CN206993294U - The UAS of over the horizon visual pursuit is realized based on head movement - Google Patents
The UAS of over the horizon visual pursuit is realized based on head movement Download PDFInfo
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- CN206993294U CN206993294U CN201720555018.7U CN201720555018U CN206993294U CN 206993294 U CN206993294 U CN 206993294U CN 201720555018 U CN201720555018 U CN 201720555018U CN 206993294 U CN206993294 U CN 206993294U
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- control signal
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Abstract
It the utility model is related to unmanned air vehicle technique field, specially a kind of UAS that over the horizon visual pursuit is realized based on head movement, including unmanned plane IMAQ transmitting element, unmanned plane cradle head control unit, the ground remote control device for controlling unmanned plane during flying posture, ground display terminal, headwork tracing unit on unmanned plane；The headwork tracing unit catches human body head and acts and convert thereof into cradle head control signal, the cradle head control signal is launched through ground remote control device and received by unmanned plane cradle head control unit, and the cradle head control unit receives cradle head control signal and realizes the rotation of head so as to realize the visual angle change of pick-up lens.
Description
Technical field
Unmanned air vehicle technique field is the utility model is related to, the nothing of over the horizon visual pursuit is specially realized based on head movement
Man-machine system.
Background technology
In recent years, unmanned plane is taken photo by plane for high-altitude, the task such as the prospecting of complex terrion and overhaul of the equipments increasingly
Favored by masses, in general, perform above-mentioned task and be required for equipping a multiaxis head on unmanned plane, on the one hand, by
Head realizes the adjustment of the multiple frees degree of camera lens, and on the other hand, head can shield the high-frequency vibration of unmanned aerial vehicle body, really
It is steady to protect the image quality that camera is shot with video-corder.
The head of existing design is controlled it by unmanned controller, is being carried out over the horizon flight and is being taken photo by plane
When, the passback image that operator needs dependence ground receiver and display to receive is controlled to unmanned plane and head,
Because the flight control of unmanned plane in itself is complex, thus when over the horizon flight is performed, many players are not
Can unusual being controlled to unmanned plane and head freely, and when the camera lens of some particular requirements is shot, to nobody
The flight attitude of machine and the angle of camera lens need to adjust simultaneously, so manipulating obvious extremely difficult, Wu Faman using remote control
The demand of the most of work of taking photo by plane of foot.
Utility model content
To make up the deficiencies in the prior art, the utility model provides the nothing that over the horizon visual pursuit is realized based on head movement
Man-machine system, the UAS catch human body head and move and use it for cradle head control, realize the pick-up lens of unmanned plane
Move with human body head and accordingly adjust.
The utility model adopts the following technical scheme that：
Unmanned plane IMAQ transmitting element on unmanned plane, include the camera and hair of collection picture signal
The figure of picture signal is sent to pass transmitter module；
Unmanned plane cradle head control unit, including electric platform, control signal receiving module and the control electric platform
The cradle head control module of the anglec of rotation, the camera are arranged on electric platform；
For controlling the ground remote control device of unmanned plane during flying posture, including control signal transmitter module and the first bluetooth mould
Block, the control signal transmitter module are connected with the control signal receiving module radio communication of unmanned plane cradle head control unit；
Ground display terminal, including for receive scheme pass transmitter module send picture signal figure transmitting/receiving module and
Picture signal for figure transmitting/receiving module to be received is shown as the display module of image；
Headwork tracing unit, including data processor, headwork sensor and the second bluetooth module, described
Two bluetooth modules and the first bluetooth module communicate to connect, and the head pose sensor gathers head attitudes vibration information and transmitted
To data processor, the head pose change information that head pose sensor gathers is converted into accordingly by the data processor
Control signal is simultaneously transmitted further to control signal transmitter module, the control signal by the second bluetooth module, the first bluetooth module
The control signal is sent to control signal receiving module, the control that the control signal receiving module will receive by transmitter module
Signal processed is transferred to cradle head control module, and the cradle head control module controls the rotation of electric platform according to the control signal
Angle.
Wherein, the head pose sensor model number is GY-85 sensors.
Further, the headwork tracing unit and ground control terminal are arranged in a wearable glasses,
The glasses include housing, two peepholes located at rear and set the sponge cover with rear edge.
Further, the glasses also include one flat plate antenna, and the housing front portion is provided with the side of installation plate aerial
Hole, top and the square hole upper limb of the plate aerial are hinged.
Further, heat dissipation channel and radiator fan are additionally provided with the housing, the radiator fan is located at flat board just
Antenna rear.
Further, the rear is provided with focus regulating mechanism, and the focus regulating mechanism includes being arranged on shell
The lens barrel at body rear portion and the threaded cap for installing peephole, the threaded cap are threadedly coupled with lens barrel, are also carved on the lens barrel
There is myopia degree.
Yet further, pupillary distance adjusting device is additionally provided with the housing, the pupillary distance adjusting device includes being located at housing
Interior slide rail, two sliding blocks being arranged on slide rail and the leading screw through sliding block, the lens barrel is fixedly mounted on sliding block, described
It is installed with nut in sliding block, the thread rotary orientations of the leading screw both sides is on the contrary, the leading screw is connected with nut thread, the silk
Thick stick end is additionally provided with the adjusting nut for being easy to grip.
Headwork capturing technology is combined by the utility model with unmanned plane cradle head control technology, is passed by headwork
Sensor catches the headwork of human body, and the headwork of human body is converted into corresponding cradle head control signal, and then makes head
On pick-up lens with the head rotation of human body, be greatly lowered the control difficulty of unmanned plane and head.
Brief description of the drawings
Fig. 1 is schematic diagram of the present utility model.
Fig. 2 is the middle longitudinal section of the utility model embodiment.
Fig. 3 is the front view of the utility model embodiment.
Fig. 4 is the preceding profile of the utility model embodiment.
In figure：
1- cameras 2- figures pass transmitter module 3- electric platforms
4- control signal receiving module 5- cradle head control module 6- control signal transmitter modules
7- the first bluetooth module 8- figure transmitting/receiving module 9- display modules
10- data processor 11- headwork sensor the second bluetooth modules of 12-
13- housing 14- peephole 15- sponge covers
16- plate aerial 17- heat dissipation channel 18- radiator fans
19- lens barrel 20- mirror lid 21- slide rails
22- sliding block 23- leading screw 24- adjustment caps.
Embodiment
For the ease of the understanding of those skilled in the art, the utility model is made with reference to embodiment and accompanying drawing further
Explanation, the content that embodiment refers to not to restriction of the present utility model.
In description of the present utility model, it is to be understood that term " on ", " interior ", " outer ", " rear ", " side " etc.
The orientation or position relationship of instruction are based on orientation shown in the drawings or position relationship, are for only for ease of description the utility model
Described with simplifying, rather than the device or element of instruction or hint meaning there must be specific orientation, with specific orientation structure
Make and operate, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Term " multiple " refers to two and two or more, in the utility model
Description in, unless otherwise prescribed with limit, term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be
Mechanical connection or electrical connection or the connection of two element internals, can be joined directly together, can also pass through intermediary
It is indirectly connected, for the ordinary skill in the art, the concrete meaning of the term can be understood as the case may be.
As shown in figure 1, the UAS of over the horizon visual pursuit is realized based on head movement, including installed in unmanned plane
On unmanned plane IMAQ transmitting element, the unmanned plane cradle head control unit on unmanned plane, for controlling unmanned plane
Ground remote control device, ground display terminal and the headwork tracing unit of flight attitude.The unmanned plane IMAQ sends single
Member includes the camera 1 of collection picture signal and sends the figure biography transmitter module 2 of picture signal；The unmanned plane cradle head control
Unit includes the cradle head control mould of electric platform 3, control signal receiving module 4 and the control anglec of rotation of electric platform 3
Block 5, the camera 1 are arranged on electric platform 3；It is blue that the ground remote control device includes control signal transmitter module 6 and first
Tooth module 7, the radio communication of control signal receiving module 4 of the control signal transmitter module 6 and unmanned plane cradle head control unit
Connection；The ground display terminal include be used for receive figure pass transmitter module 2 send picture signal figure transmitting/receiving module 8 with
And the picture signal for figure transmitting/receiving module 8 to be received is shown as the display module 9 of image；The headwork tracking is single
Member, including data processor 10, the bluetooth module 12 of headwork sensor 11 and second, second bluetooth module 12 and
One bluetooth module 7 communicates to connect, and the headwork sensor 11 gathers head attitudes vibration information and is transferred to data processing
The head pose change information that headwork sensor 11 gathers is converted into controlling accordingly by device 10, the data processor 10
Signal is simultaneously transferred to control signal transmitter module 6, the control signal hair by the second bluetooth module 12, the first bluetooth module 7
Penetrate module 6 control signal is sent to control signal receiving module 4, the control signal receiving module 4 will receive
Control signal is transferred to cradle head control module 5, and the cradle head control module 5 controls electric platform 3 according to the control signal
The anglec of rotation.
Above-mentioned technical proposal solve the problems, such as unmanned plane perform over the horizon take photo by plane flight when be difficult to manipulate, image is real-time
Transmission technology, human body head action sensing technology and unmanned plane cradle head control are combined, and are greatly reduced while are controlled nobody
The difficulty of machine and head.Restricted because unmanned plane take-off weight battery durable ability and figure pass the factors such as power consumption, unmanned plane
Pick-up lens typically only one, the flight in face of complexity and take photo by plane environment when tend not to head and the tail and take into account, thus such as
The control difficulty what reduces unmanned machine head and unmanned plane is exactly crucial part of the present utility model, it has to says, unmanned plane
Control technology has developed for many years, is always to be broken through in control accuracy and command range in industry, but have ignored and be used as nobody
Advantage caused by the first person of machine operation, and inventor of the present utility model cleverly hands over unmanned plane cradle head control
It is controlled by human body head action tracing unit, has both liberated the finger of operator, brought very for unmanned operators
Intuitively operating experience, also it is greatly lowered the accident probability of unmanned plane during flying.
Wherein, head pose sensor described in the present embodiment is GY-85 sensors.Compared to other head pose sensors,
The sensor bulk is small, low in energy consumption, high sensitivity, and its communication interface is also standard interface, and compatibility is good.
Further, the headwork tracing unit and ground control terminal are arranged in a wearable glasses,
The glasses include housing 13, the peephole 14 located at the rear portion of housing 13 and set the sponge cover 15 with rear edge.
Further, glasses described in the present embodiment also include one flat plate antenna 16, and the front portion of housing 13 is provided with installation
The square hole of plate aerial 16, top and the square hole upper limb of the plate aerial 16 are hinged.
Yet further, heat dissipation channel 17 and radiator fan 18, institute are additionally provided with the housing 13 of glasses described in the present embodiment
State radiator fan 18 and be located at the rear of plate aerial 16.
Plate aerial 16 is widely used on figure transmitting/receiving module 8, and compared to ordinary antennas, plate aerial 16 connects
Receive distance and receiving angle is all bigger.In the present embodiment, figure is dexterously passed antenna 16 and designed in the front portion of housing 13 by inventor,
And it is be hinged with housing 13, space is both saved, realizes the change of the receiving angle of plate aerial 16 again.In actual applications, scheme
For transmitting/receiving module 8 as the power consumption rich and influential family in whole glasses, heating is obvious, therefore designs compulsory heat dissipation channel 17 and radiation air
Fan 18 is necessary, and heat dissipation channel 17 and radiator fan 18 are arranged at the rear of plate aerial 16 by the present embodiment, make use of
The air outlet of self-assembling formation after opening plate aerial 16, it has to say to be also very cleverly.
Further, the rear portion of housing 13 described in the present embodiment is provided with focus regulating mechanism, the focus regulating mechanism bag
Include installed in the lens barrel 19 at the rear portion of housing 13 and the mirror lid 20 for installing peephole, the mirror lid 20 connect with the screw thread of lens barrel 19
Connect, myopia degree is also carved with the lens barrel 19（Not shown in accompanying drawing）.Focus regulating mechanism is set and is carved with lens barrel 19
Myopia degree, greatly facilitate near-sighted operator and use.
Yet further, pupillary distance adjusting device is additionally provided with housing described in the present embodiment, the pupillary distance adjusting device includes
21, two sliding blocks 22 being arranged on slide rail 21 of slide rail in housing, the lens barrel 19 is through sliding block 22 and is fixedly mounted
On sliding block 122, the top of sliding block 22 is provided with the ball-screw 23 that both ends are opposite threads, the nut of the ball-screw 23
It is fixedly connected with sliding block 22, the end of ball-screw 23 is additionally provided with the adjustment cap 24 for being easy to grip.
For unmanned operators, its notice need to be highly concentrated in the display of wearing type glasses during unmanned plane during flying
In module, thus the comfortableness worn is very crucial, if interpupillary distance or focal length set inaccuracy, it is easy to cause vision
Fatigue, the utility model cleverly devise pupillary distance adjusting device and focus regulating mechanism on glasses, facilitate unmanned plane to operate
Person adjusts focal length and interpupillary distance as needed immediately, in addition, for A nearsighted person or farsighted person, the utility model can allow him
Abandon glasses completely, be directly observed.
It should be noted that the arrangement in accompanying drawing 2-4 not with regard to headwork tracing unit does specific design and layout,
To those skilled in the art, it is only necessary to which premised on meeting that heat dissipation channel can smoothly be radiated, certainly, figure biography connects
Receive module and be preferably disposed at the top of glasses housing 13, so advantageously reduce the dry of display module and other electronic units
Disturb.
In addition, for the utility model, to realize the built-in journey of modules that specific function may relate to
Sequence belongs to prior art, and the utility model is the component invention made based on prior art, comes as those skilled in the art
Say, it is only necessary to make corresponding configuration according to invention thinking of the present utility model and prior art and can be achieved.
Above-described embodiment is the preferable implementation of the utility model, and in addition, the utility model can be with other sides
Formula is realized, any on the premise of the technical program design is not departed from obviously to replace in protection model of the present utility model
Within enclosing.
In order to allow those of ordinary skill in the art more easily understand the utility model relative to prior art improvement it
Place, some accompanying drawings of the present utility model and description have been simplified, and for the sake of clarity, present specification is omitted one
A little other elements, those of ordinary skill in the art should be aware that these elements omitted also may make up in of the present utility model
Hold.
Claims (7)
1. the UAS of over the horizon visual pursuit is realized based on head movement, including：
Unmanned plane IMAQ transmitting element on unmanned plane, include the camera of collection picture signal（1）And hair
The figure of picture signal is sent to pass transmitter module（2）；
Unmanned plane cradle head control unit on unmanned plane, including electric platform（3）, control signal receiving module（4）With
And the control electric platform（3）The cradle head control module of the anglec of rotation（5）, the camera（1）Installed in electric platform（3）
On；
For controlling the ground remote control device of unmanned plane during flying posture, including control signal transmitter module（6）With the first bluetooth module
（7）, the control signal transmitter module（6）With the control signal receiving module of unmanned plane cradle head control unit（4）Radio communication
Connection；
Ground display terminal, including scheme to pass transmitter module for receiving（2）The figure transmitting/receiving module of the picture signal of transmission（8）With
And for by figure transmitting/receiving module（8）The picture signal of reception is shown as the display module of image（9）；
Headwork tracing unit, including data processor（10）, headwork sensor（11）And second bluetooth module
（12）, second bluetooth module（12）With the first bluetooth module（7）Communication connection, the headwork sensor（11）Collection
Head pose change information is simultaneously transferred to data processor（10）, the data processor（10）By headwork sensor（11）
The head pose change information of collection is converted into corresponding control signal and by the second bluetooth module（12）, the first bluetooth module
（7）It is transferred to control signal transmitter module（6）, the control signal transmitter module（6）The control signal is sent to control
Signal receiving module（4）, the control signal receiving module（4）The control signal received is transferred to cradle head control module
（5）, the cradle head control module（5）Electric platform is controlled according to the control signal（3）The anglec of rotation.
2. the UAS according to claim 1 that over the horizon visual pursuit is realized based on head movement, its feature are existed
In：The headwork sensor model number is GY-85 sensors.
3. the UAS according to claim 1 that over the horizon visual pursuit is realized based on head movement, its feature are existed
In：The headwork tracing unit and ground control terminal are arranged in a wearable glasses, and the glasses include shell
Body（13）, located at housing（13）The peephole at rear portion（14）With set the sponge cover with rear edge（15）.
4. the UAS according to claim 3 that over the horizon visual pursuit is realized based on head movement, its feature are existed
In：The glasses also include one flat plate antenna（16）, the housing（13）Front portion is provided with installation plate aerial（16）Square hole,
The plate aerial（16）Top be hinged with square hole upper limb.
5. the UAS according to claim 4 that over the horizon visual pursuit is realized based on head movement, its feature are existed
In：The housing of the glasses（13）Inside it is additionally provided with heat dissipation channel（17）And radiator fan（18）, the radiator fan（18）It is located at
Plate aerial（16）Rear.
6. the UAS according to claim 5 that over the horizon visual pursuit is realized based on head movement, its feature are existed
In：The housing of the glasses（13）Rear portion is provided with focus regulating mechanism, and the focus regulating mechanism includes being arranged on rear
Lens barrel（19）With peephole is installed（14）Jing Gai（20）, the Jing Gai（20）With lens barrel（19）Threaded connection, the mirror
Cylinder（19）On be also carved with myopia degree.
7. the UAS according to claim 6 that over the horizon visual pursuit is realized based on head movement, its feature are existed
In：The housing of the glasses（13）Pupillary distance adjusting device is inside additionally provided with, the pupillary distance adjusting device includes being located at housing（13）It is interior
Slide rail（21）, two be arranged on slide rail（21）On sliding block（22）With through sliding block（22）Leading screw（23）, the lens barrel
（19）It is fixedly mounted on sliding block（22）On, the sliding block（22）Inside it is installed with nut, the leading screw（23）The screw thread of both sides
It is oppositely oriented, the leading screw（23）It is connected with nut thread, the leading screw（23）End is additionally provided with the adjustment cap for being easy to grip
（24）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720555018.7U CN206993294U (en) | 2017-05-18 | 2017-05-18 | The UAS of over the horizon visual pursuit is realized based on head movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720555018.7U CN206993294U (en) | 2017-05-18 | 2017-05-18 | The UAS of over the horizon visual pursuit is realized based on head movement |
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| Publication Number | Publication Date |
|---|---|
| CN206993294U true CN206993294U (en) | 2018-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720555018.7U Expired - Fee Related CN206993294U (en) | 2017-05-18 | 2017-05-18 | The UAS of over the horizon visual pursuit is realized based on head movement |
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| Country | Link |
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| CN (1) | CN206993294U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976369A (en) * | 2019-04-19 | 2019-07-05 | 南昌航空大学 | A kind of heat transfer agent Tracing Control system |
| WO2023077255A1 (en) * | 2021-11-02 | 2023-05-11 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling movable platform, and movable platform and storage medium |
-
2017
- 2017-05-18 CN CN201720555018.7U patent/CN206993294U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976369A (en) * | 2019-04-19 | 2019-07-05 | 南昌航空大学 | A kind of heat transfer agent Tracing Control system |
| WO2023077255A1 (en) * | 2021-11-02 | 2023-05-11 | 深圳市大疆创新科技有限公司 | Method and apparatus for controlling movable platform, and movable platform and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180209 Termination date: 20200518 |