CN206804018U - Environmental data server, unmanned vehicle and alignment system - Google Patents

Environmental data server, unmanned vehicle and alignment system Download PDF

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Publication number
CN206804018U
CN206804018U CN201720386764.8U CN201720386764U CN206804018U CN 206804018 U CN206804018 U CN 206804018U CN 201720386764 U CN201720386764 U CN 201720386764U CN 206804018 U CN206804018 U CN 206804018U
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environmental data
unmanned vehicle
camera
alignment system
processor
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不公告发明人
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High Domain (beijing) Intelligent Technology Research Institute Co Ltd
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High Domain (beijing) Intelligent Technology Research Institute Co Ltd
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Abstract

Disclose a kind of environmental data server,The unmanned vehicle alignment system of unmanned vehicle and shared environment data,Alignment system includes collecting and the environmental data server (1) and unmanned vehicle (2) of shared environment data,Stating environmental data server (1) includes being stored with the storage device (3) of the database of environmental data and accesses the COM1 (4) of the database,Unmanned vehicle (2) includes the communication equipment (5) for receiving environmental data,The processor (6) of processing environment data and the camera for vision positioning and/or laser radar (7),COM1 (4) described in communication equipment (5) wireless connection,The processor (6) connects the communication equipment (5) and camera and/or laser radar (7),The processor (6) is based on current location and connects the environmental data server (1) via the communication equipment (5) to obtain respective environment data.

Description

Environmental data server, unmanned vehicle and alignment system
Technical field
The utility model belongs to unmanned vehicle field, more particularly to one kind without under gps signal, such as indoor environment number According to the unmanned vehicle alignment system of server, unmanned vehicle and shared environment data.
Background technology
At present, GPS is based primarily upon, illustrates NAVSTAR with GPS come the formula of illustrating here, in fact global range The similar system of Russia and China inside also be present, because its concrete principle and situation have no directly with technical scheme Associate, herein not reinflated explanation, or differential GPS has been substantially achieved come the orientation problem for the outdoor unmanned vehicle realized Solve, due to the service efficiency more and more higher for gps signal, in the preferable unmanned vehicle of outdoor flight, believed using GPS Number have been able to easily do in the identification of the position of centimetre rank degree.It is embodied in manipulation experience, a floating state Multi-rotor unmanned aerial vehicle, outdoor utilize the signal from more gps satellites, some can be scheduled on as nail specifically Point is motionless.
In fact, for rotary wind type unmanned plane, hovering is reliably precisely the premise of other complicated flight path manipulations, Just because of in an outdoor environment, the orientation problem of rotary wind type unmanned plane has been substantially achieved solution, and this solution Cost than less expensive.So the application field of rotary wind type unmanned plane especially multi-rotor unmanned aerial vehicle is opened up extensively, including Take photo by plane, logistics, exploration, line walking, the multiple fields such as plant protection, there is the active figure of unmanned plane.
In contrast, in the case of for lacking gps signal guide, the station keeping of unmanned plane turns into a big problem, For this indoor typical environment, multi-rotor unmanned aerial vehicle can not precisely hover, and cause to fly indoors feasible Property is by great challenge.
Indoors under environment, due to the confirmation to self-position, inexpensive solution party can not be realized by gps signal Case is to realize that self-position judges by IMU, but due to integral error, is drifted about using this scheme come the unmanned plane positioned Phenomenon is serious, that is to say, that in the case where user does not provide any move, unmanned plane may be held towards any direction Continuous movement, and speed is not also slow.And indoor environment is often more more complicated than outdoor, barrier is more, this unmanned vehicle Drift, user will be caused to be busy with the position for adjusting unmanned vehicle, and have no time to allow aircraft to complete practical flight task.
It is come real by motion capture system to realize another solution of the precise positioning under indoor environment It is existing, under pre-designed environment, by motion capture system, passive luminescent marking is caught using infrared high-speed video camera, The high speed position identification for target object can be realized.A kind of famous motion capture system is referred to as Vicon motion captures System.But a significant problem in this way is that cost is uncontrollable, and indoor ring is realized using motion capture system The precise positioning in border, the environmental quality for the indoor environment is not only needed to arrange expensive high-speed camera equipment in advance, Also need to be provided for the luminescent marking being captured on unmanned vehicle.The solution cost of a set of good results is up to a hundred Ten thousand, for consumer level products, this means that this scheme does not have market value.
Currently, the hot topic of research is that solve above-mentioned orientation problem by image recognition technology.So-called image recognition technology Usually utilize some cameras, the environment around captured in real-time unmanned vehicle, judge that nobody flies according to the environment of surrounding The current position of row device.
Two kinds of typical image recognition technologys are as follows:
One is being positioned according to the feature of subject, for example exist on the ground or be previously provided with some tools There is the terrestrial reference of obvious marking effect, the camera shot downwards is provided with unmanned vehicle, by continual to ground Shooting, constantly goes to read these terrestrial references, to help unmanned plane to judge self-position.The premise of the program is needed to surrounding environment There is advance understanding, could be so compared according to the data of captured in real-time with the terrestrial reference recognized in advance, so as to judge certainly Body position.
The unmanned plane dynamic target tracking and localization method of a kind of view-based access control model disclosed in patent document CN103149939 A Comprise the following steps:The first step, Video processing, carry out detection and the image trace of dynamic object;Detection dynamic target:Continuous In two field pictures, feature point set is extracted in the first two field picture, these characteristic points are tracked in the second two field picture, obtains The character pair point set of feature point set in one two field picture, further remove character pair point and concentrate the feature for belonging to dynamic object Point;With the motion that the estimation of motion vectors of each characteristic point pair of remaining validity feature point set centering is global, transformation matrix is obtained, So as to compensate the motion of background, the Detection dynamic target under dynamic background is converted into the Detection dynamic target under static background, Two field pictures after frame difference compensation background, corresponding bianry image is produced with the automatic selected threshold of variance threshold values method between infima species, Processing is filtered to bianry image, then describes the dynamic object with minimum enclosed rectangle, realizes the detection of dynamic object; (2) dynamic object detected is estimated using mean vector tracking of the fusion based on skew and Kalman's priori in subsequent frames Algorithm continuously track, position of the dynamic object in current frame image is estimated out with Kalman filtering first, then by the position Confidence breath passes to the mean vector track algorithm based on skew, and the algorithm searches for target near the position, judges search knot Whether fruit is effective, if effectively then further passing to the prediction that Kalman filtering carries out next step as observation;Second step, Head SERVO CONTROL, the pitching deflection angle of head is adjusted in real time, target is maintained at the center of image;3rd step, establishes shadow The corresponding relation of target and target in actual environment as in, further measures the distance between video camera and dynamic object, completes Dynamic object is accurately positioned;4th step, system for flight control computer carry out autonomous tracking ground dynamic object flight.The patent can Detection to moving target, image trace are voluntarily completed, the automatic optical axis that deflects makes dynamic object be presented on all the time in imaging plane Centre, on the basis of unmanned plane elevation information is obtained according to foundation model measure in real time between unmanned plane and dynamic object away from From, but the patent is supported due to lacking data for unknown indoor environment, causes the bad of indoor positioning Resolving probiems, even if Positioned using vision positioning mode, effect is also bad.
Another kind be using SLAM (concurrently build figure with positioning) mode, i.e., aircraft by from circumstances not known from one Individual unknown position starts to move, and self poisoning is carried out according to location estimation and map in moving process, while in self poisoning On the basis of build increment type map, realize autonomous positioning and the navigation of robot.The applicability of this mode is wider, but right It is higher in the requirement of image-capable and computing capability.Although this mode also can in the case of no any map datum Start from scratch and collect environmental data, but also imply that the aircraft before normal work, also needs if this is the case There is the map structuring work to current environment to do.
Patent document CN104062977 A disclose a kind of full autonomous flight control of view-based access control model SLAM four rotor wing unmanned aerial vehicles Method processed, comprises the following steps:Using the camera collection image information installed in four rotor wing unmanned aerial vehicle bottoms, it is used to using integrated Property navigation elements obtain unmanned plane attitude angle and acceleration information, this two parts information as input, the vision of operational development SLAM algorithms obtain four rotor wing unmanned aerial vehicle three-dimensional positions and attitude information;Using extended Kalman filter fusion visual position letter The three-dimensional acceleration that breath and inertial navigation unit provide, so as to obtain accurate positional information, the water that is obtained using above-mentioned algorithm Prosposition put with velocity information and barometer acquisition elevation information be used as feedback quantity, design PID controller, realize four rotors nobody The full autonomous flight control of machine.The patent document has built four rotor wing unmanned aerial vehicle vision control system experiment porch, and the platform is adopted With embedded control system framework, run the algorithm proposed in paper using airborne embedded computer, but the patent nobody Flight Vehicle Structure is complicated and requirement for image-capable and computing capability is higher, and the positioning precision that obtains and and When property can not meet the flight control needs of unmanned vehicle.
Therefore, as above described in background technology, traditional unmanned vehicle is asked using vision positioning mode to solve indoor positioning When topic, although can also obtain certain effect, supported due to lacking data for unknown indoor environment, cause interior Orientation problem solves bad, even if being positioned using vision positioning mode, effect is also bad.
Utility model content
The application collects the indoor environment data information in each place by some platform in advance, and is shared with needs Unmanned vehicle, in this way, when some unmanned vehicle starts aerial mission in strange indoor environment, it can pass through The corresponding environmental data data of the environment is transferred in advance, implements the accuracy and reliability of indoor positioning flight to improve it.Often While platform unmanned vehicle carries out flight in some specific indoor environment, the camera data that will can also be gathered in real time Preserve, send immediately or subsequently shared platform to, the correspondence of each indoor environment data in constantly improve shared platform Data.
The purpose of this utility model is to be achieved by the following technical programs.
A kind of unmanned vehicle alignment system of shared environment data includes collecting and the environmental data of shared environment data Server and unmanned vehicle, the environmental data server include being stored with storage device and the visit of the database of environmental data The COM1 of the database is asked, the unmanned vehicle includes receiving communication equipment, the processing environment data of environmental data Processor and camera and/or laser radar for vision positioning, COM1 described in the communication equipment wireless connection, The processor connects the communication equipment and camera and/or laser radar, the processor be based on current location via The communication equipment connects the environmental data server (to obtain respective environment data.
In the utility model, the environmental data refers to the spatial information of unmanned vehicle flight environment of vehicle, including but It is not limited only to the two-dimensional map or three-dimensional map with data of such as landform, barrier, passage composition.
In described alignment system, the unmanned vehicle sets the environmental data in-flight gathered via the communication Preparation is sent to the environmental data server.
In described alignment system, the environmental data server is provided with the laser radar for being used for gathering environmental information And/or camera and for concurrently building figure with positioning (SLAM) to form the SLAM calculators of environmental data.
In described alignment system, the laser radar includes single line laser radar or multi-line laser radar, described to take the photograph As head includes monocular depth camera, binocular depth camera, monocular structure light depth camera, binocular structure light depth camera Head or ToF (time of flight) depth camera, wherein, the camera is that monocular structure light depth camera includes swashing Light projector, diffractive-optical element and infrared camera.
In described alignment system, the SLAM calculators include PTAM calculators, MonoSLAM calculators, ORB- SLAM calculators, RGBD-SLAM calculators, RTAB-SLAM calculators or LSD-SLAM calculators.
In described alignment system, processor includes general processor, digital signal processor, application specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit or digital circuit.
In described alignment system, storage device includes one or more read only memory ROMs, random access memory RAM, flash memory or Electrical Erasable programmable read only memory EEPROM.
In described alignment system, communication equipment includes the wireless LAN communication equipment with different prioritys, moved One or more of dynamic communication network device, the Stratosphere Communication network equipment and satellite network communications equipment, the communication ends During cause for gossip or delay connects the environmental data that unmanned vehicle is sent.
A kind of environment server for described alignment system is cloud server, and environmental data server includes processing Device, hard disk, internal memory and bus.
A kind of unmanned vehicle for described alignment system includes communication equipment, the processing environment for receiving environmental data The processor of data and camera and/or laser radar for vision positioning, camera and/or laser radar send present bit The processor is put, the processor is based on current location and connects the alignment system acquisition accordingly via the communication equipment Environmental data.
A kind of unmanned vehicle for described alignment system include receive environmental data communication equipment and for regarding Feel positioning camera and/or laser radar, gather environmental data camera and/or laser radar via the communication equipment The alignment system is connected to upload environmental data.
The utility model proposes scheme, it is simple in construction, implement room by transferring corresponding environmental data in advance to improve its The accuracy and reliability of interior positioning flight, every unmanned vehicle are flown same in some specific indoor environment When, the camera data gathered in real time can also be preserved, send immediately or subsequently shared platform to, constantly improve is common Enjoy each indoor environment data on platform.
Brief description of the drawings
Fig. 1 is the structure according to the unmanned vehicle alignment system of the shared environment data of the utility model one embodiment Schematic diagram.
Fig. 2 is the knot according to the unmanned vehicle alignment system of the shared environment data of the utility model another embodiment Structure schematic diagram.
Below in conjunction with drawings and examples, the utility model is further explained.
Embodiment
It is described in detail below be actually only it is exemplary and be not intended to limit application and use.In addition, it is not intended to By any clear and definite of above technical field, background, brief overview or middle presentation described in detail below or the theoretical constraint implied.Such as Use herein, term " module " or " unit " refer to any hardware, software, firmware, electronic control part, processing logic and/or Processor device includes but not limited to individually or with any combinations:Application-specific integrated circuit ASIC, electronic circuit, perform one The processors of individual or multiple softwares or firmware program is shared, special or groups of and memory, combinational logic circuit and/or offer Other described functional suitable parts.In addition, unless clearly have opposite description, otherwise word " comprising " and Its different modification should be understood implicit to include described part but be not excluded for any miscellaneous part.
Unmanned vehicle referred to as " unmanned vehicle ", english abbreviation be " UAV ", be using radio robot with provide for oneself Presetting apparatus manipulate not manned aircraft.It can be divided into from technical standpoint definition:Depopulated helicopter, unmanned fixed-wing Machine, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Preferable unmanned vehicle is that more rotor unmanned aircrafts (or are more rotor flyings in the utility model embodiment Device), can be the unmanned vehicle that four rotors, six rotors and rotor quantity are more than six.Preferably, fuselage is by carbon fibre material system Into on the premise of higher use intensity and rigidity is met, can significantly mitigating the weight of fuselage, nobody flies so as to reduce more rotors The power demand of row device and the mobility for improving more rotor unmanned aircrafts.Certainly, in other embodiment of the present utility model In, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple relative in the fuselage The slurry arm that is symmetric of symmetrical plane, each one end of slurry arm away from the fuselage is provided with paddle components, the blade Component includes the motor being arranged on the slurry arm and the blade being connected on the output shaft of the motor, the rotation per a piece of blade Shaft axis are respectively positioned on the same face of cylinder.
Certainly, the explanation of more rotor unmanned aircrafts is a simple declaration, is specifically also included many other Component is formed, also also has other many kinds of unmanned vehicle types, may be incorporated for realizing the purpose of this utility model, herein not Repeat again.
But come from the demand in consumer level market and user for the development trend of the manipulation convenience of flight shooting See, the flight capture apparatus of technical solutions of the utility model is primarily referred to as small, miniature more rotor unmanned aircrafts, this unmanned plane Small volume, cost are low, flight stability is preferable, and flight shooting cost is low etc..The aircraft that the utility model uses, typically with Four axle multi-rotor aerocrafts are representative.Also, this aircraft have begun to be widely used in take photo by plane, the neck such as aerial work, logistics Domain.
Fig. 1 is the structure according to the unmanned vehicle alignment system of the shared environment data of the utility model one embodiment Schematic diagram, a kind of unmanned vehicle alignment system of shared environment data includes collecting and the environmental data of shared environment data clothes Business device 1 and unmanned vehicle 2, the environmental data server 1 include being stored with the He of storage device 3 of the database of environmental data The COM1 4 of the database is accessed, the unmanned vehicle 2 includes communication equipment 5, the processing environment for receiving environmental data The processor 6 of data and the camera for vision positioning and/or laser radar 7, lead to described in the wireless connection of communication equipment 5 Believe port 4, the processor 6 connects the communication equipment 5 and camera and/or laser radar 7.Further, the nothing The environmental data in-flight gathered is sent to the environmental data server 1 by people's aircraft 2 via the communication equipment 5.
In described alignment system preferred embodiment of the present utility model, the environmental data server 1, which is provided with, to be used to adopt Collect environmental information laser radar and/or camera and by concurrently build figure with positioning SLAM in terms of the SLAM for forming environmental data Calculate device 8.
In described alignment system preferred embodiment of the present utility model, the laser radar 7 includes single line laser radar Or multi-line laser radar.
In described alignment system preferred embodiment of the present utility model, the camera include monocular depth camera, Binocular depth camera, monocular structure light depth camera, binocular structure light depth camera or ToF (time of flight) Depth camera.
In described alignment system preferred embodiment of the present utility model, environmental data server 1 is cloud server, ring Border data server 1 includes processor, hard disk, internal memory and bus.
In described alignment system preferred embodiment of the present utility model, processor 6 includes general processor, data signal Processor, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit or digital circuit.
In described alignment system preferred embodiment of the present utility model, storage device 3 includes one or more read-only deposit Reservoir ROM, random access memory ram, flash memory or Electrical Erasable programmable read only memory EEPROM.
In described alignment system preferred embodiment of the present utility model, communication equipment 5 is included with different prioritys In wireless LAN communication equipment, mobile communication network device, the Stratosphere Communication network equipment and satellite network communications equipment It is one or more.
In described alignment system preferred embodiment of the present utility model, the camera 7 is that monocular structure optical depth is taken the photograph As head, it includes laser projecting apparatus, diffractive-optical element and infrared camera.
In described alignment system preferred embodiment of the present utility model, the COM1 4 is in real time or delay receives nothing The environmental data that people's aircraft is sent.
In order to further illustrate the unmanned vehicle alignment system of shared environment data of the present utility model, illustrate below It is bright.
Embodiment 1
For the facility of explanation, first a better simply embodiment is described as follows:
Although it is foregoing be in a manner of SLAM exemplified by illustrate environmental data server 1, due to SLAM modes for The data operation and disposal ability of unmanned vehicle 2 require higher, so the more unmanned vehicle stronger applied to performance. For some more portable and fool self-timer type unmanned vehicle, the lower indoor environment of data volume can also be used in fact Data share model, such as the single camera using direction some specific direction set on self-timer type unmanned vehicle, to adopt Collect corresponding data, so as to establish the corresponding environmental data of the indoor environment.For example, immediately below the specific direction is directed towards, So unmanned vehicle can actually obtain the ground texture environmental data of whole indoor environment.For some specific indoor For occasion, its ground texture has more obvious mark degree, as long as a unmanned vehicle can be obtained by shared platform The ground texture of the specific indoor scenarios was obtained, can be reliably in the room just as being that of obtaining complete map datum Interior occasion is reliably flown.
In particular, floor tile has been laid in certain market room, the plural floor tile constitutes the not same texture of uniqueness, this Shen Environmental data server that please be described obtains complete for the ground texture that 2 meters or so of level takes a crane shot to obtain downward vertically from height Figure, and corresponding flight safety region is also identified with the full figure, the data constitute the specific occasion, that is, market Environmental data.
One self-timer type unmanned vehicle A, as long as having downloaded above-mentioned data, the shooting number that is obtained by the camera that takes a crane shot According to, it becomes possible to which position itself being currently in the room of market is understood rapidly by the ground texture full figure, and passes through figure The size contrast of shape, moreover it is possible to the flying height of auxiliary judgment unmanned vehicle.Since it is determined the flight position of current unmanned plane And height, marked by the flight safety region corresponding to the ground texture full figure, the unmanned vehicle can also be avoided reliably Barrier in the room of market.Above-mentioned all processes only need from the shared platform obtain corresponding to environmental data can be real easily It is existing, and reliability is high.
Embodiment 2
For increasingly complex SLAM situations, below to be each provided with a pair in the front of unmanned vehicle and lower section Illustrated exemplified by the visual identity targeting scheme of the depth camera of binocular vision.
Due to obtaining the depth of field by the depth camera of a pair of binocular visions, so current this unmanned vehicle is real The forward direction of camera can be provided with border and lower to realizing vision avoidance, allow unmanned vehicle to avoid on this direction Barrier.But because these data are that processing judges whether barrier immediately immediately for instant acquisition, without doing history number According to accumulation, so the result of data acquisition can not lift service efficiency by accumulating repeatedly.In application scheme, to depth Video data that camera institute continuous acquisition arrives carries out continuous storage, and via above-mentioned any SLAM algorithms, and this is preceding to taking the photograph As head and the lower data processing to taken by camera are converted into corresponding form, the environment of surrounding physical model can be reflected Data, so as to obtain simple threedimensional model coordinate corresponding with actual indoor environment.
In the case of data demand is fairly simple, can by it is preceding to camera obtain data and it is lower to camera obtain Data handled respectively according to SLAM algorithms, obtain different environmental datas for same forward direction camera and it is lower to The aircraft of camera utilizes.For another unmanned vehicle only by forward direction camera, although being gathered with current The unmanned vehicle of data is different in camera configuration, as long as but downloading only from the data sharing platform and being imaged with forward direction Environmental data corresponding to head, can equally make full use of the environmental data, in the case where that need not re-start study, with regard to that can carry The high understanding to some actual environment.
For in the case of data-handling capacity is higher, can also based on multigroup camera form camera external member, To establish the more perfect three-dimensional physical model for some indoor environment, in this case, equivalent to foring one Three-dimensional map based on some specific indoor environment.Another unmanned vehicle that can support correspondence SLAM algorithms, as long as The three-dimensional map data has been downloaded, just can be based on the data, that tries to locate by following up a clue fly, and further increases the reliable of flight Property.
As described above, it is necessary to set corresponding note for different indoor environments in the construction of data sharing platform Data are recorded, the record data is typically also needed to mark the title of the indoor environment, be somebody's turn to do in addition to including corresponding environmental data The map style of indoor environment than texture map described above, certain specific direction binocular vision camera gather data, press Three-dimensional map model established according to the SLAM algorithms of some form etc..
Embodiment 3
Go to gather corresponding environmental data during the flight use of user certainly if based on some given aircraft, And improve the locating effect that aircraft flies indoors by updating environmental data, then this scheme is commercially come Say it is unpractical, because effect is bad, and the cost paid is also higher.
The application is emphasized, different places are largely accumulated come early stage by the exclusive use behavior of the different user of magnanimity Environmental data.
At the beginning of most, it may be necessary to by platform operation person, actively gone actively at some using unmanned vehicle Conventional indoor flying field is gone actively to collect environmental data, but more importantly encourages user to go not by various modes Same indoor flight place flight, and attempt to collect caused by these users, may be wasted or ignore the history ring fallen Border data.
As environmental data is in the continuous accumulation of different places, the accuracys of data is by more and more higher.And with user The actual match degree of the increase of frequency of use, the environmental data and actual environment also will be more and more faster.
It is bad in practice for those gps signals also, the application is not limited only to indoor environment, it is difficult to which that it is reliable fixed to obtain For the environment of position, the application is equally applicable.
A kind of typical place is exactly some environment in high building in the environment of skyscraper stands in great numbers in city, now Due to the interference of Adjacent Buildings and metal object, especially also tend to substantial amounts of electromagnetic interference be present in city, now gps signal is It is insecure.Application scheme is so based on, as long as unmanned vehicle can obtain the environmental data of the correspondence occasion, nobody flies Row device just reliably can complete itself in the case of conventional positioning method this independent of GPS by vision positioning Positioning and navigation task.
Embodiment 4
Division and classification of this part for the title of the environmental data in data sharing platform are further described.
For some specific occasions, it can be defined by its title, for example some indoor park, some interior are extensively , naturally it is also possible to it is outdoor environment, such as Hong Kong Disneyland.
Now, when in use, as long as specifying corresponding place title by user, to match download, this is right for unmanned vehicle The environmental data in place is answered, so as to allow unmanned vehicle to obtain reference data in practical flight.
Certainly, the Data Matching of the specific occasion can also be automatic.
For it can obtain the occasion of gps coordinate, unmanned vehicle judges current institute upon actuation, by GPS In position, then go shared platform inquiry to whether there is environmental data corresponding with the coordinate, share this if there is then request Environmental data.
Further, since unmanned vehicle is when in use, corresponding environmental data information also can be constantly collected, with the application's Exemplified by first embodiment, when a unmanned vehicle continually scans for ground texture, it is found that the ground texture is put down with data Some locality in platform environmental data matching when, can also download automatically and to should locality environment number According to lift the flight stability of the unmanned vehicle.
Certainly in the examples described above, due to some specific occasions some local textures or it is some it is local dimensionally Figure there may be identical situation, and the operation of the above-mentioned this environmental data information for corresponding to some specific occasion automatically can also A confirmation is issued the user with, after user verification, is being used.
Embodiment 5
The shared platform can be established beyond the clouds, pass through radio communication or other communication modes by each unmanned vehicle To be attached with the platform, and complete data sharing.
Certainly, the data of the shared platform can also regularly pack the mnemon shared on unmanned vehicle body, Now unmanned vehicle body can complete data utilization.It is particularly suitable in the case of data volume is little under the occasion.Than Hong Kong is gone to play as user will clearly carry unmanned vehicle, then the unmanned vehicle is being started shooting after Hong Kong region is entered Under the conditions of, judge to be in Hong Kong by GPS, then all known environment data where idle downloads Hong Kong using network arrive Unmanned vehicle body.When user uses the aircraft in any one specific occasion in Hong Kong, the aircraft can be with By the data in body come matched environment data.When user's carrying unmanned vehicle, which leaves Hong Kong, hurries to next destination, The unmanned vehicle can re-download the corresponding data bag in new place, and the corresponding number in selectable deletion or reservation Hong Kong According to bag.
Embodiment 6
In view of the data volume that the unmanned vehicle of binocular vision gathers in flight is larger, for some unmanned planes of taking photo by plane Say, when itself completing to implement aerial images figures to pass, the communication channel resources of required occupancy with regard to a lot, so, for this The upload procedure for the environmental data that kind collects, idle implementation can also be deferred to.Such as the communication channel in unmanned vehicle It is idle, when not taken photo by plane shared by data;For another example, do not taken off in unmanned vehicle, but be in open state When etc..Certainly, in the case of for the enough supports of communication channel resources, corresponding environment number can also be uploaded immediately According to.
Fig. 2 is according to the structural representation of the alignment system of the unmanned vehicle of the utility model one embodiment, one kind Implementing the alignment system of the unmanned vehicle localization method of described shared environment data includes collecting and shared environment data Environmental data server 1 and unmanned vehicle 2, the environmental data server 1 include the database for being stored with environmental data Storage device 3 and the COM1 4 for accessing the database, the COM1 4 via radio communication connect it is described nobody fly Row device 2, the unmanned vehicle 2 include receiving the communication equipment 5 of environmental data, the processor 6 of processing environment data and are used for The camera and/or laser radar 7 of vision positioning, the unmanned vehicle 2 utilize the camera based on the environmental data And/or laser thunder 7, up to vision positioning is carried out, the unmanned vehicle 2 is by the environmental data in-flight gathered via the communication Equipment 5 uploads the environmental data server 1, and the environmental data server 1 is provided with the laser thunder for being used for gathering environmental information Reach and/or camera and for concurrently build figure with positioning SLAM to form the SLAM calculators 8 of environmental data, wherein, it is described swash Optical radar includes single line laser radar or multi-line laser radar, and the camera includes monocular depth camera, binocular depth is taken the photograph As head, monocular structure light depth camera, binocular structure light depth camera or ToFtime of flight depth cameras; The SLAM calculators 8 include PTAM calculators, MonoSLAM calculators, ORB-SLAM calculators, RGBD-SLAM calculators, RTAB-SLAM calculators or LSD-SLAM calculators.
In one embodiment, processor 6 includes general processor, digital signal processor, application-specific integrated circuit ASIC, On-site programmable gate array FPGA, analog circuit, digital circuit, and combinations thereof or other processors that are known or developing later. Storage device 3 includes one or more read only memory ROMs, random access memory ram, flash memory, Electrical Erasable Programmable read only memory EEPROM or other types of memories.
In one embodiment, unmanned vehicle includes receiving communication equipment 5, the place of processing environment data of environmental data Manage device 6 and camera for vision positioning and/or laser radar 7, I/O Interface, function device, power unit and Other.Each element is directly or indirectly electrically connected between each other, to realize the transmission of data or interaction.The processor 6 exists After receiving execute instruction, the program that the executable software function module includes is performed, the utility model embodiment is any The method performed by unmanned vehicle that embodiment discloses can apply in processor, or be realized by processor.Power list Member includes electron speed regulator, motor, rotor etc., wherein, the electron speed regulator is electrically connected with motor, and rotor is arranged on motor On, the control signal of electron speed regulator reception processing device transmission, controlled motor rotation, so as to drive the rotation of rotor.
Wherein, memory is used for the environmental data for storing the unmanned vehicle.The memory can be it is described nobody The internal storage of aircraft, or removable memory, memory may be, but not limited to, random access memory (Random Access Memory, RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..Wherein, memory can be used for storage program.
Processor is probably a kind of IC chip, has the disposal ability of signal.Above-mentioned processor can be logical With processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.;It can also be digital signal processor (DSP), application specific integrated circuit (ASIC), ready-made programmable Gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hardware components.Can be with Realize or perform disclosed each method, step and the logic diagram in the utility model embodiment.General processor can be Microprocessor or the processor can also be any conventional processors etc..
In one embodiment, accessing wirelessly is established by communication equipment 5, and the communication equipment 5, which comprises at least, to be had not Lead to the wireless LAN communication equipment of priority, mobile communication network device, the Stratosphere Communication network equipment and satellite network Believe one in equipment, the wireless communication link that the communication equipment 5 is established between unmanned vehicle 2 and environmental data server 1 Road.Wherein, mobile communication network device is mainly made up of 2G/3G/4G wireless communication chips groups.Wireless LAN communication equipment can To be one in bluetooth, ZigBee or Wi-Fi module, wireless LAN communication equipment can be established by 2.4GHz communication frequencys Short haul connection, indoors or low speed movement outdoor environment preferably can establish unmanned vehicle 2 and environment number by the communication equipment According to the communication connection between server 1.The Stratosphere Communication network equipment is typically used as placement repeater station by the use of helium-airship, balloon Platform, for podium level away from ground 17km~22km, unmanned vehicle, can preferred Stratosphere Communication in a wide range of field flight The communication connection that the network equipment is established between unmanned vehicle 2 and environmental data server 1.Satellite network communications equipment utilization is defended The communication connection that star communication channel is established between unmanned vehicle 2 and environmental data server 1, usually it can use nothing without other In the case of line communication network, satellite network communications equipment can be used as emergency communication.
In one embodiment, according to wireless network cost or wireless network access speed, wireless-transmission network is selected, this Apply for being precedence scheme below design, Wi-Fi network:Priority is 0;4G wireless networks:Priority is 1;3G wireless networks: Priority is 2;Stratosphere Communication network:Priority is 3;Satellite communication network:Priority is 4;Priority level 0-4, it is selected Wireless network priority from high to low, i.e., if a variety of wireless signals simultaneously be present, and when signal intensity is effective, unmanned vehicle Wi-Fi network can be selected first as Radio Access Network;When Wi-Fi signal strength is invalid, unmanned vehicle can be less preferred 4G networks are selected as Radio Access Network;The like.
In one embodiment, monocular structure light depth camera has laser projecting apparatus, diffractive-optical element, infrared taken the photograph As first three big core devices.
In one embodiment, ToF (time of flight) depth cameras are sent modulated near by sensor Infrared light, object back reflection is met, sensor is by calculating light transmitting and reflection interval difference or phase difference, come the scape that is taken that converts The distance of thing, to produce depth information.
In one embodiment, ORB-SLAM calculators can be with real time execution, suitable for various occasions, indoor or room Outer, large scene or small scene.System has very strong robustness, can handle strenuous exercise's image well, can have ratio Larger leeway unrestrained section closed-loop control, reorientation, even full-automatic position initialization.
In one embodiment, the every frame image features point for the depth map that the extraction of RGBD-SLAM calculators obtains, utilizes phase Adjacent two field picture, Feature Points Matching is carried out, then remove big noise using RANSAC, then matched, obtain a pose letter Cease position and posture, while the attitude information that IMU can be utilized to provide be filtered fusion, using filtering theory EKF, UKF, PF or optimum theory TORO, G2O tree or figure optimization, finally give optimal pose estimation.
In the utility model, a kind of environment server 1 for described alignment system is cloud server, environmental data Server 1 includes processor, hard disk, internal memory and bus.
In the utility model, a kind of unmanned vehicle for described alignment system includes receiving the communication of environmental data Equipment 5, the processor 6 of processing environment data and camera and/or laser radar 7 for vision positioning, camera and/or swash Optical radar 7 is sent current location and connected to the processor 6, the processor 6 based on current location via the communication equipment 5 The alignment system obtains respective environment data.
In the utility model, a kind of unmanned vehicle for described alignment system includes receiving the communication of environmental data Equipment 5 and camera and/or laser radar 7 for vision positioning, gather the camera and/or laser radar 7 of environmental data The alignment system is connected to upload environmental data via the communication equipment 5.Although above in association with accompanying drawing to the utility model Embodiment be described, but the utility model is not limited to above-mentioned specific embodiments and applications field, above-mentioned Specific embodiment be only schematical, directiveness, it is rather than restricted.One of ordinary skill in the art is at this Under the enlightenment of specification and in the case where not departing from the scope that the utility model claims are protected, it can also make a lot The form of kind, these belong to the row of the utility model protection.

Claims (10)

1. a kind of unmanned vehicle alignment system of shared environment data, the alignment system includes collecting and shared environment data Environmental data server (1) and unmanned vehicle (2), it is characterised in that:The environmental data server (1) includes being stored with The storage device (3) of the database of environmental data and the COM1 (4) for accessing the database, the unmanned vehicle (2) The processor (6) of communication equipment (5), processing environment data including reception environmental data and the camera for vision positioning And/or laser radar (7), COM1 (4) described in communication equipment (5) wireless connection, described in the processor (6) connection Communication equipment (5) and camera and/or laser radar (7), the processor (6) are based on current location and set via the communication Standby (5) connect the environmental data server (1) to obtain respective environment data.
A kind of 2. alignment system as claimed in claim 1, it is characterised in that:The unmanned vehicle (2) will in-flight gather Environmental data be sent to the environmental data server (1) via the communication equipment (5).
A kind of 3. alignment system as claimed in claim 1, it is characterised in that:The environmental data server (1), which is provided with, to be used for Gather the laser radar and/or camera and for concurrently building figure with positioning (SLAM) to form environmental data of environmental information SLAM calculators (8).
A kind of 4. alignment system as claimed in claim 1, it is characterised in that:The laser radar (7) includes single line laser thunder Reach or multi-line laser radar, the camera include monocular depth camera, binocular depth camera, monocular structure optical depth and taken the photograph As head, binocular structure light depth camera or ToF (time of flight) depth camera, wherein, the camera is single Mesh structure light depth camera includes laser projecting apparatus, diffractive-optical element and infrared camera.
A kind of 5. alignment system as claimed in claim 1, it is characterised in that:Processor (6) includes general processor, numeral letter Number processor, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit or digital circuit.
A kind of 6. alignment system as claimed in claim 1, it is characterised in that:Storage device (3) includes one or more read-only Memory ROM, random access memory ram, flash memory or Electrical Erasable programmable read only memory EEPROM.
A kind of 7. alignment system as claimed in claim 1, it is characterised in that:Communication equipment (5) includes having different prioritys Wireless LAN communication equipment, mobile communication network device, in the Stratosphere Communication network equipment and satellite network communications equipment One or more, the COM1 (4) in real time or delay connection unmanned vehicle send environmental data.
A kind of 8. environment server for being used for the alignment system as any one of claim 1-7, it is characterised in that:It is described Environmental data server (1) is cloud server, and environmental data server (1) includes processor, hard disk, internal memory and bus.
9. a kind of unmanned vehicle for being used for the alignment system as any one of claim 1-7, the unmanned vehicle The processor (6) of communication equipment (5), processing environment data including reception environmental data and the camera for vision positioning And/or laser radar (7), it is characterised in that:Camera and/or laser radar (7) send current location to the processor (6), the processor (6) is based on current location and connects the alignment system acquisition respective environment via the communication equipment (5) Data.
10. a kind of unmanned vehicle for being used for the alignment system as any one of claim 1-7, the unmanned vehicle Exist including receiving the communication equipment (5) of environmental data and the camera for vision positioning and/or laser radar (7), its feature In:Gather environmental data camera and/or laser radar (7) via the communication equipment (5) connect the alignment system with Upload environmental data.
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Cited By (8)

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CN109002037A (en) * 2018-06-27 2018-12-14 中国人民解放军国防科技大学 Multi-robot collaborative path following method based on deep learning
CN109559277A (en) * 2018-11-28 2019-04-02 中国人民解放军国防科技大学 Multi-unmanned aerial vehicle cooperative map construction method oriented to data sharing
CN111003183A (en) * 2018-10-05 2020-04-14 极光飞行科学公司 Ground operation for picking from autonomous objects
CN111207741A (en) * 2020-01-16 2020-05-29 西安因诺航空科技有限公司 Unmanned aerial vehicle navigation positioning method based on indoor vision vicon system
CN111223139A (en) * 2018-11-26 2020-06-02 深圳市优必选科技有限公司 Target positioning method and terminal equipment
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Publication number Priority date Publication date Assignee Title
CN109002037A (en) * 2018-06-27 2018-12-14 中国人民解放军国防科技大学 Multi-robot collaborative path following method based on deep learning
CN109002037B (en) * 2018-06-27 2021-03-23 中国人民解放军国防科技大学 Multi-robot collaborative path following method based on deep learning
US10748299B2 (en) 2018-09-24 2020-08-18 Tata Consultancy Services Limited System and method of multirotor dynamics based online scale estimation for monocular vision
CN111003183A (en) * 2018-10-05 2020-04-14 极光飞行科学公司 Ground operation for picking from autonomous objects
CN111223139A (en) * 2018-11-26 2020-06-02 深圳市优必选科技有限公司 Target positioning method and terminal equipment
CN111223139B (en) * 2018-11-26 2024-02-13 深圳市优必选科技有限公司 Target positioning method and terminal equipment
CN109559277A (en) * 2018-11-28 2019-04-02 中国人民解放军国防科技大学 Multi-unmanned aerial vehicle cooperative map construction method oriented to data sharing
CN109559277B (en) * 2018-11-28 2023-02-28 中国人民解放军国防科技大学 Multi-unmanned aerial vehicle cooperative map construction method oriented to data sharing
CN111207741A (en) * 2020-01-16 2020-05-29 西安因诺航空科技有限公司 Unmanned aerial vehicle navigation positioning method based on indoor vision vicon system
CN112946683A (en) * 2021-01-13 2021-06-11 北京理工大学 Map construction method of single line laser radar
CN112711274A (en) * 2021-01-19 2021-04-27 四川一电航空技术有限公司 Unmanned aerial vehicle control method and device, unmanned aerial vehicle and computer readable storage medium

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