blend helicopters that remote control model helicopter has adopted the U.S. to produce, telepilot is 9 passages, frequency setting is 27MHZ, remote control distance is 1500 meters of radiuses, GPS equipment is that the U.S. produces superstar receiver and aerodiscone antenna, embedded system has been selected the H9200F ARM plate based on the perseverance chin or cheek Gao Ke of ARM9 series A T91RM9200 chip for use, the inertial guidance unit is the compound inertial navigation of 3DM-GX1 unit, vision processing system adopts the ICETEK DM642-B DSP embedded plate based on the realtime company of TI DM642 dsp processor.Ground control computer is an IBM-51R series notebook computer, and wireless communication module is SRWF 506,2000 meters of its communication distances, frequency 430MHZ, 0.5 watt of power, 5 volts of voltages.The wireless video module is the wireless image-sound expert of Bai Tong company, uses the 1.2GHZ frequency range, 12 volts of voltages, power 400 milliwatts.The on-board batteries group has been selected 2 groups of lithium batteries [wherein wireless module and camera use 12V, and DSP and ARM system are 5V] for use.
Use system of the present invention, adopt the configuration that realizes example, verified the validity of system of the present invention by experiment.
The course of work of system is as follows among the present invention: at first by the operator model copter being started and uses a teleswitch is that helicopter is in normal smooth flight state, then by the switching push button on ground control computer or the telepilot, control mode is switched to the independent navigation state, this moment, helicopter was the hovering state, airborne embedded Control center connects the positional information that GPS gathers in the ground control computer of road transmission by wireless telecommunications, and is presented on the display.This moment, the operator can import the coordinate position of impact point and the movement velocity of expectation by ground control computer, helicopter will be with current location as starting point, speed with operator's input is moved to impact point along straight path, arrives impact point and still is in floating state afterwards.Start visual unit then, if there is interested target to appear in the visual field of airborne video camera, helicopter moves with regard to tracking target, if there is not interested target to appear in the visual field of airborne video camera, helicopter still keeps floating state.
Claims (7)
1, a kind of target tracking system using unmanned helicopter based on vision is characterized in that: comprise ground control centre and airflight carrier two parts; The ground control centre comprises control computer, wireless communication module, manual controller, is connected for electrical equipment between control computer and the wireless communication module; The airflight carrier comprises depopulated helicopter, center processing unit, visual unit, GPS unit and gyroscope inertial navigation unit, wireless communication apparatus and electric battery, is electrically connected between the each several part;
Wherein, center processing unit comprises embedded computer system, is airborne control center; PGS receiver and aerodiscone antenna, the inertial navigation unit, the altitude gauge sensor, the data that reach the sensor device collection all enter into embedded Control in the heart, carry out data processing by control center, and realize self-navigation;
Be provided with a multichannel switching device shifter in the remote control circuit of depopulated helicopter, this switching device shifter can be realized switching between self-navigation and the manual drive by a passage of ground control computer or telepilot;
Visual unit is provided with camera and image processing apparatus, and image processing apparatus is connected with center processing unit electrical equipment;
Each parts is installed on the undercarriage of depopulated helicopter;
Connect for wireless telecommunications between above ground portion and the airflight carrier part, wireless telecommunications partly comprise the manual drive telepilot and the receiver of depopulated helicopter, the Radio Link that the wireless communication module that automated navigation system provides is set up, and wireless video transmission link.
2, Target Tracking System as claimed in claim 1, it is characterized in that, the wireless communication module of described ground control centre and the wireless telecommunications of manual controller are respectively on two frequency ranges, these two frequency ranges are not the frequency multiplication relation, interference-free to guarantee the communication between the two, the communication frequency of wireless video link is 1.2G or 2.4G.
3, Target Tracking System as claimed in claim 1 is characterized in that, described depopulated helicopter, be on existing RC Goblin basis, to transform to form, undercarriage changes homemade undercarriage into, has increased the height and the intensity of undercarriage, so that various electrical equipment, electronic installation are installed.
4, Target Tracking System as claimed in claim 1 is characterized in that, described visual unit has image acquisition and processing capacity with after standard camera is connected, and by image processing algorithm, can obtain the locus of target image.
5, Target Tracking System as claimed in claim 1, it is characterized in that, described center processing unit, with ARM9.0 is central controller, so that realize the function of Navigation Control, data acquisition, data processing and wireless telecommunications, and the image of camera collection is transferred back to ground control computer show.
6, Target Tracking System as claimed in claim 1 is characterized in that, described GPS unit comprises 6PS receiver and high precision 16 PS antenna, locks at the same time under the situation of 4 above satellites, upgrades locator data with the speed of 1HZ.
7, Target Tracking System as claimed in claim 1 is characterized in that, described inertial navigation unit, combine three deflection rate gyroscopes, three-dimensional accelerometer, three axis magnetometer, under the motion state of three 360 degree, can provide the data of angle at Eulerian angle and matrix format.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810119586A CN101667032B (en) | 2008-09-03 | 2008-09-03 | Vision-based target tracking system using unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810119586A CN101667032B (en) | 2008-09-03 | 2008-09-03 | Vision-based target tracking system using unmanned helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101667032A true CN101667032A (en) | 2010-03-10 |
| CN101667032B CN101667032B (en) | 2012-09-05 |
Family
ID=41803675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810119586A Expired - Fee Related CN101667032B (en) | 2008-09-03 | 2008-09-03 | Vision-based target tracking system using unmanned helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101667032B (en) |
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101866180A (en) * | 2010-06-23 | 2010-10-20 | 清华大学 | Flight control system |
| CN102156481A (en) * | 2011-01-24 | 2011-08-17 | 广州嘉崎智能科技有限公司 | Intelligent tracking control method and system for unmanned aircraft |
| CN102236918A (en) * | 2010-04-26 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| CN102360218A (en) * | 2011-10-14 | 2012-02-22 | 天津大学 | ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter |
| CN102520727A (en) * | 2011-12-31 | 2012-06-27 | 沈阳航天新光集团有限公司 | Reconnaissance system with unmanned plane |
| CN103185570A (en) * | 2011-12-27 | 2013-07-03 | 鸿富锦精密工业（深圳）有限公司 | Flight detection system |
| CN103543752A (en) * | 2013-10-09 | 2014-01-29 | 深圳市大疆创新科技有限公司 | telecontrol method and telecontrol system |
| CN103959035A (en) * | 2011-10-05 | 2014-07-30 | 西门子公司 | Method and system for positioning apparatus for monitoring parabolic reflector aerially |
| CN104035445A (en) * | 2014-05-21 | 2014-09-10 | 深圳市大疆创新科技有限公司 | Remote control device, control system and control method |
| CN104115195A (en) * | 2012-02-23 | 2014-10-22 | 皇家飞利浦有限公司 | Remote control device |
| CN104537898A (en) * | 2015-01-08 | 2015-04-22 | 西北工业大学 | Air-ground coordination unmanned aerial vehicle sensing and avoiding system and method |
| CN104777847A (en) * | 2014-01-13 | 2015-07-15 | 中南大学 | Unmanned aerial vehicle target tracking system based on machine vision and ultra-wideband positioning technology |
| CN104908938A (en) * | 2015-06-17 | 2015-09-16 | 中兴长天信息技术(北京)有限公司 | RFID quadrotor unmanned aerial vehicle system for hydrologic station polling |
| CN104965520A (en) * | 2015-06-17 | 2015-10-07 | 中兴长天信息技术(北京)有限公司 | RFID-based power line patrol-inspection unmanned aerial vehicle flight control system |
| CN105044672A (en) * | 2015-07-20 | 2015-11-11 | 天津大学 | Tracking and positioning system based on optical encoding and method |
| CN105157708A (en) * | 2015-10-10 | 2015-12-16 | 南京理工大学 | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar |
| CN105242684A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane aerial photographing system and method of photographing accompanying aircraft |
| CN105242685A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane flight accompanying aerial photographing system and method |
| CN105248308A (en) * | 2015-11-18 | 2016-01-20 | 谭圆圆 | Grazing system based on unmanned aerial vehicle and grazing method thereof |
| CN105404310A (en) * | 2015-11-27 | 2016-03-16 | 深圳一电科技有限公司 | Unmanned plane flying control method and unmanned plane flying control device |
| CN105425815A (en) * | 2015-11-27 | 2016-03-23 | 杨珊珊 | Intelligent pasture management system and method by using unmanned aerial vehicle |
| CN106054924A (en) * | 2016-07-06 | 2016-10-26 | 北京北方猎天科技有限公司 | Unmanned aerial vehicle accompanying method, unmanned aerial vehicle accompanying device and unmanned aerial vehicle accompanying system |
| CN107144281A (en) * | 2017-06-30 | 2017-09-08 | 飞智控（天津）科技有限公司 | Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision |
| CN107479568A (en) * | 2016-06-08 | 2017-12-15 | 松下电器（美国）知识产权公司 | Unmanned vehicle, control method and control program |
| JP2017222350A (en) * | 2017-07-24 | 2017-12-21 | みこらった株式会社 | Protection device and protection system |
| CN107804460A (en) * | 2017-10-30 | 2018-03-16 | 曾浩 | A kind of article dispensing device for ecommerce |
| CN107817807A (en) * | 2016-09-10 | 2018-03-20 | 长沙乐昌林电子科技有限公司 | A kind of design of unmanned vehicle |
| CN108762299A (en) * | 2018-05-30 | 2018-11-06 | 上海交通大学 | A kind of unmanned plane formation method and fleet system |
| CN108762291A (en) * | 2018-03-06 | 2018-11-06 | 西安大衡天成信息科技有限公司 | A kind of method and system finding and track black winged unmanned aerial vehicle remote controller |
| CN109002059A (en) * | 2017-06-06 | 2018-12-14 | 武汉小狮科技有限公司 | A kind of multi-rotor unmanned aerial vehicle object real-time tracking camera system and method |
| US10155584B2 (en) | 2012-11-15 | 2018-12-18 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| CN109521785A (en) * | 2018-12-29 | 2019-03-26 | 西安电子科技大学 | It is a kind of to clap Smart Rotor aerocraft system with oneself |
| CN109716256A (en) * | 2016-08-06 | 2019-05-03 | 深圳市大疆创新科技有限公司 | System and method for tracking target |
| US10331120B2 (en) | 2014-05-21 | 2019-06-25 | SZ DJI Technology Co., Ltd. | Remote control device, control system and method of controlling |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645740B (en) * | 2013-12-30 | 2016-02-17 | 中国科学院自动化研究所 | Based on the intelligent cruise robot of wireless charging odd number axle aircraft |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100432696C (en) * | 2006-06-27 | 2008-11-12 | 上海大学 | Low-level automatic tracking system of ground motion meter gauge based on control of bionic human eye |
| CN100567898C (en) * | 2007-01-16 | 2009-12-09 | 北京航空航天大学 | Pilotless plane landing navigation method and device thereof |
-
2008
- 2008-09-03 CN CN200810119586A patent/CN101667032B/en not_active Expired - Fee Related
Cited By (53)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102236918A (en) * | 2010-04-26 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| CN102236918B (en) * | 2010-04-26 | 2014-08-20 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| CN101866180A (en) * | 2010-06-23 | 2010-10-20 | 清华大学 | Flight control system |
| CN102156481A (en) * | 2011-01-24 | 2011-08-17 | 广州嘉崎智能科技有限公司 | Intelligent tracking control method and system for unmanned aircraft |
| CN102156481B (en) * | 2011-01-24 | 2013-06-05 | 广州嘉崎智能科技有限公司 | Intelligent tracking control method and system for unmanned aircraft |
| CN103959035A (en) * | 2011-10-05 | 2014-07-30 | 西门子公司 | Method and system for positioning apparatus for monitoring parabolic reflector aerially |
| US9766122B2 (en) | 2011-10-05 | 2017-09-19 | Siemens Aktiengesellschaft | Method and system for positioning an apparatus for monitoring a parabolic reflector aerially |
| CN102360218A (en) * | 2011-10-14 | 2012-02-22 | 天津大学 | ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter |
| CN103185570A (en) * | 2011-12-27 | 2013-07-03 | 鸿富锦精密工业（深圳）有限公司 | Flight detection system |
| CN102520727A (en) * | 2011-12-31 | 2012-06-27 | 沈阳航天新光集团有限公司 | Reconnaissance system with unmanned plane |
| CN102520727B (en) * | 2011-12-31 | 2014-11-26 | 沈阳航天新光集团有限公司 | Reconnaissance system with unmanned plane |
| CN104115195B (en) * | 2012-02-23 | 2018-06-01 | 皇家飞利浦有限公司 | Remote control apparatus |
| CN104115195A (en) * | 2012-02-23 | 2014-10-22 | 皇家飞利浦有限公司 | Remote control device |
| US10472056B2 (en) | 2012-11-15 | 2019-11-12 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US11338912B2 (en) | 2012-11-15 | 2022-05-24 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US10272994B2 (en) | 2012-11-15 | 2019-04-30 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US10196137B2 (en) | 2012-11-15 | 2019-02-05 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US10189562B2 (en) | 2012-11-15 | 2019-01-29 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US10155584B2 (en) | 2012-11-15 | 2018-12-18 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and operations thereof |
| US11841702B2 (en) | 2013-10-09 | 2023-12-12 | SZ DJI Technology Co., Ltd. | Remote control methods and systems |
| CN103543752A (en) * | 2013-10-09 | 2014-01-29 | 深圳市大疆创新科技有限公司 | telecontrol method and telecontrol system |
| CN104777847A (en) * | 2014-01-13 | 2015-07-15 | 中南大学 | Unmanned aerial vehicle target tracking system based on machine vision and ultra-wideband positioning technology |
| US10331120B2 (en) | 2014-05-21 | 2019-06-25 | SZ DJI Technology Co., Ltd. | Remote control device, control system and method of controlling |
| CN104035445A (en) * | 2014-05-21 | 2014-09-10 | 深圳市大疆创新科技有限公司 | Remote control device, control system and control method |
| CN104537898A (en) * | 2015-01-08 | 2015-04-22 | 西北工业大学 | Air-ground coordination unmanned aerial vehicle sensing and avoiding system and method |
| CN104537898B (en) * | 2015-01-08 | 2017-11-28 | 西北工业大学 | A kind of unmanned plane of air-ground coordination perceives avoidance system and its bypassing method |
| CN104965520A (en) * | 2015-06-17 | 2015-10-07 | 中兴长天信息技术(北京)有限公司 | RFID-based power line patrol-inspection unmanned aerial vehicle flight control system |
| CN104908938A (en) * | 2015-06-17 | 2015-09-16 | 中兴长天信息技术(北京)有限公司 | RFID quadrotor unmanned aerial vehicle system for hydrologic station polling |
| CN105044672A (en) * | 2015-07-20 | 2015-11-11 | 天津大学 | Tracking and positioning system based on optical encoding and method |
| CN105157708A (en) * | 2015-10-10 | 2015-12-16 | 南京理工大学 | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar |
| CN105242684A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane aerial photographing system and method of photographing accompanying aircraft |
| CN105242685A (en) * | 2015-10-15 | 2016-01-13 | 杨珊珊 | Unmanned plane flight accompanying aerial photographing system and method |
| CN105248308A (en) * | 2015-11-18 | 2016-01-20 | 谭圆圆 | Grazing system based on unmanned aerial vehicle and grazing method thereof |
| CN105425815B (en) * | 2015-11-27 | 2018-03-02 | 杨珊珊 | A kind of pasture intelligent management system and method using unmanned vehicle |
| CN105404310A (en) * | 2015-11-27 | 2016-03-16 | 深圳一电科技有限公司 | Unmanned plane flying control method and unmanned plane flying control device |
| CN105425815A (en) * | 2015-11-27 | 2016-03-23 | 杨珊珊 | Intelligent pasture management system and method by using unmanned aerial vehicle |
| CN107479568A (en) * | 2016-06-08 | 2017-12-15 | 松下电器（美国）知识产权公司 | Unmanned vehicle, control method and control program |
| CN106054924A (en) * | 2016-07-06 | 2016-10-26 | 北京北方猎天科技有限公司 | Unmanned aerial vehicle accompanying method, unmanned aerial vehicle accompanying device and unmanned aerial vehicle accompanying system |
| CN106054924B (en) * | 2016-07-06 | 2019-08-30 | 北京大为远达科技发展有限公司 | A kind of unmanned plane accompanying flying method, accompanying flying device and accompanying flying system |
| US11148804B2 (en) | 2016-08-06 | 2021-10-19 | SZ DJI Technology Co., Ltd. | System and method for tracking targets |
| US11906983B2 (en) | 2016-08-06 | 2024-02-20 | SZ DJI Technology Co., Ltd. | System and method for tracking targets |
| CN109716256A (en) * | 2016-08-06 | 2019-05-03 | 深圳市大疆创新科技有限公司 | System and method for tracking target |
| CN107817807A (en) * | 2016-09-10 | 2018-03-20 | 长沙乐昌林电子科技有限公司 | A kind of design of unmanned vehicle |
| CN109002059A (en) * | 2017-06-06 | 2018-12-14 | 武汉小狮科技有限公司 | A kind of multi-rotor unmanned aerial vehicle object real-time tracking camera system and method |
| CN107144281B (en) * | 2017-06-30 | 2023-09-12 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle indoor positioning system and positioning method based on cooperative targets and monocular vision |
| CN107144281A (en) * | 2017-06-30 | 2017-09-08 | 飞智控（天津）科技有限公司 | Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision |
| JP2017222350A (en) * | 2017-07-24 | 2017-12-21 | みこらった株式会社 | Protection device and protection system |
| CN107804460A (en) * | 2017-10-30 | 2018-03-16 | 曾浩 | A kind of article dispensing device for ecommerce |
| CN108762291A (en) * | 2018-03-06 | 2018-11-06 | 西安大衡天成信息科技有限公司 | A kind of method and system finding and track black winged unmanned aerial vehicle remote controller |
| CN108762299B (en) * | 2018-05-30 | 2020-04-24 | 上海交通大学 | Unmanned aerial vehicle formation method and formation system |
| CN108762299A (en) * | 2018-05-30 | 2018-11-06 | 上海交通大学 | A kind of unmanned plane formation method and fleet system |
| CN109521785A (en) * | 2018-12-29 | 2019-03-26 | 西安电子科技大学 | It is a kind of to clap Smart Rotor aerocraft system with oneself |
| CN109521785B (en) * | 2018-12-29 | 2021-07-27 | 西安电子科技大学 | Intelligent rotor craft system capable of being shot with oneself |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101667032B (en) | 2012-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101667032B (en) | Vision-based target tracking system using unmanned helicopter | |
| US11407526B2 (en) | Systems and methods for UAV docking | |
| CN101382426A (en) | Automatic navigation system for unmanned helicopter | |
| JP5171881B2 (en) | Method for supporting landing of unmanned air vehicle and unmanned air vehicle | |
| CN106068592B (en) | Unmanned aerial vehicle battery replacement system and method | |
| Huh et al. | A vision-based automatic landing method for fixed-wing UAVs | |
| CN105793792A (en) | Flight auxiliary method and system of unmanned aerial vehicle, unmanned aerial vehicle, and mobile terminal | |
| CN106301623A (en) | The interference source detection identification method of a kind of spectrum monitoring unmanned plane and device thereof | |
| CN104808675A (en) | Intelligent terminal-based somatosensory flight operation and control system and terminal equipment | |
| CN104316900B (en) | Aerial radio monitoring intelligent robot | |
| CN110989673A (en) | Autonomous tracking take-off and landing system of rotor unmanned aerial vehicle mobile platform and control method | |
| CN104316901B (en) | For the aerial intelligent robot of radio monitoring | |
| KR102088989B1 (en) | Method and apparatus for landing guidance of unmanned aerial vehicle | |
| CN104316899B (en) | A kind of on-air radio pyroelectric monitor intelligent robot | |
| CN108803633A (en) | A kind of unmanned plane low latitude monitoring system based on mobile communications network | |
| CN107329160A (en) | A kind of unmanned plane antenna direction tracing system positioned based on the Big Dipper | |
| CN110134133A (en) | A kind of more rotor automatic control UAV system | |
| CN203012513U (en) | Wireless model airplane control system | |
| CN204203456U (en) | For the aerial intelligent robot of radio monitoring | |
| CN209543144U (en) | A kind of unmanned plane makes a return voyage system automatically | |
| CN208459852U (en) | A kind of unmanned aerial vehicle control system | |
| CN204422744U (en) | A kind of on-air radio pyroelectric monitor intelligent robot | |
| Ostler et al. | MissionLab: A Next Generation Mission Technology Research Platform Based on a Very Light Aircraft | |
| CN106970554A (en) | Industrial gasses are discharged with the UAS for the law enforcement that exercises supervision | |
| CN210072405U (en) | Unmanned aerial vehicle cooperative control verification platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SHENZHEN ZHONGCHUANG FUTURE TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Effective date: 20150212 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100080 HAIDIAN, BEIJING TO: 518172 SHENZHEN, GUANGDONG PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150212 Address after: Longgang District of Shenzhen City, Guangdong province 518172 city street in the center city Huangge Road No. 441 Longgang Tian An Digital Innovation Park plant No. three Patentee after: SHENZHEN ZHONGCHUANG FUTURE TECHNOLOGY CO., LTD. Address before: 100080 Zhongguancun East Road, Beijing, No. 95, No. Patentee before: Institute of Automation, Chinese Academy of Sciences |
|
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 518172 706/707 room B, 2 Shenzhen Bay science and technology ecological garden, Shenzhen, Guangdong, Nanshan District, China Patentee after: Shenzhen Feng Cheng Powerise Technology Co. Ltd. Address before: Longgang District of Shenzhen City, Guangdong province 518172 city street in the center city Huangge Road No. 441 Longgang Tian An Digital Innovation Park plant No. three Patentee before: SHENZHEN ZHONGCHUANG FUTURE TECHNOLOGY CO., LTD. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120905 Termination date: 20180903 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |