CN205469806U - Flying robot system with effective pursuit ability - Google Patents
Flying robot system with effective pursuit ability Download PDFInfo
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- CN205469806U CN205469806U CN201620203497.1U CN201620203497U CN205469806U CN 205469806 U CN205469806 U CN 205469806U CN 201620203497 U CN201620203497 U CN 201620203497U CN 205469806 U CN205469806 U CN 205469806U
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Abstract
The utility model relates to a flying robot system with effective pursuit ability, it includes the frame and is located realize the flying device of flight ability in the frame, still be equipped with the cloud platform in the frame, be used for control cloud platform operating condition's cloud platform control system and be used for controlling the flight control system of flying device state of flight, flying device includes four evenly distributed's screw and is used for driving screw pivoted screw motor respectively, and the cloud platform is installed in the frame through the cloud pedestal, and the cloud bench is equipped with and is used for acquireing the pursuit camera of tracking the image, track camera, flight control and cloud platform control system all with the subaerial image processing ware wireless connection who is used for image processing. The utility model discloses compact structure can satisfy the ability of carrying out the pursuit task in the complex environment, convenient operation, and accommodation is wide, safe and reliable.
Description
Technical field
This utility model relates to a kind of robot system, a kind of flying robot's system with effective trace ability, belongs to the technical field that flight is followed the trail of.
Background technology
In mid-term in 20th century, unmanned vehicle equipment has been widely used in war, and some countries once carried out the operations such as the landform detection of battlefield investigation and dangerous area with unmanned vehicle.Nowadays, increasing field needs to use Unmanned Systems, thus the flight of unmanned vehicle controls research and is increasingly subject to people's attention.
Some current unmanned vehicles have been enter into the epoch of auto-flare system, use pre-set course line to fly, and departing from manual remote control, its advantage is to be automatically performed the high-altitude detection task specified, it is not necessary to Artificial Control.But the mission requirementses such as the tracking that existing flight equipment is difficult to meet in complex environment.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of flying robot's system with effective trace ability, its compact conformation, can meet in complex environment the ability performing tracking task, easy to operate, and wide accommodation is safe and reliable.
The technical scheme provided according to this utility model, described in there is flying robot's system of effective trace ability, realize the flight instruments of flight performance in described frame including frame and being positioned at；The Cloud Terrace it is additionally provided with, for controlling the cloud platform control system of described The Cloud Terrace duty and for controlling the flight control system of flight instruments state of flight in described frame；
Described flight instruments includes four equally distributed propellers and is respectively used to drive the propeller motor of propeller rotational, The Cloud Terrace is installed in frame by head seat, The Cloud Terrace is provided with the tracking camera for obtaining tracking image, described tracking camera, flight control system and cloud platform control system all with ground on for the image processor wireless connections of image procossing.
Described flight control system includes flight controller, and described flight controller is connected with corresponding propeller motor by electron speed regulator respectively；Described flight controller is connected with flight wireless serial module, connecting on image processor and can mate, with flight wireless serial module, the terrestrial wireless module being connected, image processor is by terrestrial wireless module, flight wireless serial module and flight controller wireless connections.
Described flight controller is also connected with the flight localizer being used for obtaining positional information.
Receiver of remote-control sytem it is also associated with, the flight controller remote information by receiver of remote-control sytem wireless receiving remote controller on described flight controller.
Described cloud platform control system includes cradle head controllor and for driving the The Cloud Terrace driver of The Cloud Terrace, described The Cloud Terrace driver and tracking camera are all connected with cradle head controllor, cradle head controllor is connected with flight wireless serial module, and cradle head controllor is by flight wireless serial module, terrestrial wireless module and image processor wireless connections.
Connect on described tracking camera and have image generator, image processor is connected with the picture receiver being connected with image generator coupling by video frequency collection card, and image processor follows the trail of, by picture receiver, image generator wireless receiving, the tracking image that camera obtains.
It is also associated with keyboard on described image processor.
Advantage of the present utility model: realize the ability that four axles fly by four equally distributed propellers and with the propeller propeller motor that is connected of coupling in frame, improve the tracking executive capability in complex environment, the image processor being in ground can carry out image recognition, and control command can be transmitted to flight control system, cloud platform control system etc., it is thus possible to meet the ability performing tracking task in complex environment, compact conformation, easy to operate, wide accommodation, safe and reliable.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is structured flowchart of the present utility model.
Description of reference numerals: 1-frame, 2-box body, 3-head seat, 4-propeller motor, 5-propeller, 6-electron speed regulator, 7-flight controller, 8-cradle head control, 9-The Cloud Terrace driver, 10-The Cloud Terrace, 11-follow the trail of camera, 12-flight wireless serial module, 13-flight localizer, 14-receiver of remote-control sytem, 15-remote controller, 16-image generator, 17-picture receiver, 18-video frequency collection card, 19-image processor, 20-terrestrial wireless module and 21-keyboard.
Detailed description of the invention
Below in conjunction with concrete drawings and Examples, the utility model is described in further detail.
As depicted in figs. 1 and 2: performing the ability of tracking task in complex environment to be able to meet, improve subject range, this utility model includes frame 1 and is positioned at the flight instruments realizing flight performance in described frame 1；The Cloud Terrace 10 it is additionally provided with, for controlling the cloud platform control system of described The Cloud Terrace 10 duty and for controlling the flight control system of flight instruments state of flight in described frame 1；
Described flight instruments includes four equally distributed propellers 5 and is respectively used to the propeller motor 4 driving propeller 5 to rotate, The Cloud Terrace 10 is installed in frame 1 by head seat 3, The Cloud Terrace 10 is provided with the tracking camera 11 for obtaining tracking image, described tracking camera 11, flight control system and cloud platform control system all with ground on for image processor 19 wireless connections of image procossing.
Specifically, can install flight instruments, The Cloud Terrace 10, cloud platform control system and flight control system etc. by frame 1, the shape of frame 1 can select as required, and specially known to those skilled in the art, here is omitted.When flight control system controls flight instruments work, it is possible to the air objective needed for realization.In this utility model embodiment, four equally distributed propellers 5 are set in frame 1, propeller 5 can rotate in frame 1, each propeller 5 is driven by a propeller motor 4, i.e. obtain four-axle aircraft, can effectively realize the flight performance in complex environment, provide effective guarantee for complex environment performs tracking task.
In this utility model embodiment, The Cloud Terrace 10 is installed in frame 1 by head seat 3, and head seat 3 can be directly mounted in frame 1, it is also possible to is installed on frame 1 box body 2 below, can place the battery etc. of power supply in box body 2.Can install tracking camera 11, and other relevant auxiliary equipments on The Cloud Terrace 10, concrete auxiliary equipment type can select as required.Tracking camera 11 can be followed frame 1 and be moved, and when controlling The Cloud Terrace 10 by cloud platform control system, follows the trail of camera 11 and can obtain the tracking image of required direction or angle, to meet the requirement obtaining tracking image under different situations.
Image processor 19 is positioned at ground, i.e. image processor 19 is in stationary state, image processor 19 can use the equipment such as computer, image processor 19 can be installed and be placed on desired position, requires with the wireless connections following the trail of camera 11, flight control system and cloud platform control system as long as can meet.
In this utility model embodiment, follow the trail of camera 11 and obtain tracking image, tracking target is determined after tracking image is identified processing by image processor 19, after determining tracking target, to flight control system and cloud platform control system remote transmission control command, to adjust state of flight and the duty of The Cloud Terrace 10 of flight instruments, so that can remain the tracking following the trail of target after the duty of the state of flight and The Cloud Terrace 10 that adjust flight instruments.
Further, described flight control system includes flight controller 7, and described flight controller 7 is connected with corresponding propeller motor 4 by electron speed regulator 6 respectively；Described flight controller 7 is connected with flight wireless serial module 12, connecting on image processor 19 and can mate the terrestrial wireless module 20 being connected with flight wireless serial module 12, image processor 19 is by terrestrial wireless module 20, flight wireless serial module 12 and flight controller 7 wireless connections.
In this utility model embodiment, electron speed regulator 6 connects one to one with propeller motor 4, i.e. flight controller 7 is connected with corresponding propeller motor 4 respectively by four electron speed regulators 6, to realize the control of the regulation to each propeller motor 4.Flight controller 7 can use the circuit board that Arduino is constituted with gyroscope, and certainly, flight controller 7 can also use known to other combining form, specially those skilled in the art, and here is omitted.In order to be able to realize the wireless connections with image processor 19, flight controller 7 is connected with flight wireless serial module 12, image processor 19 is connected with terrestrial wireless module 20, flight wireless serial module 12 can be connected without lines matching with terrestrial wireless module 20, it is thus possible to the wireless connections realized between flight controller 7 and image processor 19, when being embodied as, flight wireless serial module 12, terrestrial wireless module 20 can use model to be E30-TTL-100 wireless serial module, it is possible to realize the wireless transmission capability of 2000 meters.
Described flight controller 7 is also connected with the flight localizer 13 being used for obtaining positional information.Receiver of remote-control sytem 14, the flight controller 7 remote information by receiver of remote-control sytem 14 wireless receiving remote controller 15 it is also associated with on described flight controller 7.
In this utility model embodiment, described flight localizer 13 can use existing conventional locating module, such as GPS locating module, Big Dipper locating module etc., as long as stationkeeping ability can be realized, the positional information real-time Transmission that flight localizer 13 can be obtained by flight controller 7 is in image processor 19, in order to image processor 19 can know the position of aircraft in time.Additionally, can also connect receiver of remote-control sytem 14 on flight controller 7, described receiver of remote-control sytem 14 is seven duct receivers, is capable of transmitting flight orders to flight controller 7 by remote controller 15, it is achieved artificial effectively controls and regulation.
Further, described cloud platform control system includes cradle head controllor 8 and for driving the The Cloud Terrace driver 9 of The Cloud Terrace 10, described The Cloud Terrace driver 9 and tracking camera 11 are all connected with cradle head controllor 8, cradle head controllor 8 is connected with flight wireless serial module 12, and cradle head controllor 8 is by flight wireless serial module 12, terrestrial wireless module 20 and image processor 19 wireless connections.
In this utility model embodiment, cradle head controllor 8 can use existing conventional control chip or control circuit plate to realize, cradle head controllor 8 can drive the rotation etc. of The Cloud Terrace 10 by The Cloud Terrace driver 9, when The Cloud Terrace 10 rotates, it is achieved follows the trail of the change of camera 11 azimuth, the angle of pitch etc..Cradle head controllor 8 and flight controller 7 can be shared flight wireless serial module 12, i.e. cradle head controllor 8 and be realized by flight wireless serial module 12 and wireless connections between image processor 19, saves resource, improves convenience.
Connect on described tracking camera 11 and have image generator 16, image processor 19 is connected with the picture receiver 17 being connected with image generator 16 coupling by video frequency collection card 18, and image processor 19 follows the trail of, by picture receiver 17, image generator 16 wireless receiving, the tracking image that camera 11 obtains.
In this utility model embodiment, in order to meet the transmission requirement of video image, follow the trail of and on camera 11, connect image generator 16, image generator 16 mates wireless connections with picture receiver 17, picture receiver 17 is connected with image processor 19 by video frequency collection card 18, and image generator 16, picture receiver 17 secondary can pass chip etc. with 5G simulation drawing and realize, and specifically can select as required, being specially known to those skilled in the art, here is omitted.Cradle head controllor 8 is connected with following the trail of camera 11, and cradle head controllor 8 can open or close tracking camera 11, to meet the control following the trail of camera 11 duty.It is also associated with keyboard 21 on described image processor 19, on image processor 19, determines tracking target by keyboard 21, and can be to flight control system, cloud platform control system transmission regulating command, the tracking requirement needed for realizing.
The ability that four axles fly is realized by four equally distributed propellers 5 and with the propeller 5 propeller motor 4 that is connected of coupling in this utility model frame 1, improve the tracking executive capability in complex environment, the image processor 19 being in ground can carry out image recognition, and control command can be transmitted to flight control system, cloud platform control system etc., it is thus possible to meet the ability performing tracking task in complex environment, compact conformation, easy to operate, wide accommodation, safe and reliable.
Claims (7)
1. there is flying robot's system of effective trace ability, in described frame (1), realize the flight instruments of flight performance including frame (1) and being positioned at；It is characterized in that: be additionally provided with The Cloud Terrace (10) in described frame (1), be used for controlling the cloud platform control system of described The Cloud Terrace (10) duty and for controlling the flight control system of flight instruments state of flight；
Described flight instruments includes four equally distributed propellers (5) and is respectively used to the propeller motor (4) driving propeller (5) to rotate, The Cloud Terrace (10) is installed in frame (1) by head seat (3), The Cloud Terrace (10) is provided with the tracking camera (11) for obtaining tracking image, described tracking camera (11), flight control system and cloud platform control system all with ground on for image processor (19) wireless connections of image procossing.
Flying robot's system with effective trace ability the most according to claim 1, it is characterized in that: described flight control system includes flight controller (7), described flight controller (7) is connected with corresponding propeller motor (4) by electron speed regulator (6) respectively；Described flight controller (7) is connected with flight wireless serial module (12), the upper connection of image processor (19) can mate, with flight wireless serial module (12), the terrestrial wireless module (20) being connected, and image processor (19) is by terrestrial wireless module (20), flight wireless serial module (12) and flight controller (7) wireless connections.
Flying robot's system with effective trace ability the most according to claim 2, is characterized in that: described flight controller (7) is also connected with the flight localizer (13) being used for obtaining positional information.
Flying robot's system with effective trace ability the most according to claim 2, it is characterized in that: on described flight controller (7), be also associated with receiver of remote-control sytem (14), the flight controller (7) remote information by receiver of remote-control sytem (14) wireless receiving remote controller (15).
Flying robot's system with effective trace ability the most according to claim 2, it is characterized in that: described cloud platform control system includes cradle head controllor (8) and is used for driving the The Cloud Terrace driver (9) of The Cloud Terrace (10), described The Cloud Terrace driver (9) and tracking camera (11) are all connected with cradle head controllor (8), cradle head controllor (8) is connected with flight wireless serial module (12), and cradle head controllor (8) is by flight wireless serial module (12), terrestrial wireless module (20) and image processor (19) wireless connections.
Flying robot's system with effective trace ability the most according to claim 1, it is characterized in that: the upper connection of described tracking camera (11) has image generator (16), image processor (19) is connected with the picture receiver (17) being connected with image generator (16) coupling by video frequency collection card (18), and image processor (19) follows the trail of, by picture receiver (17), image generator (16) wireless receiving, the tracking image that camera (11) obtains.
Flying robot's system with effective trace ability the most according to claim 1, is characterized in that: be also associated with keyboard (21) on described image processor (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620203497.1U CN205469806U (en) | 2016-03-16 | 2016-03-16 | Flying robot system with effective pursuit ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620203497.1U CN205469806U (en) | 2016-03-16 | 2016-03-16 | Flying robot system with effective pursuit ability |
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| Publication Number | Publication Date |
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| CN205469806U true CN205469806U (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620203497.1U Expired - Fee Related CN205469806U (en) | 2016-03-16 | 2016-03-16 | Flying robot system with effective pursuit ability |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106851219A (en) * | 2017-03-21 | 2017-06-13 | 广东容祺智能科技有限公司 | A kind of police unmanned plane night chases system |
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2016
- 2016-03-16 CN CN201620203497.1U patent/CN205469806U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106851219A (en) * | 2017-03-21 | 2017-06-13 | 广东容祺智能科技有限公司 | A kind of police unmanned plane night chases system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20190316 |