CN109814603A - A kind of tracing system and unmanned plane applied to unmanned plane - Google Patents
A kind of tracing system and unmanned plane applied to unmanned plane Download PDFInfo
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- CN109814603A CN109814603A CN201711175361.XA CN201711175361A CN109814603A CN 109814603 A CN109814603 A CN 109814603A CN 201711175361 A CN201711175361 A CN 201711175361A CN 109814603 A CN109814603 A CN 109814603A
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Abstract
The present invention is suitable for air vehicle technique field, discloses a kind of tracing system and unmanned plane applied to unmanned plane, including tracking camera, control module, motor module and transmission mechanism；Tracking camera is connect with control module, and control module is connect with motor module, and motor module is connect with transmission mechanism, and tracking camera is connect with transmission mechanism；Track the tracking image that camera obtains tracking target, and tracking image is sent to control module, control module receives tracking image, parsing obtains position data of the tracking target in tracking image, control signal is generated according to position data and sends control signals to motor module, motor module is according to control signal control transmission mechanism movement, and transmission mechanism drives tracking camera mobile until tracking target is located at the designated position of tracking image.The embodiment of the present invention realizes the function that user gives directions tracking, saves manpower costs, improves the accuracy of unmanned plane target tracking, optimizes the display effect of tracking target.
Description
Technical field
The invention belongs to air vehicle technique field more particularly to a kind of tracing systems and unmanned plane applied to unmanned plane.
Background technique
In recent years, unmanned air vehicle technique intimately rose, and equipment matched with unmanned plane also occurs one after another.Holder is to install, is solid
The support equipment for determining video camera is divided into fixation and two kinds of electric platform, and fixed holder is adapted to monitor for the little situation of range,
It can adjust the level of video camera and the angle of pitching after installing video camera on fixed holder, reach after best operating attitude only
Lock adjustment mechanism can, electric platform receives signal from controller by motor and runs positioning.It is controlling
Under the action of signal, object can be traced and monitored under the manipulation of monitoring center operator on duty.
Currently, the control rocking bar that unmanned plane tracking target mainly passes through manually control unmanned plane is chased after
Track, the effect for not only taking up manpower and tracking display in this way is bad, largely reduced the effect of unmanned plane practical application.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of tracing systems and unmanned plane applied to unmanned plane, it is intended to solve
Certainly the tracing system tracking effect of unmanned plane is poor, the problem of taking time and effort.
The embodiment of the present invention in a first aspect, provide a kind of tracing system applied to unmanned plane, including tracking camera,
Control module, motor module and transmission mechanism.
Tracking camera is connect with control module, and control module is connect with motor module, and motor module is connect with transmission mechanism,
Tracking camera is connect with transmission mechanism.
It tracks camera and obtains the tracking image of tracking target, and tracking image is sent to control module, control module connects
Tracking image is received, and tracking image is parsed to obtain position data of the tracking target in tracking image, according to positional number
According to generating control signal and sending control signals to motor module, motor module is dynamic according to control signal control transmission mechanism
Make, transmission mechanism drives tracking camera mobile until tracking target is located at the designated position of tracking image.
In one embodiment, control module includes camera control unit and posture control unit, tracks camera and camera
Control unit connection, camera control unit are connect with posture control unit, and posture control unit is connect with motor module.
Camera control unit receives tracking image, is parsed to obtain tracking target in tracking image to tracking image
Position data, and position data is sent to posture control unit, posture control unit receives position data, according to position data
With default designated position condition, control signal is generated.
In one embodiment, tracing system further includes inertia sensing module；Tracking camera is connect with inertia sensing module,
Inertia sensing module is connect with posture control unit.
Inertia sensing module obtains the current pose data of tracking camera, and current pose data are sent to gesture stability
Unit, for posture control unit according to current pose data, position data and default designated position condition, generating includes movement routine
The control signal of information.
In one embodiment, control signal includes pitch control signal, and the motor module includes pitching motor driving
Unit；Control module is connect with pitching motor driving unit, and pitching motor driving unit is connect with transmission mechanism.
Control module sends pitch control signal and gives pitching motor driving unit, and pitching motor driving unit is according to pitching control
Signal control transmission mechanism processed drives tracking camera to move along the first preset path.
In one embodiment, control signal further includes Heading control signal, and motor module further includes course motor driven
Unit, control module are connect with course electric-motor drive unit, and course electric-motor drive unit is connect with transmission mechanism.
Control module sends Heading control signal and gives course electric-motor drive unit, and course electric-motor drive unit controls driver
Structure drives tracking camera to move along the second preset path, and the second preset path is vertical with the first preset path.
In one embodiment, control signal further includes control of sideward roll signal, and motor module further includes roll motor driven
Unit, control module are connect with roll electric-motor drive unit, and roll electric-motor drive unit is connect with transmission mechanism.
Control module sends control of sideward roll signal and gives roll electric-motor drive unit, and roll electric-motor drive unit controls driver
Structure drives tracking camera to move along third preset path, tracks camera by moving change focal length, third along third preset path
Preset path is vertical with the first preset path and the second preset path respectively.
In one embodiment, tracking camera is connect with control module by serial ports.
In one embodiment, control module is connect with motor module by CAN bus.
It in one embodiment, further include power module, power module and motor applied to the tracing system on unmanned plane
Module connection, power module provide electric energy for motor module.
The second aspect of the embodiment of the present invention provides a kind of unmanned plane, including aircraft, is equipped on aircraft above
Described in any item tracing systems.
The beneficial effect of the embodiment of the present invention compared with prior art is: the tracking of tracking target is obtained by tracking camera
Image, and tracking image is sent to control module, control module receives tracking image, and tracking image is parsed to obtain
Position data of the target in tracking image is tracked, control signal is generated according to position data and sends control signals to motor
Module, motor module are acted according to control signal control transmission mechanism, and transmission mechanism drives tracking camera mobile until tracking mesh
Mark is in the designated position of tracking image.The embodiment of the present invention realizes the function that user gives directions tracking, saves manpower costs,
The accuracy for improving unmanned plane target tracking optimizes the display effect of tracking target.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of the tracing system applied to unmanned plane provided by one embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of the tracing system applied to unmanned plane provided by one embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
A kind of tracing system applied to unmanned plane of one embodiment of the invention offer is shown with reference to Fig. 1, Fig. 1, is described in detail
It is as follows:
It in one embodiment, include tracking camera 110, control module applied to the tracing system 100 on unmanned plane
120, motor module 130 and transmission mechanism 140.
Tracking camera 110 is connect with control module 120, and control module 120 is connect with motor module 130, motor module 130
It is connect with transmission mechanism 140, tracking camera 110 is connect with transmission mechanism 140.
It tracks camera 110 and obtains the tracking image of tracking target, and tracking image is sent to control module 120, control
Module 120 receives tracking image, and is parsed to obtain position data of the tracking target in tracking image, root to tracking image
Control signal is generated according to position data and sends control signals to motor module 130, and motor module 130 is according to control signal control
Transmission mechanism 140 processed acts, and transmission mechanism 140 drives tracking camera 110 mobile until tracking target is located at the finger of tracking image
Positioning is set.
In the present embodiment, transmission mechanism 140 includes holder, and the camera on unmanned plane is used to shoot the image of tracking target
It returns in ground terminal, in the prior art, user manually controls the remote-control lever on terminal device usually to control nobody
Machine tracks target, this shows that tracking target from the significant position in real time in image, is unfavorable for user to tracking target
Observation.
In the present embodiment, the tracking image that tracking target is obtained by tracking camera 110, is sent to control for tracking image
Molding block 120, control module 120 extract the position data that target is tracked in tracking image, and the position data for tracking target can be with
For position coordinates of the tracking target in tracking image.
In the present embodiment, after control module 120 generates position data, according to default designated position condition and position data
Control signal is generated, wherein default designated position is the designated position for tracking target on tracking image, presets designated position item
Part is the coordinate range in tracking image for tracking target, to guarantee that tracking target whole can be shown in tracking image
Designated position.
In the present embodiment, control module 120 sends control signals to motor module 130 after generating control signal, electricity
Machine module 130 receives control signal and drives tracking camera 110 mobile according to control signal control transmission mechanism 140.
In the present embodiment, control signal connects to control transmission mechanism 140, transmission mechanism 140 and tracking camera 110
It connects, control signal control transmission mechanism 140 drives tracking camera 110 mobile, until tracking target is located at the specified of tracking image
Position.
From above-described embodiment it is found that the embodiment of the present invention cooperates holder to adjust by intelligent image processing technique, realize
User gives directions the function of tracking, saves manpower costs, improves the accuracy of unmanned plane target tracking, optimizes tracking target
Display effect.
As shown in Fig. 2, in one embodiment of the invention, control module 120 includes camera control unit 121 and posture
Control unit 122, tracking camera 110 are connect with camera control unit 121, camera control unit 121 and posture control unit 122
Connection, posture control unit 122 are connect with motor module 130.Camera control unit 121 receives tracking image, to tracking image
It is parsed to obtain position data of the tracking target in tracking image, and position data is sent to posture control unit 122,
Posture control unit 122 receives position data, according to position data and default designated position condition, generates control signal.
In the present embodiment, control module 120 includes camera control unit 121 and posture control unit 122, camera control
Unit 121, which is mainly used for that the tracking image that sends of camera 110 will be tracked, resolves to position data, is then sent to gesture stability list
Member 122, posture control unit 122 are generated according to position data and predeterminated position condition for controlling the tracking movement of camera 110
Control signal.
As shown in Fig. 2, in one embodiment, tracing system 100 further includes inertia sensing module 150；Track camera 110
It is connect with inertia sensing module 150, inertia sensing module 150 is connect with posture control unit 122.Inertia sensing module 150 obtains
The current pose data of tracking camera 110 are taken, and current pose data are sent to posture control unit 122, gesture stability list
Member 122 generates the control comprising movement routine information and believes according to current pose data, position data and default designated position condition
Number.
In the present embodiment, inertia sensing module 150 is used to obtain the current pose data of tracking camera 110, and will work as
Preceding attitude data is sent to posture control unit 122, position of the posture control unit 122 according to tracking target in tracking image
The current pose of data and tracking camera considers default designated position condition, so that generation includes the control of movement routine information
Signal.The embodiment of the present invention is by obtaining the current pose data of tracking camera 110, to accurately determine including movement routine
The control signal of information, shortens the reaction time of transmission mechanism 140, to make tracking, target is more quickly stable is tracking
The specified region of image.
As shown in Fig. 2, in one embodiment, control signal includes pitch control signal, and the motor module 130 includes
Pitching motor driving unit 131；Control module 120 is connect with pitching motor driving unit 131, pitching motor driving unit 131
It is connect with transmission mechanism 140.Control module 120 sends pitch control signal to pitching motor driving unit 131, and pitching motor drives
Moving cell 131 controls transmission mechanism 140 according to pitch control signal and tracking camera 110 is driven to move along the first preset path.
As shown in Fig. 2, in one embodiment, control signal further includes Heading control signal, and motor module 130 further includes
Course electric-motor drive unit 132, control module 120 are connect with course electric-motor drive unit 132, course electric-motor drive unit 132
It is connect with transmission mechanism 140.Control module 120 sends Heading control signal to course electric-motor drive unit 132, and course motor drives
Moving cell 132 controls transmission mechanism 140 and tracking camera 110 is driven to move along the second preset path, the second preset path and first
Preset path is vertical.
As shown in Fig. 2, in one embodiment, control signal further includes control of sideward roll signal, and motor module 130 further includes
Roll electric-motor drive unit 133, control module 120 are connect with roll electric-motor drive unit 133, roll electric-motor drive unit 133
It is connect with transmission mechanism 140.Control module 120 sends control of sideward roll signal to roll electric-motor drive unit 133, and roll motor drives
Moving cell 133 controls transmission mechanism 140 and tracking camera 110 is driven to move along third preset path, and tracking camera 110 passes through along the
Three preset paths are mobile to change focal length, and third preset path is vertical with the first preset path and the second preset path respectively.
In the present embodiment, motor module 130 includes three electric-motor drive units, is pitching motor driving unit respectively
131, course electric-motor drive unit 132 and roll electric-motor drive unit 133.What aforementioned control module 120 generated includes mobile road
The control signal of diameter information includes controlling the pitch control signal mobile in the first preset path of motor module 130, pre- second
If the mobile Heading control signal in path and the control of sideward roll signal mobile in third preset path.
Wherein, pitch control signal control 131 drive transmission device 140 of pitching motor driving unit drives tracking camera
110 is mobile in the first preset path, and in the present embodiment, the first preset path is to bow along the path that horizontal rotating shaft vertically rotates
Facing upward 131 drive transmission device 140 of electric-motor drive unit drives tracking camera 110 to carry out pitch rotation in vertical direction；Course
Controlling signal control 132 drive transmission device 140 of course electric-motor drive unit drives tracking camera 110 to move in the second preset path
Dynamic, in the present embodiment, the second preset path is along the path that vertical shaft horizontally rotates, and the second preset path is perpendicular to first
Preset path tracks camera 110 along the second preset path and carries out left and right horizontal rotation in the horizontal direction；Control of sideward roll signal control
133 drive transmission device 140 of roll electric-motor drive unit processed drives tracking camera 110 mobile in third preset path, in this reality
It applies in example, third preset path is respectively perpendicular to the first preset path and the second preset path, and roll electric-motor drive unit 133 drives
Dynamic transmission mechanism 140 drives tracking camera 110 to move along third preset path, is driven and is passed by roll electric-motor drive unit 133
Motivation structure 140 drives tracking camera 110, makes to track camera 110 and be moved forward and backward along third path to reach the function of changing focal length.
In one embodiment of the invention, transmission mechanism 140 includes pitching transmission parts, course transmission parts and roll
Transmission parts, pitching motor driving unit 131 are connected with pitch drive mechanism, and pitching transmission parts are connect with tracking camera 110,
Control module 120 sends pitch control signal control pitching motor driving unit 131 and pitching transmission parts is driven to drive tracking phase
Machine 110 is moved along the first preset path, and control module 120 sends Heading control signal control course electric-motor drive unit 132 and drives
Dynamic course transmission parts drive tracking camera 110 to move along the second preset path, and control module 120 sends the control of control of sideward roll signal
Roll electric-motor drive unit 133 processed drives roll transmission parts that tracking camera 110 is driven to move along third preset path.
From the present embodiment it is found that passing through the pitching motor driving unit 131 of motor module 130, course electric-motor drive unit
132 and 133 drive transmission device 140 of roll electric-motor drive unit drive tracking about 110 camera, left-right rotation and front and back shifting
It is dynamic, enable to track designated position i.e. central significant position that target is automatically locked in tracking image, to optimize
The tracking effect of tracing system, improves the accuracy of tracing system.
In one embodiment, tracking camera 110 is connect with control module 120 by serial ports.
In the present embodiment, tracking camera 110 is connect with control module 120 by serial ports, and serial ports is a kind of on computer
The agreement of very versatile equipment communication.Serial communication refers to peripheral hardware and intercomputer, passes through data signal line, ground wire, control
Line etc., step-by-step carry out a kind of communication modes of transmission data.The data line that this communication mode uses is few, in telecommunication
Communications cost can be saved.In the present embodiment, specifically, tracking camera 110 and control module 120 can be gone here and there by RS232
Port communications connection.
In one embodiment, control module 120 is connect with motor module 130 by CAN bus.
In the present embodiment, control module 120 is connect with motor module 130 by CAN bus, CAN bus
(Controller Area Network, controller LAN) is a kind of serial communication protocol bus for applying in real time, it
Twisted pair can be used to transmit signal, be one of most widely used fieldbus in the world.The robustness of CAN protocol makes it
Purposes extends to other automations and industrial application.The characteristic of CAN protocol includes the serial data communication of integrality, provides in real time
It supports, transmission rate is up to 1Mb/s while having 11 addressing and error detecing capabilities.Control module 120 and motor module
130 are connected by CAN bus, camera control unit 121, posture control unit 122 and the motor module that control module 120 includes
Company between 130 pitching motor driving unit 131, course electric-motor drive unit 132 and the roll electric-motor drive units 133 for including
It connects and all selects CAN bus connection, to improve the transmission speed of data in tracing system 100, improve the reaction of tracing system 100
Ability.
In one embodiment, tracing system 100 further includes power module, and power module is connect with motor module, power supply
Module provides electric energy for motor module.
The embodiment of the invention provides a kind of tracing system applied on unmanned plane, including tracking camera, transmission mechanism,
Control module and motor module.It tracks camera and obtains the tracking image of tracking target, and tracking image is sent to control module,
Control module receives tracking image, and tracking image is resolved to position data of the tracking target in tracking image, according to position
It sets data to generate control signal and send control signals to motor module, motor module controls transmission mechanism according to control signal
Movement, transmission mechanism drives tracking camera mobile until tracking target is located at the designated position of tracking image.The embodiment of the present invention
The function that user gives directions tracking is realized, manpower costs are saved, the accuracy of unmanned plane target tracking is improved, optimizes and chase after
The display effect of track target.
The second aspect of the embodiment of the present invention provides a kind of unmanned plane, including aircraft, is equipped on aircraft above
Described in any item tracing systems.
In one embodiment, aircraft, which is equipped with, flies control module and flight drive module, flies control module and flight driving
Module connection flies the flare maneuver that control module controls aircraft by flight drive module.The present embodiment is by flying control module control
The movement of aircraft processed is controlled the movement of tracking camera by control module, improves the tracking accuracy of tracing system.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of tracing system applied to unmanned plane, which is characterized in that including tracking camera, control module, motor module and
Transmission mechanism；
The tracking camera is connect with the control module, and the control module is connect with the motor module, the motor mould
Block is connect with the transmission mechanism, and the tracking camera is connect with the transmission mechanism；
The tracking camera obtains the tracking image of tracking target, and the tracking image is sent to the control module, institute
It states control module and receives the tracking image, and parsed to obtain the tracking target in the tracking to the tracking image
Position data in image generates control signal according to the position data and the control signal is sent to the motor mould
Block, the motor module control the transmission mechanism according to the control signal and act, and the transmission mechanism drives the tracking
Camera is mobile until the tracking target is located at the designated position of the tracking image.
2. a kind of tracing system applied to unmanned plane according to claim 1, which is characterized in that the control module packet
Include camera control unit and posture control unit；
The tracking camera is connect with the camera control unit, and the camera control unit and the posture control unit connect
It connects, the posture control unit is connect with the motor module；
The camera control unit is parsed to obtain the tracking target in the position of the tracking image to the tracking image
Data are set, and the position data is sent to the posture control unit, the posture control unit receives the positional number
According to according to the position data and default designated position condition, generation control signal.
3. a kind of tracing system applied to unmanned plane according to claim 2, which is characterized in that further include inertia sensing
Module；
The tracking camera is connect with the inertia sensing module, and the inertia sensing module and the posture control unit connect
It connects；
The inertia sensing module obtains the current pose data of the tracking camera, and the current pose data are sent to
The posture control unit, the posture control unit is according to the current pose data, the position data and described default
Designated position condition generates the control signal comprising movement routine information.
4. a kind of tracing system applied to unmanned plane according to claim 1, which is characterized in that the control signal packet
Pitch control signal is included, the motor module includes pitching motor driving unit；
The control module is connect with the pitching motor driving unit, the pitching motor driving unit and the transmission mechanism
Connection；
The control module sends the pitch control signal to the pitching motor driving unit, and the pitching motor driving is single
Member controls the transmission mechanism according to the pitch control signal and the tracking camera is driven to move along the first preset path.
5. a kind of tracing system applied to unmanned plane according to claim 4, which is characterized in that the control signal is also
Including Heading control signal, the motor module further includes course electric-motor drive unit；
The control module is connect with the course electric-motor drive unit, the course electric-motor drive unit and the transmission mechanism
Connection；
The control module sends the Heading control signal to the course electric-motor drive unit, the course motor driven list
Member controls the transmission mechanism and the tracking camera is driven to move along the second preset path, second preset path and described the
One preset path is vertical.
6. a kind of tracing system applied to unmanned plane according to claim 5, which is characterized in that the control signal is also
Including control of sideward roll signal, the motor module further includes roll electric-motor drive unit；
The control module is connect with the roll electric-motor drive unit, the roll electric-motor drive unit and the transmission mechanism
Connection；
The control module sends the control of sideward roll signal to the roll electric-motor drive unit, the roll motor driven list
Member controls the transmission mechanism and the tracking camera is driven to move along third preset path, and the tracking camera passes through pre- along third
If path is mobile to change focal length, the third preset path is vertical with the first preset path and the second preset path respectively.
7. a kind of tracing system applied to unmanned plane according to claim 1, which is characterized in that the tracking camera with
The control module is connected by serial ports.
8. a kind of tracing system applied to unmanned plane according to claim 1, which is characterized in that the control module with
The motor module is connected by CAN bus.
9. a kind of tracing system applied to unmanned plane according to claim 1, which is characterized in that also includes power supply mould
Block, the power module are connect with the motor module, and the power module provides electric energy for the motor module.
10. a kind of unmanned plane, which is characterized in that including aircraft, installation is just like any one of claim 1-9 on the aircraft
The tracing system.
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| CN201711175361.XA CN109814603A (en) | 2017-11-22 | 2017-11-22 | A kind of tracing system and unmanned plane applied to unmanned plane |
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| CN201711175361.XA CN109814603A (en) | 2017-11-22 | 2017-11-22 | A kind of tracing system and unmanned plane applied to unmanned plane |
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Application publication date: 20190528 |