CN202583884U - Computer system for unmanned aerial vehicle payload and autopilot integrated control - Google Patents
Computer system for unmanned aerial vehicle payload and autopilot integrated control Download PDFInfo
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- CN202583884U CN202583884U CN 201220165154 CN201220165154U CN202583884U CN 202583884 U CN202583884 U CN 202583884U CN 201220165154 CN201220165154 CN 201220165154 CN 201220165154 U CN201220165154 U CN 201220165154U CN 202583884 U CN202583884 U CN 202583884U
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Abstract
The utility model discloses a computer system for unmanned aerial vehicle payload and autopilot integrated control, which aims to provide a system which is capable of carrying out target identifying, tracking and processing and can have data exchange and control with an unmanned aerial vehicle flight control system. A visible light CCD camera and an infrared detector are connected with a video capture card; the video capture card is connected with an FPGA image preprocessor; the FPGA image preprocessor is connected with a DSP image processor; an image data output end of the DSP image processor is connected with an internal tracking data serial port interface of an autopilot through a target moving speed and track data output interface; and an internal instruction output serial port interface of the autopilot is connected with an instruction receiving serial port interface of the DSP image processor through a target to be tracked and identified designated data input interface. The computer system disclosed by the utility model can automatically identify and track a target required to be monitored in a flying process of the unmanned aerial vehicle, and cooperates with the autopilot to complete autonomous flying.
Description
Technical field
The utility model relates to the unmanned vehicle field, in particular, relates to a kind of unmanned vehicle useful load and robot pilot comprehensive control computer system.
Background technology
Development along with the civil aviation technology; Unmanned vehicle is with its peculiar function and superiority, survey and draw, take photo by plane, communication repeating, aerial monitoring, tracking, anti-terrorism, stability maintenance, traffic dispersion, forest fire protection, rescue and relief work, the condition of a disaster investigation, more and more widely to the application of every field such as specific terrain object search.
At present, civilian unmanned plane basically also rests on the stage of manual controller control, passive monitoring supervision.On civilian; The moving object detection and tracking The Application of Technology is quite extensive; Lean on personnel's human eye identification of unmanned aerial vehicle station and processing to have all restrictions such as transmission delay, image impairment, identification error height merely; Therefore the system that develops a cover can carry out Target Recognition, tracking, processing automatically seems particularly important, and this system needs with UAV Flight Control System the mutual of data to be arranged and control, and just can better accomplish various special aerial missions.
The utility model content
The utility model is in order to overcome weak point of the prior art; Provide a kind of and can carry out Target Recognition, tracking, processing automatically, and the unmanned vehicle useful load and the robot pilot comprehensive control computer system of the mutual and control of data can be arranged with UAV Flight Control System.
The utility model is realized through following technical proposals:
A kind of unmanned vehicle useful load and robot pilot comprehensive control computer system; Comprise visible light CCD camera, infrared detecting set, video frequency collection card, FPGA figure pretreater, DSP image processor; The data output end of said visible light CCD camera and infrared detecting set is connected with the data input pin of said video frequency collection card; The data output end of said video frequency collection card is connected with the data input pin of FPGA figure pretreater; The data output end of said FPGA figure pretreater is connected with the data input pin of said DSP image processor; The data output end of said DSP image processor is connected with the internal trace data serial interface of robot pilot with the track data output interface through the target translational speed, and the built-in command output serial interface of said robot pilot is connected with the command reception serial interface of DSP image processor through recognition objective specific data input interface to be tracked; Unmanned aerial vehicle station computing machine is connected with the communication data serial ports of robot pilot through the microwave data transmission radio station.
The utlity model has following technique effect:
Unmanned vehicle useful load of the utility model and robot pilot comprehensive control computer system can carry out automatic detection and tracking to moving target; And to image processing automatically, identification in real time; Can accomplish various monitor tasks in real time at airborne end, and carry out data communication through serial ports, let unmanned plane accomplish monitor task automatically according to field condition with the unmanned plane robot pilot; Transmission is timely, and recognition accuracy is high.
Description of drawings
Fig. 1 is the schematic diagram of the utility model unmanned vehicle useful load and robot pilot comprehensive control computer system.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is elaborated.
Fig. 1 is the schematic diagram of the utility model unmanned vehicle useful load and robot pilot comprehensive control computer system; Comprise visible light CCD camera, infrared detecting set, video frequency collection card, FPGA figure pretreater, DSP image processor; The data output end of said visible light CCD camera and infrared detecting set is connected with the data input pin of said video frequency collection card; The data output end of said video frequency collection card is connected with the data input pin of FPGA figure pretreater; The data output end of said FPGA figure pretreater is connected with the data input pin of said DSP image processor; The data output end of said DSP image processor is connected with the internal trace data serial interface of robot pilot with the track data output interface through the target translational speed, and the built-in command output serial interface of said robot pilot is connected with the command reception serial interface of DSP image processor through recognition objective specific data input interface to be tracked; Unmanned aerial vehicle station computing machine is connected with the communication data serial ports of robot pilot through the microwave data transmission radio station.
This system can be mounted to the unmanned plane optional position, has stronger adaptability.Unmanned aerial vehicle station computing machine can carry out the instruction input of Tracking Recognition target to robot pilot through wireless microwave data transmission radio station.After system's system initialization; The target that needs identification automatically or tracking through the appointment of robot pilot land station; Visible light CCD camera, infrared detecting set obtain visible light and the infrared video and the view data of surveillance area; Video frequency collection card inputs to FPGA figure pretreater with video that obtains and image data acquiring; FPGA figure pretreater carries out pre-service such as carrying out image threshold segmentation, gaussian filtering to the data that obtain; Obtain the operable data of DSP image processor, the DSP image processor is analyzed and is calculated pretreated data, can obtain the automatic identification of intended target and the result of tracking according to the target of the given identification to be tracked of robot pilot in real time by MEANSHIFT track algorithm, particle filter algorithm etc.; Such as target type, the speed, the track that need tracking target to move; The result of algorithm process with data transmission to unmanned plane robot pilot, makes robot pilot realize spiraling plurality of flight such as tracking, course line tracking, the completion aerial mission according to the result of Target Recognition, tracking through target translational speed and track data output interface.The system of the utility model can be in the unmanned plane during flying process, the target of identification automatically, need of tracking servo monitoring, and can cooperate robot pilot to accomplish the aerial mission of autonomous flight.With the compared with techniques of traditional non-automatic identification, better solved higher, the unfavorable drawback of identification treatment effect of error rate of human eye identification.
Claims (1)
1. unmanned vehicle useful load and robot pilot comprehensive control computer system; It is characterized in that; Comprise visible light CCD camera, infrared detecting set, video frequency collection card, FPGA figure pretreater, DSP image processor; The data output end of said visible light CCD camera and infrared detecting set is connected with the data input pin of said video frequency collection card; The data output end of said video frequency collection card is connected with the data input pin of FPGA figure pretreater; The data output end of said FPGA figure pretreater is connected with the data input pin of said DSP image processor; The data output end of said DSP image processor is connected with the internal trace data serial interface of robot pilot with the track data output interface through the target translational speed, and the built-in command output serial interface of said robot pilot is connected with the command reception serial interface of DSP image processor through recognition objective specific data input interface to be tracked; Unmanned aerial vehicle station computing machine is connected with the communication data serial ports of robot pilot through the microwave data transmission radio station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220165154 CN202583884U (en) | 2012-04-18 | 2012-04-18 | Computer system for unmanned aerial vehicle payload and autopilot integrated control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220165154 CN202583884U (en) | 2012-04-18 | 2012-04-18 | Computer system for unmanned aerial vehicle payload and autopilot integrated control |
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| CN202583884U true CN202583884U (en) | 2012-12-05 |
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| CN 201220165154 Expired - Fee Related CN202583884U (en) | 2012-04-18 | 2012-04-18 | Computer system for unmanned aerial vehicle payload and autopilot integrated control |
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Cited By (8)
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| 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 |
| CN103646232A (en) * | 2013-09-30 | 2014-03-19 | 华中科技大学 | Aircraft ground moving target infrared image identification device |
| CN103838244A (en) * | 2014-03-20 | 2014-06-04 | 湖南大学 | Portable target tracking method and system based on four-axis air vehicle |
| 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 |
| CN104902182A (en) * | 2015-05-28 | 2015-09-09 | 努比亚技术有限公司 | Method and device for realizing continuous auto-focus |
| WO2017143589A1 (en) * | 2016-02-26 | 2017-08-31 | SZ DJI Technology Co., Ltd. | Systems and methods for visual target tracking |
| CN108196587A (en) * | 2017-12-15 | 2018-06-22 | 北京臻迪科技股份有限公司 | A kind of intelligence auxiliary unmanned plane and its control method |
| CN108883824A (en) * | 2016-03-23 | 2018-11-23 | 冯春魁 | The method and system of acquisition, the processing and flight condition monitoring of the data of aircraft |
-
2012
- 2012-04-18 CN CN 201220165154 patent/CN202583884U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103646232A (en) * | 2013-09-30 | 2014-03-19 | 华中科技大学 | Aircraft ground moving target infrared image identification device |
| CN103646232B (en) * | 2013-09-30 | 2016-08-17 | 华中科技大学 | Aircraft ground moving target infrared image identification device |
| US11841702B2 (en) | 2013-10-09 | 2023-12-12 | SZ DJI Technology Co., Ltd. | Remote control methods and systems |
| US11256249B2 (en) | 2013-10-09 | 2022-02-22 | SZ DJI Technology Co., Ltd. | Remote control methods and systems |
| US9864370B2 (en) | 2013-10-09 | 2018-01-09 | 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 |
| US9397782B2 (en) | 2013-10-09 | 2016-07-19 | SZ DJI Technology Co., Ltd | Remote control methods and systems |
| US10514689B2 (en) | 2013-10-09 | 2019-12-24 | Sz Dji Technology, Co., Ltd. | Remote control methods and systems |
| CN103543752B (en) * | 2013-10-09 | 2017-03-15 | 深圳市大疆创新科技有限公司 | A kind of remote control thereof and remote control systems |
| CN103838244B (en) * | 2014-03-20 | 2016-08-17 | 湖南大学 | Portable method for tracking target based on four-axle aircraft and system |
| CN103838244A (en) * | 2014-03-20 | 2014-06-04 | 湖南大学 | Portable target tracking method and system based on four-axis air vehicle |
| 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 |
| 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 |
| CN104902182A (en) * | 2015-05-28 | 2015-09-09 | 努比亚技术有限公司 | Method and device for realizing continuous auto-focus |
| CN104902182B (en) * | 2015-05-28 | 2019-04-19 | 努比亚技术有限公司 | A kind of method and apparatus for realizing continuous auto-focusing |
| US11263761B2 (en) | 2016-02-26 | 2022-03-01 | SZ DJI Technology Co., Ltd. | Systems and methods for visual target tracking |
| WO2017143589A1 (en) * | 2016-02-26 | 2017-08-31 | SZ DJI Technology Co., Ltd. | Systems and methods for visual target tracking |
| CN108883824A (en) * | 2016-03-23 | 2018-11-23 | 冯春魁 | The method and system of acquisition, the processing and flight condition monitoring of the data of aircraft |
| CN108196587A (en) * | 2017-12-15 | 2018-06-22 | 北京臻迪科技股份有限公司 | A kind of intelligence auxiliary unmanned plane and its control method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20130418 |