CN204202640U - Dual radars and the monocular vision sensor fusion mechanism of barrier is kept away for unmanned plane - Google Patents
Dual radars and the monocular vision sensor fusion mechanism of barrier is kept away for unmanned plane Download PDFInfo
- Publication number
- CN204202640U CN204202640U CN201420667234.7U CN201420667234U CN204202640U CN 204202640 U CN204202640 U CN 204202640U CN 201420667234 U CN201420667234 U CN 201420667234U CN 204202640 U CN204202640 U CN 204202640U
- Authority
- CN
- China
- Prior art keywords
- radar
- fixed head
- frame
- unmanned plane
- type groove
- 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.)
- Expired - Fee Related
Links
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The utility model relates to the mechanical platform of the sensor fusion in unmanned plane environment sensing, particularly a kind of dual radars and monocular vision sensor fusion mechanism keeping away barrier for unmanned plane.It comprises the camera pedestal of placing video camera, frame, camera pedestal can do the rotation of each 15 degree of pitching around frame, pitching change when can simulate unmanned plane airflight on the ground by changing rotation angle, frame can rotate around the screw mandrel through its center, it is U-type groove plate under camera pedestal frame, the two ends, left and right of U-type groove plate hang the screw mandrel of radar fixed head, by the distance between the position adjustments radar that regulates U-type groove plate upper screw rod, the fixing port of radar fixed head is wide at the top and narrow at the bottom, the fixed card slot of radar afterbody is entered by wide mouth and sticks into slot downwards, radar fixed head can rotate around left and right two rhizoid bar respectively, the performance of dual radars group network system is changed by the anglec of rotation of adjustment fixing plate, after determining the attitude of radar, tighten each nut fix its position, the intensity of radar fixed head is strengthened by installing triangle floor additional.
Description
Technical field
The utility model relates to the mechanical platform of the sensor fusion in unmanned plane environment sensing, particularly a kind of dual radars and monocular vision sensor fusion mechanism keeping away barrier for unmanned plane.
Background technology
At present, in sensor fusion, equipment is generally directly be loaded on unmanned plane, and each proof of algorithm of this mode all needs to start unmanned plane and carries out flight experiment, is limited to weather, wind-force and specified airman, need to carry out early-stage preparations loaded down with trivial details in a large number, be unfavorable for efficient algorithm development.Simultaneously this mode is when changing the unmanned plane test of carrying, and the position of radar and vision sensor is difficult to ensure crash consistency, makes the transformational relation of radar fix system and camera coordinates system there is error, thus is easy to cause unmanned plane to be kept away and hinders unsuccessfully.
Summary of the invention
The purpose of this utility model is to provide a kind of dual radars and the monocular vision sensor fusion mechanism that keep away barrier for unmanned plane.
The purpose of this utility model is achieved through the following channels: a kind ofly keep away the dual radars group network system of barrier and the special-purpose machinery structure of monocular vision sensor fusion for unmanned plane, it comprises camera pedestal, frame, U-type groove plate and radar fixed head, camera pedestal can do the rotation of each 15 degree of pitching around frame, pitching change when can simulate unmanned plane airflight on the ground by changing rotation angle, frame can rotate around the screw mandrel through its center, it is U-type groove plate under frame, the two ends, left and right of U-type groove plate hang the screw mandrel of radar fixed head, by the distance between the position adjustments radar that regulates U-type groove plate upper screw rod, the fixing port of radar fixed head is wide at the top and narrow at the bottom, the fixed card slot of radar afterbody is entered by wide mouth and sticks into slot downwards, radar fixed head can rotate around left and right two rhizoid bar respectively, the performance of dual radars group network system is changed by the anglec of rotation of adjustment fixing plate, fastening nut after determining the attitude of radar, the intensity of radar fixed head is strengthened by installing triangle floor additional.
Further the two sides of camera pedestal have the ring groove that its relative frame can be made to do luffing.
The utility model is used for unmanned plane and keeps away the dual radars of barrier and no-manned plane three-dimensional motion feature can be simulated by monocular vision sensor fusion mechanism, reduce the complicated processes of proof of algorithm, improve the efficiency of blending algorithm exploitation, reduce the error brought in equipment migration process simultaneously.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is described in further detail:
To be the utility model keep away general structure front elevation when radar is not installed by the dual radars of barrier and monocular vision sensor fusion mechanism for unmanned plane to Fig. 1;
To be the utility model for unmanned plane keep away the dual radars of barrier to Fig. 2 and the oblique plan structure schematic diagram after radar is installed by monocular vision sensor fusion mechanism;
In figure: camera 1, screw mandrel 2, nut 3, frame 4, camera pedestal 5, screw 6, U-type groove plate plate 7, screw mandrel 8, screw 9, triangle floor 10, radar fixed head 11, radar 12.
Embodiment
As Fig. 1, shown in Fig. 2, a kind of dual radars group network system and monocular vision sensor fusion mechanism keeping away barrier for unmanned plane, it comprises camera pedestal 5, frame 4, U-type groove plate 7, radar fixed head 11, camera pedestal 5 can do the rotation of each 15 degree of pitching around frame 4, pitching change when can simulate unmanned plane airflight on the ground by changing rotation angle, frame 4 can rotate around the screw mandrel 2 through its center, it is U-type groove plate 7 under camera pedestal frame, the two ends, left and right of U-type groove plate hang the screw mandrel 8 of radar fixed head, by the distance between the position adjustments radar 12 that regulates U-type groove plate 7 upper screw rod 8, the fixing port of radar fixed head 11 is wide at the top and narrow at the bottom, the fixed card slot of radar 12 afterbody is entered by wide mouth and sticks into slot downwards, radar fixed head 11 can rotate around left and right two rhizoid bar respectively, by the performance regulating the anglec of rotation of radar fixed head 11 to change dual radars group network system, after the attitude determining radar 12, snap in radar fixed head by the fixed card slot of radar fix its position, the intensity of radar fixed head is strengthened by installing triangle floor 10 additional, the ground validation experimental simulation horizontally rotated as Target Recognition Algorithms of the pitching rotation of camera pedestal 5 and frame 4 has gone out the three-dimensional motion feature of aircraft, by regulating the anglec of rotation of radar fixed head 11, angle and region that in dual radars group network system, radar signal is overlapping can be changed, thus the area positioning system that can be formed for different size target.
During work, camera pedestal 5 is done pitching around frame 4 to rotate, the algorithm stability of frame 4 when the different angle of pitch of screw mandrel 2 rotary test passing its center and transverse rotation angle, position is fixed with screw 6 and nut 3 respectively when determining angle of pitch transverse rotation angle, camera pedestal and frame are for 4 times U-type groove plate 7, the two ends, left and right of U-type groove plate 7 hang the screw mandrel 8 of radar fixed head, distance between the position adjustments radar 12 of adjustment U-type groove plate 7 upper screw rod 8, fix with clamp nut 11 when reaching target location, the fixed card slot of radar 12 afterbody is entered by the wide mouth of radar fixed head 11 and sticks into slot downwards, radar fixed head 11 can rotate around left and right two rhizoid bar respectively, each nut is tightened after the attitude determining radar 12.
Claims (2)
1. keep away dual radars and the monocular vision sensor fusion mechanism of barrier for unmanned plane for one kind, it comprises camera pedestal (5), frame (4), U-type groove plate (7), radar fixed head (11), it is characterized in that: camera pedestal (5) can do the rotation of each 15 degree of pitching around frame (4), pitching change when can simulate unmanned plane airflight on the ground by changing rotation angle, frame (4) can rotate around the screw mandrel (2) through its center, it is U-type groove plate (7) under camera pedestal frame, the two ends, left and right of U-type groove plate (7) hang the screw mandrel (8) of radar fixed head, by regulate U-type groove plate (7) upper screw rod (8) position adjustments radar (12) between distance, the fixing port of radar fixed head (11) is wide at the top and narrow at the bottom, the fixed card slot of radar (12) afterbody is entered by wide mouth and sticks into slot downwards, radar fixed head (11) can rotate around left and right two rhizoid bar respectively, by the performance regulating the anglec of rotation of radar fixed head (11) to change dual radars group network system, snapped in radar fixed head by fixed card slot after the attitude determining radar (12) and fix its position, the intensity of radar fixed head is strengthened by installing triangle floor (10) additional.
2. dual radars and the monocular vision sensor fusion mechanism keeping away barrier for unmanned plane as claimed in claim 1, it is characterized in that: the ground validation experimental simulation horizontally rotated as Target Recognition Algorithms of the pitching rotation of camera pedestal (5) and frame (4) has gone out the three-dimensional motion feature of aircraft, by regulating the anglec of rotation of radar fixed head (11), the overlapping angle of the signal of radar in dual radars group network system and region can be changed, thus the area positioning system for different size target can be formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420667234.7U CN204202640U (en) | 2014-11-10 | 2014-11-10 | Dual radars and the monocular vision sensor fusion mechanism of barrier is kept away for unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420667234.7U CN204202640U (en) | 2014-11-10 | 2014-11-10 | Dual radars and the monocular vision sensor fusion mechanism of barrier is kept away for unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204202640U true CN204202640U (en) | 2015-03-11 |
Family
ID=52660586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420667234.7U Expired - Fee Related CN204202640U (en) | 2014-11-10 | 2014-11-10 | Dual radars and the monocular vision sensor fusion mechanism of barrier is kept away for unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204202640U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105660028A (en) * | 2016-02-17 | 2016-06-15 | 陈杨珑 | Full-automatic harvesting device with environment perception capability |
| CN105842662A (en) * | 2016-03-21 | 2016-08-10 | 沈阳理工大学 | Radar and monocular vision sensor fusion and hanging mechanism for unmanned plane obstacle avoidance |
| CN106515713A (en) * | 2016-11-18 | 2017-03-22 | 华南农业大学 | Car evadable system and method thereof |
-
2014
- 2014-11-10 CN CN201420667234.7U patent/CN204202640U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105660028A (en) * | 2016-02-17 | 2016-06-15 | 陈杨珑 | Full-automatic harvesting device with environment perception capability |
| CN105660028B (en) * | 2016-02-17 | 2018-01-30 | 冯青海 | A kind of full-automatic harvesting device with environment sensing ability |
| CN105842662A (en) * | 2016-03-21 | 2016-08-10 | 沈阳理工大学 | Radar and monocular vision sensor fusion and hanging mechanism for unmanned plane obstacle avoidance |
| CN105842662B (en) * | 2016-03-21 | 2018-11-02 | 沈阳理工大学 | Radar and monocular vision sensor fusion for unmanned plane avoidance and suspension mechanism |
| CN106515713A (en) * | 2016-11-18 | 2017-03-22 | 华南农业大学 | Car evadable system and method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020102927A1 (en) | Photographing method and unmanned aerial vehicle | |
| CN106628211B (en) | Ground control formula unmanned plane during flying landing system and method based on LED dot matrix | |
| CN109272532B (en) | Model pose calculation method based on binocular vision | |
| CN109753076A (en) | A kind of unmanned plane vision tracing implementing method | |
| WO2018210078A1 (en) | Distance measurement method for unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN106326892B (en) | Visual landing pose estimation method of rotary wing type unmanned aerial vehicle | |
| US10133929B2 (en) | Positioning method and positioning device for unmanned aerial vehicle | |
| CN109238240A (en) | A kind of unmanned plane oblique photograph method that taking landform into account and its camera chain | |
| CN106155081B (en) | A kind of a wide range of target monitoring of rotor wing unmanned aerial vehicle and accurate positioning method | |
| CN108919830A (en) | A kind of flight control method that unmanned plane precisely lands | |
| CN105468014B (en) | A kind of integrated aerocraft system of list autopilot and its two-dimensional pan-tilt control method | |
| CN106683097A (en) | Unmanned aerial vehicle positioning method and system | |
| CN106289186B (en) | The airborne visual detection of rotor wing unmanned aerial vehicle and multi-target positioning system and implementation method | |
| CN204202640U (en) | Dual radars and the monocular vision sensor fusion mechanism of barrier is kept away for unmanned plane | |
| CN107422743A (en) | The unmanned plane alignment system of view-based access control model | |
| CN106843275B (en) | Fixed-point flying method, device and system for unmanned aerial vehicle | |
| CN109074098A (en) | Control method, control device, unmanned plane and the agriculture unmanned plane of unmanned plane | |
| CN106500699B (en) | A kind of position and orientation estimation method suitable for Autonomous landing in unmanned plane room | |
| CN107544531A (en) | Line data-logging method, apparatus and unmanned plane | |
| CN109466786A (en) | A kind of autonomous method for inspecting of unmanned plane for single time tangent tower of exchange | |
| CN109460054A (en) | A kind of autonomous method for inspecting of unmanned plane for single time anchor support of direct current | |
| CN109213197A (en) | A kind of autonomous method for inspecting of unmanned plane for single time tangent tower of direct current | |
| CN110658840A (en) | Autonomous navigation obstacle avoidance method and device for multi-rotor unmanned aerial vehicle | |
| CN204726673U (en) | The many rotor wing unmanned aerial vehicles of pan-shot | |
| CN106774365A (en) | A kind of unmanned plane debugging system based on external view positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150311 Termination date: 20151110 |
|
| EXPY | Termination of patent right or utility model |