CN108366208A - A kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search - Google Patents
A kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search Download PDFInfo
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- CN108366208A CN108366208A CN201810268923.3A CN201810268923A CN108366208A CN 108366208 A CN108366208 A CN 108366208A CN 201810268923 A CN201810268923 A CN 201810268923A CN 108366208 A CN108366208 A CN 108366208A
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- unmanned plane
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- disaster area
- video
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Alarm Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a kind of unmanned plane stereoscopic vision servomechanisms applied to disaster area search, including unmanned plane compliant platform, telecommunication system and local control platform, this system realizes that head pose is transferred to unmanned plane by local operator with base station, control camera follows movement, and the audio video transmission on unmanned plane is returned to local video glass and bluetooth headset, it is filtered in combination with to audio and video, compress scheduling algorithm, such wireless control distance is extended, stability improves, it is difficult to reach suitable for personnel, the disaster area of poor signal scans for the work such as rescue, reinforce the sense of depth and three-dimensional sense to scene, convenient for completing some special tasks more demanding to live view.
Description
Technical field
The invention belongs to technical field of electromechanical control, and in particular to one kind being applied to disaster area under remote adverse circumstances and searches for
Unmanned plane stereoscopic vision servomechanism.
Background technology
Unmanned plane is the not manned vehicle manipulated using radio robot and the presetting apparatus provided for oneself.With load
People's aircraft is compared, it has many advantages, such as that small, low cost, easy to use, mobility is good.These advantages protruded promote nothing
Man-machine to be widely used in civil and military field, civilian aspect is mostly used for taking photo by plane, and military aspect is applied using more more
It is difficult under scene reach, that environment is more dangerous in personnel, such as the leakage of the people search in disaster area, dangerous material are investigated.So
And the existing technology applied unmanned plane in disaster area operation, the image for being also limited only to plane are shown, for dangerous disaster area
In special circumstances, shortage personnel are to depth perception sense and the sense of reality being personally on the scene.
Application No. is a kind of wireless head movement design of follow-up system method of 201610581526.2 disclosure of the invention, profits
With the method for gyro+earth magnetism+acceleration transducer, coordinate system is established by object of reference of ground, flexibly analyzes head relative to ground
The athletic posture in face.In addition to this, a kind of wireless head movement design of follow-up system system, including user's head equipment are provided
With aircraft end equipment, the user's head equipment includes video glass, figure transmitting/receiving module, master control borad, transmitter and sensor
Detection plate, the aircraft end equipment include receiver, holder, figure biography transmitting module and camera.The invention enables operators can
It, can Accurate Analysis operator head phase to realize the analysis to operator's head movement posture by wearing user's head equipment
For the athletic posture on ground, operator can realize that manipulation unmanned plane during flying and target data are adopted by wearing head device
Collection.
But there are still following two points deficiencies for existing technology：
1. unmanned plane is applied in dangerous disaster area, signal transmission distance is closer, and cannot be satisfied can not for personnel
Needs of the remote districts of arrival for signal transmission.
2. unmanned plane is applied in the disaster area of environment complexity, more, the image and audio that unmanned plane detects is interfered
Unstable, easily packet loss is transmitted, the data of transmission also have hysteresis quality.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of unmanned plane applied to disaster area search is three-dimensional
Vision servomechanism wears VR glasses and bluetooth headset by operating personnel and obtains disaster area scene audio and video in real time, head is used in combination
Motion attitude control unmanned plane camera moves synchronously, while the signal of disaster area long distance is realized using wireless bridge and base station
Transmission.
System of the present invention includes unmanned plane compliant platform, telecommunication system and local manipulation platform；
The unmanned plane compliant platform is mounted on unmanned plane, which includes camera, double freedom platform, sound pick-up
And main control module；Camera, which is mounted on double freedom platform, to carry out video information acquisition and is transmitted to main control module, sound pick-up
Acquisition audio-frequency information is equally transmitted to main control module；Main control module is connected and controls it with double freedom platform；
Telecommunication system includes unmanned plane radio receiving transmitting module, base station and local wireless transceiver module；Main control module with
Unmanned plane radio receiving transmitting module is wired to be connected；Unmanned plane radio receiving transmitting module is connected with base station by wireless technology, and base station leads to again
Wireless technology is crossed with local wireless transceiver module to be connected；
Local control platform includes VR video glasses, bluetooth headset, head pose acquisition module and host computer；Local wireless
For transceiver module by the data transmission to host computer received, host computer handles data, and it is existing to be reduced to high-definition
Field video and audio, video are projected in VR video glasses, in audio transmission to bluetooth headset；Head pose acquisition module is worn
It is worn over operating personnel head to be used for acquiring head pitch angle and horizontally rotate angle, angle information is passed in host computer
Reason；Head pose information is passed to local wireless transceiver module by host computer, and unmanned plane transceiver module is passed to by base station；Nobody
Head pose information is transmitted to main control module by machine transceiver module, and main control module carries out resolving processing, control and video camera to information
Connected double freedom platform so that camera follows movement in real time according to operating personnel's head rotation on unmanned plane.
Further, the degree of freedom in the double freedom platform is the x-axis and z-axis both direction in space coordinates,
The level of analogue head and pitching movement；The double freedom platform is by servos control.
Further, the main control module is made of single-chip minimum system with the system based on Linux environment exploitation.
Further, the base station is removable base station vehicle.
Further, the head pose acquisition module uses nine axis attitude detection modules, including three axis digital accelerations
Meter, three-axis gyroscope and three axis magnetoresistive sensor detection plates.
Further, compression algorithm is carried out to audio and video in the main control module, parameter coding is carried out to audio, to video
Carry out entropy coding.
Further, the unmanned plane and local wireless transceiver module use 5.8GHz wireless bridges.
Beneficial effects of the present invention are as follows：
1, coordinate the pattern of compression algorithm using base station, signal transmission distance is long, and stability is high, is difficult to suitable for personnel
It reaches, the disaster area of poor signal scans for the work such as rescue, some special timess more demanding to live view convenient for completion
Business.
2, the material used is lighter, and aircraft load is smaller, but anti-shudder performance is strong, independently developed host computer, interface letter
It is clean clear, it is easy to operation, even if apply disaster area etc. in emergency circumstances, fault rate is also smaller, and stability is strong.
3, have preferable real-time, extremely strong live sense of depth and three-dimensional sense are strong, it is similarly suitable apply amusement or other
On industrial equipment, application prospect is considerable.
Description of the drawings
Fig. 1 is the principle assumption diagram of present system；
Fig. 2 is the host computer figure of present system.
Drawing reference numeral：1- unmanned planes compliant platform, 2- telecommunication systems, the locals 3- control platform, 11- cameras, 12-
Double freedom platform, 13- sound pick-ups, 14- main control modules, 21- unmanned planes radio receiving transmitting module, the base stations 22-, the locals 23- nothing
Line transceiver module, 31- host computers, 32-VR video glasses, 33 bluetooth headsets, 34- head pose acquisition modules.
Specific implementation mode
Specific embodiments of the present invention are further described below in conjunction with the accompanying drawings, so that those skilled in the art is more preferable
Ground understands the present invention.
Fig. 1 is the principle assumption diagram of present system.As shown in Figure 1, present system include unmanned plane compliant platform 1,
Telecommunication system 2 and local control platform 3.
Wherein, unmanned plane compliant platform 1 includes camera 11, double freedom platform 12, sound pick-up 13 and master control molding again
Block 14.Camera 11 is located on double free tripod heads 12, is responsible for real-time follow-upshooting unmanned plane high-altitude live view, and picture is passed
Send main control module 14 back to.12 frame of double freedom platform is made by resin, and material is lighter, to the stability influence of unmanned plane during flying
It is smaller, it is internal there are two servos control camera, ensure that it can be in the two degree of freedom movements of X-axis and Z axis.In main control module
Linux system microcomputer receives the video and audio that camera 11 and sound pick-up 13 are sent back, while control single chip computer system
System is adjusted the deflection angle of steering engine.
Telecommunication system 2 includes unmanned plane radio receiving transmitting module 21, base station 22 and local wireless transceiver module 23.Base station
22 be the key point for supporting this system to realize the disaster area of distance farther out weaker applied to signal, it realizes unmanned plane is wireless
The signal transmitted in both directions of transceiver module 21 and local wireless transceiver module 23 ensures low packet loss ratio.Unmanned plane radio receiving transmitting module
21 and local wireless transceiver module 23 be all made of 5.8GHz wireless bridges.
Local control platform 3 is by 34 groups of host computer 31, VR video glasses 32, bluetooth headset 33 and head pose acquisition module
At.Host computer 31 receives the audio/video information that radio receiving transmitting module transmits, while picture is presented on host computer, also by picture
It projects in VR video glasses 32, sound is wirelessly passed in bluetooth headset 33, three axis tops in head pose acquisition module 34
Collected data are uploaded in host computer 31 and are carried out by spiral shell instrument, three axis magnetoresistive sensor detection plates and three axis digital accelerometers
Processing, finally into existing to 11 real-time servo antrol of unmanned generator terminal camera.
Fig. 2 is the host computer figure of present system.The upper picture is N39 ° 53 ' 54.71 " east of north latitude of unmanned plane shooting
" certain colleges and universities' overhead picture through E119 ° 31 ' 10.90.
The host computer interface is capable of the longitude and latitude and shooting time of real-time display unmanned plane position, controls sound and picture
The transmission in face.There is one in upper interface for band model behind head, which is designed as operating personnel by band after video glass,
It only sees that the picture in host computer interface is operated, is servo-actuated effect as the positive band model in the head for taking glasses, Ke Yifang
Just different operating personnel select to use.
Work step is as follows：
Step 1, the camera on unmanned plane transmit the picture taken and the collected disaster area live sound of sound pick-up
Into main control module, main control module is filtered, transmission data is transmitted and gives unmanned plane wireless receiving and dispatching mould by compression scheduling algorithm
Block；
Step 2, the unmanned plane transceiver module in telecommunication system, will be in unmanned plane compliant platforms in the form of wireless
Collected audio and video are sent to base station, then signal is transmitted to local wireless transceiver module by base station.
Step 3, for local wireless transceiver module by the data transmission to host computer received, host computer carries out data
The processing such as decompression, are reduced to high-definition live video and audio, video are projected in VR video glasses, audio transmission
Into bluetooth headset.
Step 4, head pose acquisition module are worn on operating personnel head, and operating personnel carry out head fortune as needed
Dynamic, head pose acquisition module acquires head pitch angle and horizontally rotates angle, and angle information is passed in host computer and is handled.
Head pose information is passed to local wireless transceiver module by step 5, host computer, and unmanned plane is passed to by base station
Transceiver module.
Head pose information is transmitted to main control module by step 6, unmanned plane transceiver module, and main control module solves information
Calculation is handled, and controls the double freedom platform being connected with video camera so that camera is according to operating personnel's head movement on unmanned plane
Follow movement in real time.
Using the steering engine that domestic operating voltage is 6V, reaction speed is 0.12s/60 ° in the double freedom platform of the present invention,
Small volume, servos control signal period are the pulse-width signal of 20Ms, and X-direction steering engine pulse width is 0.5-2.5ms,
The position of corresponding steering wheel is 0-180 degree, is changed linearly, and Z-direction steering engine pulse width corresponds to steering wheel position from 0.5-1.5ms
It is set to 0-90 degree.
The base station of the present invention uses the base station vehicle of conveniently moving, base station to play the role of signal filtering, amplification, base station
Addition so that the transmission range of signal is extended for 10-20km by 2km-3km, to having inconvenient traffic or situation danger makes personnel
The disaster area that can not be reached scans for detection and provides convenience.
In the main control module of the present invention microcontroller that uses be the performance based on ARM Cortex-M3 kernels it is high, it is at low cost,
STM32 series monolithics low in energy consumption.Separately it is furnished with a microcomputer based on linux system in main control module, carries
64 four core processors of 1.2GHz, powerful, operation is smooth, ensure that the stability of audio video transmission, real-time.
The present invention uses parameter coding mode for audio, and according to the stroke mechanism of sound, construction sound generates model, should
For model with the pronunciation channel of certain precision analog speaker, receiving terminal is restored according to the model generates synthesis voice.For regarding
Frequency uses entropy coding, is the compressed bit stream for transmitting a series of ordered series of numbers element transformations for indicating video.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
It encloses and is defined, under the premise of not departing from design spirit of the present invention, technical side of the those of ordinary skill in the art to the present invention
The various modifications and improvement that case is made should all be fallen into the protection domain of claims of the present invention determination.
Claims (7)
1. a kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search, it is characterised in that：The system comprises nobody
Machine compliant platform, telecommunication system and local manipulation platform；
The unmanned plane compliant platform is mounted on unmanned plane, which includes camera, double freedom platform, sound pick-up and master
Control module；Camera, which is mounted on double freedom platform, to carry out video information acquisition and is transmitted to main control module, sound pick-up acquisition
Audio-frequency information is equally transmitted to main control module；Main control module is connected and controls it with double freedom platform；
Telecommunication system includes unmanned plane radio receiving transmitting module, base station and local wireless transceiver module；Main control module and nobody
Machine radio receiving transmitting module is wired to be connected；Unmanned plane radio receiving transmitting module is connected with base station by wireless technology, and base station passes through nothing again
Line technology is connected with local wireless transceiver module；
Local control platform includes VR video glasses, bluetooth headset, head pose acquisition module and host computer；Local wireless is received and dispatched
For module by the data transmission to host computer received, host computer handles data, is reduced to high-definition scene and regards
Frequency and audio, video are projected in VR video glasses, in audio transmission to bluetooth headset；Head pose acquisition module is worn on
Operating personnel head is used for acquiring head pitch angle and horizontally rotates angle, and angle information is passed in host computer and is handled；On
Head pose information is passed to local wireless transceiver module by position machine, and unmanned plane transceiver module is passed to by base station；Unmanned plane is received
Head pose information is transmitted to main control module by hair module, and main control module carries out resolving processing to information, and control is connected with video camera
Double freedom platform so that camera follows movement in real time according to operating personnel's head rotation on unmanned plane.
2. a kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search as described in claim 1, it is characterised in that：
Degree of freedom in the double freedom platform is x-axis and z-axis both direction in space coordinates, the level of analogue head and is bowed
Face upward movement；The double freedom platform is by servos control.
3. a kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search as described in claim 1, it is characterised in that：
System of the main control module by single-chip minimum system and based on Linux environment exploitation forms.
4. a kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search as described in claim 1, it is characterised in that：
The base station is removable base station vehicle.
5. a kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search as described in claim 1, it is characterised in that：
The head pose acquisition module uses nine axis attitude detection modules, including three axis digital accelerometers, three-axis gyroscope and three
Axis magnetoresistive sensor detection plate.
6. a kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search as described in claim 1, it is characterised in that：
Compression algorithm is carried out to audio and video in the main control module, parameter coding is carried out to audio, entropy coding is carried out to video.
7. a kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search as described in claim 1, it is characterised in that：
The unmanned plane and local wireless transceiver module use 5.8GHz wireless bridges.
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| CN201810268923.3A CN108366208A (en) | 2018-03-29 | 2018-03-29 | A kind of unmanned plane stereoscopic vision servomechanism applied to disaster area search |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110083241A (en) * | 2019-04-26 | 2019-08-02 | 南京邮电大学 | A kind of mapping mechanism for the control unmanned plane movement of the VR helmet |
| CN111314616A (en) * | 2020-03-16 | 2020-06-19 | 维沃移动通信有限公司 | Image acquisition method, electronic device, medium and wearable device |
| CN114051099A (en) * | 2022-01-13 | 2022-02-15 | 北京蔚领时代科技有限公司 | Unmanned aerial vehicle module VR system and method for realizing VR through unmanned aerial vehicle module |
| CN114449156A (en) * | 2020-11-04 | 2022-05-06 | 北京小米移动软件有限公司 | Camera control method and device, electronic equipment and storage medium |
| CN115076561A (en) * | 2022-05-18 | 2022-09-20 | 燕山大学 | Tele-immersion type binocular holder follow-up system and method applied to engineering machinery |
| CN116184510A (en) * | 2023-04-26 | 2023-05-30 | 军事科学院系统工程研究院网络信息研究所 | Search and rescue method based on quantum magnetometer |
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