CN207147496U - A kind of indoor unmanned plane alignment system - Google Patents
A kind of indoor unmanned plane alignment system Download PDFInfo
- Publication number
- CN207147496U CN207147496U CN201720686622.3U CN201720686622U CN207147496U CN 207147496 U CN207147496 U CN 207147496U CN 201720686622 U CN201720686622 U CN 201720686622U CN 207147496 U CN207147496 U CN 207147496U
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- unmanned plane
- indoor
- alignment system
- brightness value
- harvester
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Abstract
The utility model proposes a kind of indoor unmanned plane alignment system, the interior unmanned plane alignment system includes：Harvester, for gathering environmental data indoor residing for unmanned plane and determining the positional information of unmanned plane；Data processing equipment, electrically connected with harvester, for according to environmental data, it is determined that indoor ambient brightness value；Controllable LED lamp, it is adjustable to different brightness；Control device, electrically connected with controllable LED lamp and data processing equipment, for according to ambient brightness value, controlling and adjust the brightness of controllable LED lamp, in order to which harvester gathers the positional information of unmanned plane to be positioned to unmanned plane.The utility model passes through according to ambient brightness value, control and adjust the brightness of controllable LED lamp, in order to which harvester gathers the positional information of unmanned plane to be positioned to unmanned plane, so as in the case of lower cost, the environment of larger brightness change is can adapt to, and then realizes indoor flight management.
Description
Technical field
Unmanned plane field is the utility model is related to, it particularly relates to a kind of indoor unmanned plane alignment system.
Background technology
At present, unmanned plane has been widely used in all trades and professions, brings huge facility for the production development of every profession and trade, still
Indoors, because no positioning system signal, or signal are weaker, it is impossible to accurate positioning is provided for unmanned plane, so nothing
Method is positioned indoors and avoidance, for example, a kind of small based on GPS and ultrasonic wave disclosed in the patent No. 201520390342.9
Type unmanned plane indoor and outdoor Seamless integration- alignment system, the program can not carry out indoor positioning, and IMU (inertial
Measurement unit, inertial measuring unit) initialization of calibration step is also relatively complicated, and the patent No. 201410350665.5 is public
A kind of MAV indoor orientation method opened, the program are positioned using image procossing and airborne IMU fusion calculations, but by
Ambient light illumination has a great influence.
The problem of in correlation technique, effective solution is not yet proposed at present.
Utility model content
The problem of in correlation technique, the utility model proposes a kind of indoor unmanned plane alignment system, enable to nothing
It is man-machine indoors without under gps signal and the larger environment of brightness situation of change, carry out accurate flying according to scheduled circuit.
What the technical solution of the utility model was realized in：
According to one side of the present utility model, there is provided a kind of indoor unmanned plane alignment system.
The indoor unmanned plane alignment system includes：Harvester, for gather environmental data indoor residing for unmanned plane and
Determine the positional information of unmanned plane；Data processing equipment, electrically connected with harvester, for according to environmental data, it is determined that indoor
Ambient brightness value；Controllable LED lamp, it is adjustable to different brightness；Control device, with controllable LED lamp and data processing equipment electricity
Connection, for according to ambient brightness value, controlling and adjust the brightness of controllable LED lamp, in order to which harvester gathers unmanned plane
Positional information to be positioned to unmanned plane.
According to one embodiment of the present utility model, in addition to：Control device is provided with predetermined brightness value, works as ambient brightness value
During less than predetermined brightness value, control device control controllable LED lamp is luminous so that ambient brightness value reaches predetermined brightness value, is easy to adopt
Acquisition means gather environmental data.
According to one embodiment of the present utility model, harvester includes RGB-D cameras.
According to one embodiment of the present utility model, interior includes ceiling, and ceiling is provided with texture, RGB-D cameras
Texture is identified to determine the positional information of unmanned plane.
According to one embodiment of the present utility model, unmanned plane includes body, and RGB-D cameras, controllable LED lamp are arranged on machine
On body.
According to one embodiment of the present utility model, indoor unmanned plane alignment system also includes：Ultrasonic sensor, set
On body, for detecting body apart from the distance of ceiling to control the height of unmanned plane.
According to one embodiment of the present utility model, ultrasonic sensor electrically connects with harvester, and supersonic sensing
Device is set close to RGB-D cameras.
According to one embodiment of the present utility model, indoor unmanned plane alignment system further comprises：RGB-D cameras, use
In shooting indoor coloured image and depth image；Data processing equipment, for according to coloured image and depth image, obtaining ring
Monochrome information and range information in the data of border.
According to one embodiment of the present utility model, in addition to：Underpart is provided with hanging basket, and load is placed with hanging basket
Thing.
According to one embodiment of the present utility model, head is provided with body, RGB-D cameras are arranged on head, with
RGB-D cameras are realized to rotate horizontally and pitching rotation.
The utility model is by according to ambient brightness value, controlling and adjusting the brightness of controllable LED lamp, in order to harvester
To gather the positional information of unmanned plane to be positioned to unmanned plane, so as in the case of lower cost, can adapt to larger
The environment of brightness change, and then realize indoor flight management.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description are only of the present utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is the schematic diagram according to the indoor unmanned plane alignment system of the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, every other embodiment that those of ordinary skill in the art are obtained all belongs to
In the scope of the utility model protection.
For clearer description the utility model, it is illustrated below by taking multi-rotor unmanned aerial vehicle as an example.
According to embodiment of the present utility model, there is provided a kind of indoor multi-rotor unmanned aerial vehicle alignment system.
As shown in figure 1, included according to the indoor multi-rotor unmanned aerial vehicle alignment system of the utility model embodiment：Collection dress
Put, for gathering environmental data indoor residing for unmanned plane and determining the positional information of unmanned plane；Data processing equipment, with collection
Device electrically connects, for according to environmental data, it is determined that indoor ambient brightness value；Controllable LED lamp, it is adjustable to different brightness；
Control device, electrically connected with controllable LED lamp and data processing equipment, for according to ambient brightness value, controlling and adjusting controllable LED
The brightness of lamp, in order to which harvester gathers the positional information of unmanned plane to be positioned to unmanned plane.
In this is embodiment, harvester can be the devices such as RGB-D cameras, sensor, and it is used to gather unmanned plane institute
The positional information of environmental data and determination unmanned plane in sections.Data processing equipment can be the devices such as chip, and it is according to environment
Data, it is determined that indoor ambient brightness value, for example, according to one embodiment of the present utility model, the data processing equipment can lead to
The indoor coloured image for crossing the shooting of RGB-D cameras determines indoor ambient brightness value.In addition, can also be by setting controllable LED
Lamp, to meet indoor different brightness demand, meanwhile, the controlled device control of the controllable LED lamp, the control device can be PID
The devices such as controller, it is controlled and adjusts the brightness of controllable LED lamp according to ambient brightness value, in order to which harvester gathers
The positional information of unmanned plane to unmanned plane to position.Of course it is to be understood that above-mentioned harvester, data processing equipment, control
Device processed can be configured according to the actual requirements, and the utility model is not limited this.
By such scheme of the present utility model, by according to ambient brightness value, controlling and adjusting the bright of controllable LED lamp
Degree, in order to which harvester gathers the positional information of unmanned plane to be positioned to unmanned plane, so as in the feelings of lower cost
Under condition, the environment of larger brightness change is can adapt to, and then realizes indoor flight management.
According to one embodiment of the present utility model, in addition to：Control device is provided with predetermined brightness value, works as ambient brightness value
During less than predetermined brightness value, control device control controllable LED lamp is luminous so that ambient brightness value reaches predetermined brightness value, is easy to adopt
Acquisition means gather environmental data.
In this embodiment, control device is provided with predetermined brightness value, and the predetermined luminance value can be according to needed for harvester
Brightness conditions are configured, and the ambient brightness value of current indoor and predetermined luminance value are compared by the control device, so as to really
Whether the ambient brightness value for determining current indoor meets the work requirements of harvester, when ambient brightness value is less than predetermined brightness value
When, control device control controllable LED lamp is luminous so that ambient brightness value reaches predetermined brightness value, is easy to harvester to gather environment
Data.
According to one embodiment of the present utility model, interior includes ceiling, and ceiling is provided with texture, RGB-D cameras
Texture is identified to determine the positional information of unmanned plane.
In this is embodiment, the RGB-D cameras can shoot the image of the ceiling of interior, so as to the image according to shooting
The texture of indoor ceiling is identified, and then determines the positional information of unmanned plane, so as to the indoor multi-rotor unmanned aerial vehicle alignment system
In terms of can be applicable to indoor logistics management, unmanned plane can carry out accurate location positioning according to the ceiling line in indoor ceiling,
And its have the advantages that to be easy to exploitation, cost it is low, without conveyer belt.In addition, the indoor multi-rotor unmanned aerial vehicle alignment system is also
Can be applied to a variety of occasions of automated production line, it is applicable to different photoenvironments, its also have without manual adjustment,
The advantages that realizing the automation amendment of authentic data.In addition, the texture on above-mentioned ceiling can be configured according to the actual requirements,
For example, according to one embodiment of the present utility model, the texture is black and white speckle, and the utility model is not limited this.
According to one embodiment of the present utility model, unmanned plane includes body, and RGB-D cameras, controllable LED lamp are arranged on machine
On body.
According to one embodiment of the present utility model, indoor unmanned plane alignment system also includes：Ultrasonic sensor, set
On body, for detecting body apart from the distance of ceiling to control the height of unmanned plane.
According to one embodiment of the present utility model, ultrasonic sensor electrically connects with harvester, and supersonic sensing
Device is set close to RGB-D cameras, for example, according to one embodiment of the present utility model, as shown in figure 1, the supersonic sensing
Device is arranged on the side of RGB-D cameras.
According to one embodiment of the present utility model, indoor unmanned plane alignment system further comprises：RGB-D cameras, use
In shooting indoor coloured image and depth image；Data processing equipment, for according to coloured image and depth image, obtaining ring
Monochrome information and range information in the data of border.
In this embodiment, the indoor coloured image of RGB-D cameras shooting and the depth map on indoor ceiling are passed through
Picture, the data processing equipment obtain the monochrome information in environmental data according to coloured image, and according to according to depth image,
Obtain the range information in environmental data.
According to one embodiment of the present utility model, in addition to：Underpart is provided with hanging basket, and load is placed with hanging basket
Thing.
According to one embodiment of the present utility model, head is provided with body, RGB-D cameras are arranged on head, with
RGB-D cameras are realized to rotate horizontally and pitching rotation.
In this embodiment, the head is installation, the support equipment of fixed RGB-D cameras, and the head can be fixed head
Or electric platform, the fixation head are adapted to monitor for the little situation of scope, being installed on fixed head can after RGB-D cameras
The level of RGB-D cameras and the angle of pitching are adjusted, as long as locking adjustment mechanism can after reaching best operating attitude,
And electric platform is applied to being scanned monitoring on a large scale, it can expand the monitoring scope of RGB-D cameras, so that RGB-
The camera lens of D cameras is adjustable, and then increases use range.
In summary, by means of above-mentioned technical proposal of the present utility model, by according to ambient brightness value, controlling and adjusting
The brightness of controllable LED lamp, in order to which harvester gathers the positional information of unmanned plane to be positioned to unmanned plane, so as to
In the case of lower cost, the environment of larger brightness change is can adapt to, and then realizes indoor flight management.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (10)
1. a kind of indoor unmanned plane alignment system, it is characterised in that also include：
Harvester, for gathering environmental data indoor residing for unmanned plane and determining the positional information of the unmanned plane；
Data processing equipment, electrically connected with the harvester, for according to the environmental data, it is determined that indoor ambient brightness
Value；
Controllable LED lamp, it is adjustable to different brightness；
Control device, electrically connected with the controllable LED lamp and the data processing equipment, for according to the ambient brightness value,
Control and adjust the brightness of the controllable LED lamp, in order to the harvester come gather the positional information of the unmanned plane with
The unmanned plane is positioned.
2. the indoor unmanned plane alignment system according to claim 1, it is characterised in that also include：
The control device is provided with predetermined brightness value, when the ambient brightness value is less than the predetermined brightness value, the control
Device controls the controllable LED lamp luminous so that the ambient brightness value reaches predetermined brightness value, is easy to the harvester to adopt
Collect the environmental data.
3. the indoor unmanned plane alignment system according to claim 1, it is characterised in that the harvester includes RGB-D
Camera.
4. the indoor unmanned plane alignment system according to claim 3, it is characterised in that the interior includes ceiling, institute
State ceiling and be provided with texture, the RGB-D cameras identify the texture to determine the positional information of the unmanned plane.
5. the indoor unmanned plane alignment system according to claim 4, it is characterised in that the unmanned plane includes body, institute
State RGB-D cameras, the controllable LED lamp is arranged on the body.
6. the indoor unmanned plane alignment system according to claim 5, it is characterised in that the indoor unmanned plane alignment system
Also include：
Ultrasonic sensor, it is arranged on the body, for detecting the body apart from the distance of the ceiling to control
The height of the unmanned plane.
7. the indoor unmanned plane alignment system according to claim 6, it is characterised in that the ultrasonic sensor with it is described
Harvester is electrically connected, and the ultrasonic sensor is set close to the RGB-D cameras.
8. the indoor unmanned plane alignment system according to claim 4, it is characterised in that the indoor unmanned plane alignment system
Further comprise：
The RGB-D cameras, for shooting the indoor coloured image and depth image；
The data processing equipment, for according to the coloured image and the depth image, obtaining in the environmental data
Monochrome information and range information.
9. the indoor unmanned plane alignment system according to claim 5, it is characterised in that also include：
The underpart is provided with hanging basket, and loaded article is placed with the hanging basket.
10. the indoor unmanned plane alignment system according to claim 5, it is characterised in that head is provided with the body,
The RGB-D cameras are arranged on the head, are rotated horizontally and pitching rotation so that the RGB-D cameras are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720686622.3U CN207147496U (en) | 2017-06-13 | 2017-06-13 | A kind of indoor unmanned plane alignment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720686622.3U CN207147496U (en) | 2017-06-13 | 2017-06-13 | A kind of indoor unmanned plane alignment system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207147496U true CN207147496U (en) | 2018-03-27 |
Family
ID=61671012
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720686622.3U Expired - Fee Related CN207147496U (en) | 2017-06-13 | 2017-06-13 | A kind of indoor unmanned plane alignment system |
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| Country | Link |
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| CN (1) | CN207147496U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108692709A (en) * | 2018-04-26 | 2018-10-23 | 济南浪潮高新科技投资发展有限公司 | A kind of farmland the condition of a disaster detection method, system, unmanned plane and cloud server |
-
2017
- 2017-06-13 CN CN201720686622.3U patent/CN207147496U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108692709A (en) * | 2018-04-26 | 2018-10-23 | 济南浪潮高新科技投资发展有限公司 | A kind of farmland the condition of a disaster detection method, system, unmanned plane and cloud server |
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| 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: 20180327 Termination date: 20210613 |