CN207360580U

CN207360580U - Unmanned plane target tracking system

Info

Publication number: CN207360580U
Application number: CN201721337896.8U
Authority: CN
Inventors: 伍可炳; 董震; 姜鹏翰; 姚君
Original assignee: Tianjin Feiyan Uav Technology Co Ltd
Current assignee: Tianjin Feiyan Uav Technology Co Ltd
Priority date: 2017-10-15
Filing date: 2017-10-15
Publication date: 2018-05-15
Anticipated expiration: 2027-10-15

Abstract

A kind of unmanned plane target tracking system, the unmanned plane is used to track target, it includes rack and the multiple rotors being symmetricly set in rack, it is characterized in that, engine and gear mechanism are provided with rack, it is characterised in that, generator is provided with rack, the generator includes stator and rotor, and the stator includes the hollow making toroidal coil frame concentric with annular recess, and the first-class apart windings of making toroidal coil frame have N number of coil；Rotor is provided with cavity in making toroidal coil frame, rotor is including at least permanent magnet and the gear of annular, formed with the window portion for exposing a part for the ring gear on the making toroidal coil frame between adjacent windings；Engine is engaged so that rotor rotates in the cavity in making toroidal coil frame by gear mechanism through window portion with the gear of annular.Target can be tracked for a long time using system provided by the utility model.

Description

Unmanned aerial vehicle target tracking system

Technical Field

The utility model relates to an unmanned aerial vehicle target tracking system belongs to data processing technology field.

Background

The unmanned aerial vehicle can be used for obtaining important information of the ground, such as images including still pictures and videos, and timely and accurate site information and accurate positioning information are obtained from the important information, so that strategic hitting targets are captured, and tasks such as hitting effect evaluation are completed.

In the air-ground observation process, moving objects (such as trains, automobiles, naval vessels and the like) on the ground or on the water surface have important values, are important for observation, and often need to be continuously concerned in the flight process. Because the moving target is in the motion state with unmanned aerial vehicle is the same, need unmanned aerial vehicle to track for a long time, and because unmanned aerial vehicle majority uses the battery power supply among the prior art, and because the restriction of the life of battery, can only track forty more minutes usually, so, can not carry out the target tracking for a long time continuously.

SUMMERY OF THE UTILITY MODEL

In order to overcome the technical problem that exists among the prior art, the utility model aims at providing an unmanned aerial vehicle target tracking system, it can be continuously for a long time trail the target.

In order to achieve the object, the utility model provides an unmanned aerial vehicle target tracking system, the unmanned aerial vehicle is used for tracking the target, it includes frame and a plurality of rotor wings of symmetry setting in the frame, its characterized in that is provided with engine and gear mechanism in the frame, its characterized in that, is provided with the generator in the frame, the generator includes stator and rotor, the stator includes the concentric hollow ring shape coil former with annular groove, the equidistant winding of ring shape coil former has N coils; a rotor is arranged in a cavity in the circular coil rack, the rotor at least comprises a permanent magnet and a ring-shaped gear, and a window part for exposing a part of the ring-shaped gear is formed on the circular coil rack between the adjacent coils; the motor is engaged with the ring gear through the window by the gear mechanism to rotate the rotor within the cavity in the toroidal bobbin.

Preferably, the rotor comprises a magnet ring concentric with the toroidal former, the magnet ring comprising: the magnetic iron comprises an annular magnet box, a plurality of permanent magnets, a ring gear and a plurality of pulleys, wherein the annular magnet box is used for accommodating the plurality of magnets, the polarities of two adjacent magnets are the same, and the ring gear and the annular magnet box are concentric and arranged on the annular magnet box; the pulleys are uniformly arranged on the annular magnet box in a mode of contacting with the inner wall of the hollow cavity of the circular coil rack.

Preferably: when the rotor rotates, the coil wound on the circular coil rack outputs electric energy.

Preferably, the electric energy output by the coil wound on the circular coil rack can be used for charging a rechargeable battery after rectification and filtering, and the rechargeable battery is used for supplying electric energy to electric equipment of the unmanned aerial vehicle.

Preferably, the consumer includes at least in the motor that provides kinetic energy for the rotor, the motor includes the rotor at least and sets up the stator in the rotor periphery, at least first stator winding and third stator winding on the stator, each item of first stator winding and each crisscross setting of third stator winding, be provided with permanent magnet on the rotor, the N utmost point and the S utmost point crisscross setting of magnet.

Preferably, the stator has at least a second stator winding, and each phase of the second stator winding are arranged in the same slot.

Preferably, the unmanned aerial vehicle target tracking system further comprises a first motor driver, a rectifier and a second motor driver, wherein the first motor driver converts direct current output by the rechargeable battery into alternating current and provides the alternating current to the first stator winding, so that the rotor rotates, and the rotor rotates to drive blades connected to the shaft of the rotor to rotate; the third stator winding is connected to a rectifier for converting the electric energy generated by the third stator winding into direct current, and the second motor driver converts the direct current into alternating current and then applies the alternating current to the second stator winding to change the rotating speed of the motor

Compared with the prior art, the unmanned aerial vehicle target tracking system can continuously track the target for a long time.

Drawings

Fig. 1 is a top view of an unmanned aerial vehicle provided by the present invention;

fig. 2 is a block diagram of a control system of the unmanned aerial vehicle provided by the present invention;

fig. 3 is a schematic diagram of the generator of the unmanned aerial vehicle provided by the present invention;

FIG. 4 is a schematic cross-sectional view of the generator of FIG. 3 taken along the line A-B;

fig. 5 is a schematic diagram of a power plant of the unmanned aerial vehicle provided by the utility model;

fig. 6 is a schematic diagram of the motor according to the present invention;

FIG. 7 is a block diagram of the components of the ground service station;

FIG. 8 the present invention provides a flow chart for tracking a target;

FIG. 9 is a schematic of a target 2D trajectory;

fig. 10 is a block diagram illustrating the radio frequency portion of the communications subsystem of the drone;

fig. 11 is a block diagram of the frequency source provided by the present invention;

fig. 12 is a block diagram of the voltage controlled oscillator provided by the present invention;

fig. 13 is a circuit diagram of a power amplifier provided by the present invention;

fig. 14 is a schematic diagram of an encryptor encryption process provided by the present invention;

fig. 15 is a schematic diagram of the decryptor decryption process provided by the present invention.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and the description thereof will not be repeated.

In the present specification, the term "horizontal plane" refers to a plane intersecting the direction of gravity, and is not limited to a plane that intersects the direction of gravity at an angle of exactly 90 °. Among them, it is preferable from the aspect of the operation of the energy conversion device 100 to place the housing of the drone on a plane that makes an angle with the direction of gravity as close to 90 ° as possible. In the present specification, the vertical direction means a direction of gravity (vertical direction).

Fig. 1 is the utility model provides a top view of unmanned aerial vehicle. As shown in fig. 1, the fixed wing drone includes a frame 800, two sides of the frame 800 are respectively provided with a side wing, and the front and the rear of the frame 800 are respectively provided with a front edge and a rear wing. A duct is arranged on the rear wing of the rack 800 along the Z direction (the direction perpendicular to the horizontal plane), a support is arranged in the duct, the support is provided with a motor 200A, and the output shaft of the motor 200A is provided with blades. The frame both sides are provided with the flank respectively, and the place ahead of every flank is provided with the support, are located to be provided with motor 200C on the left support of unmanned aerial vehicle, are provided with the paddle on motor 200C's the output shaft, are located to be provided with motor 200B on the support of unmanned aerial vehicle right side, are provided with the paddle on motor 200B's the output shaft. A generator 100 is also arranged in the drone frame 800, said generator 100 converting the kinetic energy of the fuel engine into electrical energy to provide electrical energy to the motor 200A, the motor 200B, the motor 200C and other inorganic electrical consumers. The output shaft of the fuel engine transmits kinetic energy to the generator 100 through the gear 400. Set up the fin on unmanned aerial vehicle's the back wing, the fin is the V type for increase flight stability. A counter-torque flow deflector is arranged below the paddle and used for balancing the rotating torque generated when the paddle rotates. Meanwhile, a thrust guide vane is arranged below the blade to generate forward thrust.

The frame, the front edge, the rear wing and the tail wing are made of aluminum alloy frameworks, and carbon fiber composite materials are paved outside, so that the weight of the airplane body is reduced while the strength is ensured.

Fig. 2 is a block diagram of a control system of the unmanned aerial vehicle, as shown in fig. 2, according to the present invention, the control system of the unmanned aerial vehicle includes a flight controller 406, a servo mechanism for driving the unmanned aerial vehicle to fly according to the instruction of the flight processor, a communication subsystem, a camera subsystem and a processor 405, wherein the flight controller 406 provides a control signal to the servo mechanism according to the instruction of the processor 405, so that the servo mechanism flies according to the instruction of the preset path or the ground control terminal, and also transmits the data of the unmanned aerial vehicle during flying to the processor 405, the servo mechanism exemplarily includes three motor controllers and three motors, the motor controllers are, such as a motor controller CON1, a motor controller CON2 and a motor controller CON 3; the motors are motor M1, motor M2 and motor M3, and the three motor controllers respectively control the three motors. The drone further comprises a camera subsystem comprising a camera 412 and a camera controller 413, said camera 412 being connected to the camera controller 413 for aerial photographing the monitored area and transmitting the aerial image information to the camera controller 413, the camera controller 413 being connected to the processor 405 for processing the input image information and then transmitting to the processor 405. The communication subsystem comprises a digital baseband unit 410, a radio frequency unit 411 and a communication card 414, wherein the communication card 414 is connected to the digital baseband unit 410 through a slot, when transmitting, the digital baseband unit 410 is used for carrying out source coding and channel coding on information to be transmitted by a processor and then transmitting the information to the radio frequency unit 411, the radio frequency unit 411 comprises a transmitter, and the transmitter is used for encrypting the information transmitted by the digital baseband unit, modulating the information to a carrier signal which is frequency-changed along with PN generated by a PN random sequence generator, then carrying out power amplification and finally transmitting the information to a space through an antenna; the rf unit 411 further includes a receiver, where the receiver is configured to demodulate and decrypt the signal received by the antenna, and then send the data to the digital baseband unit 410, and the digital baseband unit 410 is configured to perform channel decoding and source decoding on the digital baseband signal, and extract the data or the instruction sent by the control terminal.

The utility model discloses in, the camera passes through the universal joint to be fixed in on the unmanned aerial vehicle platform, makes the camera axleWith OZ coincidence of the coordinate system of the body of the unmanned aerial vehicle, the image plane of the camera is madeWith axes parallel to the OX of the body coordinate system of the drone, the image plane of the cameraThe axis is parallel with OY of the body coordinate system of the unmanned aerial vehicle, so that the attitude angle of the photographing axis can be calculated by measuring the attitude angle of the unmanned aerial vehicle.

According to the utility model discloses first embodiment, unmanned aerial vehicle's control system still includes altimeter 415, and it is used for acquireing the altitude information of unmanned aerial vehicle and ground. According to the utility model discloses an embodiment, unmanned aerial vehicle's control system still includes memory 408, and it is used for the storage to fly the data that acquire of accuse procedure and unmanned aerial vehicle servo. The servo mechanism comprises a motor and a controller thereof.

The control system of the drone also includes a navigation positioning receiver 403 which receives position information and time information about the drone from navigation positioning satellites via antenna a1 and transmits the data to the processor 405. The navigation positioning receiver 403 is, for example, a GPS receiver, a beidou positioning time service receiver, etc. According to the utility model discloses an embodiment, with the coaxial setting of the receiving antenna axle of navigation locator and the optical axis of camera, so can confirm the coordinate of the central point of the image that the camera was shot according to the principle of coordinate transformation according to the positional information of the unmanned aerial vehicle that navigation locator confirmed.

The control system of the drone also includes MEMS402, which when mounted on the drone, makes it possible to measure the attitude angle of the camera's camera axis. According to the utility model provides an embodiment, the utility model provides an unmanned aerial vehicle is provided the energy by power module 100 to each part, and it can break off and switch-on control through the switch, and power module 100 includes the generator at least.

According to one embodiment, the control system of the drone further comprises a distance measuring device 418 for measuring the distance of the drone from a target or the like, said distance measuring device 418 being for example a laser distance meter. The control system of the drone further comprises a direction finding device 418 for measuring the direction of the monitored target and the drone. The processor determines the position, velocity, etc. of the monitored target based on the data provided by the ranging device and the direction finding device. The control system of the drone further comprises a memory 401 for storing applications including calculation programs like position, speed, etc. of the object to be monitored, image processing programs, etc. and the obtained data.

Fig. 3 is a schematic diagram of the generator of the unmanned aerial vehicle provided by the present invention; fig. 4 is a schematic cross-sectional view of the generator in fig. 3 taken along a direction a-B, and as shown in fig. 3-4, a motor, a gear mechanism and a generator are provided in the frame, the motor is connected to the generator through the gear mechanism, the generator includes a stator and a rotor, the stator includes a hollow circular coil former 102, and N coils 101 are wound around the circular coil former at equal intervals; a rotor is arranged in a cavity in the circular ring-shaped coil frame 102, the rotor at least comprises a permanent magnet and a ring-shaped gear 105, and a window part 108 which enables a part of the ring-shaped gear to be exposed out of the circular ring-shaped coil frame is formed on the circular ring-shaped coil frame between the adjacent coils; the motor 600 is engaged with the ring gear through the window by a gear mechanism to rotate the rotor within the cavity in the toroidal bobbin. Preferably, the rotor comprises a magnet ring concentric with the circular ring bobbin 102, the magnet ring comprising: an annular magnet box 106, a plurality of permanent magnets, a ring gear 105 and a plurality of pulleys 104, wherein the annular magnet box 106 is used for accommodating a plurality of magnets, the magnets are arranged in an N polarity, an S polarity and an N polarity, …, namely the polarities of two adjacent magnets are the same, and the ring gear 105 is concentric with the annular magnet box and is arranged on the annular magnet box; the plurality of pulleys 104 are uniformly arranged on the annular magnet case so as to be in contact with the inner wall of the hollow cavity of the circular coil bobbin 102. The gear mechanism comprises a bracket 301 fixed on an annular groove 32, and a generator is arranged in the groove 32; the bracket is provided with a portion of the gear shaft 302 for supporting the engine 600, and the gear shaft 302 is provided with the transmission gear 500. The gear mechanism further comprises a gear 400 and a transmission gear 500, an output shaft of the engine 600 is connected to the gear 400, when the engine 600 works, the gear 400 rotates, the gear 400 drives the gear 500 to rotate, and the gear 500 drives the ring gear 105 to rotate, so that the rotor moves. In the present invention, a window 108 for exposing a part of the ring gear to the bobbin is formed in the annular bobbin 102 between the adjacent coils 101 so that a part of the teeth of the gear 400 can pass through the window 108 to mesh with the teeth of the ring gear 105. The portion where window 108 is formed is not limited as long as the teeth of gear 105 can mesh with some of the teeth of gear 400. The window 108 is not limited to the formation of the bobbin 1, and may be formed in a plurality of portions. The permanent magnet 107 is housed in a magnet case formed in the magnet case 106. In fig. 3, 10 permanent magnets are shown housed in the magnet case 106. However, this configuration is merely an example, and the number of the permanent magnets 1 housed in the magnet case 106 may be at least 1.

Rare earth magnets are preferably used for the permanent magnets 107. Generally, a rare-earth magnet has a stronger magnetic force (coercive force) than a ferrite magnet of the same size. As the rare earth magnet, for example, samarium-cobalt magnet or neodymium magnet can be used. Neodymium magnets are particularly preferred in embodiments of the present invention.

In general, a neodymium magnet has a stronger magnetic force (coercive force) at the same size as compared with a samarium-cobalt magnet. Therefore, for example, a small permanent magnet can be used. Alternatively, the output of the energy conversion device can be increased (a larger amount of energy can be extracted) by using the neodymium magnet, as compared with the case of using a phase-sized samarium-cobalt magnet. However, the embodiments of the present invention do not exclude permanent magnets other than rare-earth magnets. Ferrite magnets may be used as the permanent magnets 107.

The magnet case 106 is formed in a ring shape with an opening provided in an upper portion thereof. Therefore, the permanent magnet 107 is inserted into the magnet case 106 from above. The permanent magnet 107 may be inserted into a part of the magnet case to form a ring shape.

The magnet case 106 is made of a non-magnetic material. The material of the magnet case 106 is not particularly limited as long as it is a nonmagnetic material. In one embodiment, the magnet box 106 is formed of a non-magnetic metal (e.g., aluminum). If the temperature of the permanent magnet 107 is too high, the permanent magnet 107 may be demagnetized. That is, the magnetic force of the permanent magnet 107 may be weakened. By forming the magnet case 106 of a non-magnetic metal, the heat generated by the permanent magnet 107 can be efficiently released to the outside, and therefore, the possibility of occurrence of such a problem can be reduced. In another embodiment, the magnet case 106 is formed of a resin material. By forming the magnet case 106 from a resin material, the weight of the magnet case 106 can be reduced.

The gear 105 is mechanically fixed to the magnet case 106. The gear 105 is formed in a ring shape and is disposed concentrically with the magnet case 106. Screws are used for fixing the ring gear 105. The screw passes through the gear and is fixed to the magnet case 106.

The upper surface of the ring gear 105 is machined to: so that the head of the screw does not protrude from the upper surface of the gear 105. The ring gear 105 is formed with teeth to mesh with the pinion 400 in the main duct. The ring gear 105 rotates with respect to the central axis of the main duct of the magnet box 106.

The width of the ring gear 105 is wider than the width of the magnet case 106. When the ring gear 105 is attached to the magnet case 106, the ring gear 105 extends from the magnet case 106 in the inner diameter direction of the magnet case 106.

The annular ring bobbin 102 has a hollow annular cavity formed therein for accommodating a magnet ring, that is, a magnet case 106 accommodating a permanent magnet and a gear 105. The circular ring-shaped bobbin 102 is formed in a ring shape having a common center with the magnet case 106 and the gear 105, the common center being the axis of the main duct.

The pulley 104 is spherical and is fixed to the magnet case by a wheel frame. The plurality of pulleys are uniformly provided on the magnet case, and are in contact with the inner wall of the inner cavity of the bobbin, and when the ring gear 105 is rotated by the pinion, the magnet case 106 is rotated, and the pulley 104 is rotated. The magnet case 106 can be smoothly rotated with the rotation of the pulley 104.

In order to disperse the weight of the magnet ring, that is, the total weight of the magnet dispersing case 106 and the gear 105, the larger the number of the pulleys 104, the better. Therefore, the number of the pulleys 104 is preferably 3 or more. 1 plane is defined by 3 points. If the number of the pulleys 104 is 3, the pulleys 104 are in contact with the inner cavity of the bobbin, thereby preventing the magnet case 105 from vibrating up and down during rotation.

The pulley 104 is also required to have strength to support the weight of the magnet case 106 and the gear 105. When the magnet case 105 rotates at a high speed, the pulley 104 also rotates at a high speed. Therefore, it is preferable that the pulley 104 be as lightweight as possible so as to be able to rotate at high speed. Thus, the pulley 104 is formed of, for example, metal (e.g., aluminum).

In order to stably rotate the magnet in the coil bobbin 102 during the flight of the unmanned aerial vehicle, it is preferable that a plurality of pulleys 104 are uniformly provided on the lower surface, left surface and right surface of the magnet case 105, respectively, and a plurality of pulleys 104 are also uniformly provided on the upper surface of the ring gear.

The N wire coils 101 are wound on the bobbin 102 at regular intervals. The wire and the number of turns of the coil 101 are not particularly limited. Further, the bobbin 102 functions as follows: as a means for energy conversion within the annular ring groove within the airframe 32 to convert kinetic energy output by the motor into electrical energy during flight of the drone.

The magnet box 105 has a rectangular or circular cross section. But also the cross-section of the annular groove of the frame is rectangular or circular. Since the bobbin 102 is also rectangular or circular in cross section, the distance between the magnet case 105 and the coil 101 can be shortened as much as possible. This can suppress a decrease in the magnetic coupling force between the coil 101 and the permanent magnet 107.

In fig. 3 5 coils 101 are shown. However, the number of coils 101 is not particularly limited as long as it is at least 1. When the number of the coils 101 is plural, it is preferable that the plural coils are arranged at equal angles on the circumference defined by the bobbin.

In fig. 3 to 4, when the gear 500 is driven to rotate by the motor 600 through the gear 400, the gear 500 meshes with the ring gear 105 through the window portion of the bobbin 102 to drive the ring gear to rotate, and the ring gear drives the magnet to rotate in the cavity of the bobbin 102, since the magnet of the present invention is arranged to have N polarity, S polarity, and N polarity, … is arranged, so that when the magnet rotates in the coil, an alternating rotating magnetic field is generated in each coil, thereby generating electric power in the coil. The power plant of the present invention will be described with reference to fig. 5-6.

Fig. 5 is a schematic diagram of a power device of a fixed wing drone, as shown in fig. 5, according to an embodiment of the present invention, the electric energy generated by the generator 100 of the fixed wing drone is rectified into direct current by the rectifier 300, and then charged into the battery E1 by the charger 500, and the electric energy is provided to three motors by the electric energy storage E1, such as the motor 200A, the motor 200B, the motor 200C and other electric devices. According to the utility model discloses an embodiment, for preventing that the battery from providing the electric energy for the charger backward, set up a diode D1 between the positive power output of charger and the positive terminal of battery, diode D1's positive pole is connected in charger 500's positive power output, and the negative pole is connected in the positive pole of domestic animal battery E1. The common terminal of the charger 500 is connected to the negative terminal of the battery. The battery E1 supplies electric power to the motor through a diode D1. According to the utility model discloses an embodiment, unmanned aerial vehicle's paddle is by three motor drive, and the rotational speed of every motor is controlled by motor control circuit according to the instruction.

According to an embodiment of the present invention, the motor includes a housing, a stator and a rotor disposed in the housing, the stator is provided with a first stator winding coil U1, V1 and W1, a second stator winding coil U2, V2 and W2 and a third stator winding coil U3, V3 and W3, the first stator winding coil U1, V1 and W1 and the second stator winding coil U2, V2 and W2 are motor winding coils, each of which is respectively disposed in a same slot, and the first stator winding coil U1, V1 and W1 and the third stator winding coil U3, V3 and W3 are respectively disposed in an interlaced manner, as shown in fig. 6. The motor further includes a speed encoder VS1 and a commutation encoder CD1 rotating together with the shaft of the rotor, the motor control circuit includes a motor driver DR1, and further includes a polarity control unit PC1, a speed control unit VC1, and a pulse width modulation control unit PWM1, and the motor driver DR1 is a semiconductor device that performs switching control in response to a control signal to transmit power to the first stator winding. Here, since the motor drive unit DR1 is provided to supply direct current to the stator windings of the stator, the structure thereof may be changed according to the type of the motor (the number of phases of the stator windings). .

The polarity control unit PC1 receives a photosensor signal from the motor's commutation encoder CD1 and sends a control signal for implementing an electric rectifier to the motor drive unit DR1, thereby implementing the electric rectifier. The speed control unit VC1 receives the encoder VS1 signal from the motor's speed encoder and sends a speed control signal to the pulse width modulation control unit PWM 1. The motor control circuit also includes a dc rectifier H1 that rectifies the ac power generated from the third stator winding (generator coil) of the motor and generates pulsating dc power that is filtered by a filter C1 to generate dc power. The motor control circuit further comprises a polarity control unit PC2, a speed control unit VC2, and a pulse width modulation control unit PWM2, the polarity control unit PC2 receiving the photosensor signal from the commutation encoder CD1 of the motor and sending a control signal for implementing an electric rectifier to the motor drive unit DR2, thereby implementing electric commutation. The speed control unit VC2 receives the encoder VS2 signal from the motor's speed encoder and sends a speed control signal to the pulse width modulation control unit PWM 2. And the flight controller of the unmanned aerial vehicle sends control signals of the rotating speed to the pulse width modulation control unit PWM1 and the pulse width modulation control unit PWM2 according to the sent instructions. The pulse width modulation control unit PWM1 and the pulse width modulation control unit PWM2 respectively transmit PWM signals for controlling the rotational speed of the motor according to the control signals to the motor driver DR1 and the motor driver DR 2.

According to an embodiment of the present invention, the stator of the motor further includes a plurality of ring-shaped silicon pieces stacked on each other, a plurality of partial energy recovery winding slots, a plurality of motor winding slots, a plurality of magnetic flux dividing slots, a plurality of offset canceling slots, a plurality of partial energy recovery windings wound around the corresponding partial energy recovery winding slots, and a plurality of motor windings wound around the corresponding motor winding slots.

The motor windings function as a motor that rotates the rotor by receiving electric power from the motor circuit. Part of the energy recovery winding is used to generate electricity using the current induced by the rotation of the rotor. In this embodiment the total number of winding slots and windings is 6, divided into 3 regions. U1/U2, U3, V1/V2, V3, W1/W2, W3 are arranged in the stator circumferential direction as follows. The first stator winding is connected to motor driver DR1 and the second stator winding is connected to motor driver DR 2. The second stator windings are connected to respective dc rectifiers CH 1. When the windings of the respective phases are wound in parallel, the windings are distributed and wound by phase and polarity and connected to the corresponding wires without any connection therebetween.

In addition, since the magnetic flux dividing slots having relatively narrow widths are equally provided between the motor winding slots and the partial energy recovery winding slots, the magnetic flux is divided, thereby blocking a path through which the magnetic flux of the motor winding can flow to the partial energy recovery winding, so that the magnetic flux of the motor winding can flow only to the magnetic field of the stator, thereby enabling the motor to be driven more efficiently. In addition, the flux dividing slots maintain a constant field width around the motor winding slots, thereby allowing the motor winding slots to operate without affecting or being affected by adjacent winding slots during driving.

And offset cancellation grooves which are equal in width and relatively narrow are arranged between the partial energy recovery winding grooves and the adjacent partial energy recovery winding grooves so as to cancel magnetic flux offsets, so that the power generation efficiency is improved.

The rotor includes a plurality of silicon wafers stacked on each other and a plurality of flat permanent magnets embedded in the stacked silicon wafers in a radial direction. In this regard, the permanent magnet is designed to have a strong magnetic force so that a relatively wide magnetic field surface can be formed, and thus, magnetic flux can be concentrated on the magnetic field surface, increasing the magnetic flux density of the magnetic field surface. The number of poles of the rotor depends on the number of poles of the stator.

Turning in detail to the rotor, three permanent magnets are equidistantly spaced apart from each other and embedded in stacked circular silicon wafers with polarities of alternating N and S polarities. A non-magnetic core is provided on the center of the stacked circular silicon wafers to support the permanent magnet and the silicon wafers, and a shaft is provided through the center of the non-magnetic core. The permanent magnets are formed in a flat shape, and empty spaces are formed between the permanent magnets.

A motor using a permanent magnet is designed to have a rotational force formed by combining passive energy of a rotor and active energy of a stator. In order to achieve super efficiency in the motor, it is very important to enhance the passive energy of the rotor. Therefore, "neodymium (neodymium, iron, boron)" magnets are used in the present embodiment. These magnets increase the magnetic field surface and concentrate the magnetic flux onto the magnetic field of the rotor, thereby increasing the flux density of the magnetic field.

At the same time, a commutation encoder and a speed encoder are provided to control the rotation of the motor. The rectifying encoder CD1 and the speed encoder VS1 are mounted on an outer recess of the motor main body case so as to rotate together with the rotation shaft of the rotor.

The utility model discloses in the unmanned aerial vehicle's that provides power part, in the motor of converting the kinetic energy of diesel engine output into the electric energy in order to provide unmanned aerial vehicle, owing to set up the third stator winding on the stator in the motor, partial energy has been collected at unmanned aerial vehicle flight in-process, and the energy that should collect is applied to second stator winding to the electric power that the change was applied in first stator winding, thereby saved the energy, so can make extension unmanned aerial vehicle's flight time.

The drone communicates with the ground server through its communications subsystem, which is described in detail below in connection with fig. 7.

Fig. 7 is a block diagram of the ground server, and as shown in fig. 7, the utility model provides a ground server comprising a processor 20, an input/output interface, a network adapter 23, a communication module 23, a transceiver antenna 24 and a memory 25, wherein, the receiving and transmitting antenna 24 is used for converting the space electromagnetic wave signal into an electric signal and providing the electric signal to the communication module 23, the communication module 23 provides the signal sent by the unmanned airborne control system to the processor 20, the processor 20 unpacks the data frame sent by the unmanned airborne control system and displays the data frame on the display through the input/output interface 21, the processor processes the obtained image according to the user instruction and judges the position of the ground target, and flight instructions of the unmanned aerial vehicle are manufactured according to the position of the ground target, then the flight instructions of the unmanned aerial vehicle are packaged into a flight instruction frame, and the flight instruction frame is sent to the unmanned aerial vehicle-mounted flight control system through the communication module 14 and the antenna 18. The ground server prints the received image sent by the unmanned on-load control system through a printer, stores the image in the memory 25, and sends the image to other users or servers through a network adapter. The input/output interface 21 may also be connected to a keyboard for inputting instructions or performing certain operations and a mouse for performing certain operations.

Fig. 8 the utility model provides an unmanned aerial vehicle target tracking flow chart. As shown in fig. 5, the utility model provides an unmanned aerial vehicle target tracking method, include:

s01: continuously shooting ground images by using an unmanned aerial vehicle-mounted camera, and marking ground coordinates, attitude angles, time when the ground images are acquired and the like of the unmanned aerial vehicle in each image;

s02: searching a plurality of recently photographed ground images and transforming each ground image into the same coordinate system, the present invention transforms each photographed ground image into the same coordinate system using affine-based transformation, for example, using linear transformation as described below:

（1）

where (x, y) is the new transformed coordinate of (u, v),the transformation parameter sets can be calculated by the attitude angle of the unmanned aerial vehicle and can also be calculated by a least square method.

S03, filtering the plurality of ground images, then taking out foreground images from the filtered ground images, extracting the features of the foreground images, and then performing feature matching;

s04: measuring the average speed and direction of the target, for example, respectively measuring the position of the unmanned aerial vehicle to the target and a reference point and the included angle of two beams of laser at a first moment by using a laser range finder; and respectively finding the position of the unmanned aerial vehicle to the target and the reference point and the included angle of the two beams of laser at the second moment, then finding the running distance of the target and further finding the running speed of the target.

S05: and adjusting the speed and the course of the unmanned aerial vehicle according to the speed and the running direction of the tracked target, thereby tracking the target.

In step S03, in order to measure the traveling speed of the ground object, it is necessary to perform matching by extracting feature quantities of the ground object that are not changed in the captured image so as to calculate the displacement of the ground moving object. Since the reliable extraction of the features directly affects the reliability of the matching result, it is very critical to select a proper feature quantity and a feature extraction algorithm. A straight-line object or point in the image can be generally selected as a feature quantity of matching. Methods mainly used for extracting straight lines include Hough transform, random Hough transform (random Hough transform), and the like; common methods for extracting points include edge detection, corner detection, and the like. The utility model discloses preferred Harris angular point detection algorithm specifically adopts following method:

s311: for each pixel in the foreground image I, its derivatives in x and y directions are calculatedAndand calculate。

S312: the application of the window function a, i.e.,

s313: computing(k is a constant) to measure the change in both directions.

S314: the threshold for H is set and local maxima are found to obtain angular feature points.

Carrying out angular point detection on the previous image and the current image respectively by using a Harris angular point detection algorithm to form an angular point set, and recording the angular point set as the angular point setAndat the time of obtainingAndafter these two feature sets, the corresponding feature points need to be matched. The utility model discloses preferred correlation coefficient after the normalization, this is an efficient statistics sideThe method is carried out. The actual feature matching is achieved by maximizing the correlation coefficient over a small window around the point. The correlation coefficient is given by:

（2）

wherein,representing individual gray values of the tracked object in the previous image;

representing the average gray value of the tracked object in the previous image;

representing the individual gray value of the tracked target in the current frame image;

mean gray value representing tracked object in current frame image

R, C denotes the number of rows and columns of the template matrix.

When the above covariance is maximum, two-point matching is explained. The utility model discloses only realize the block matching algorithm to the characteristic point. Thus, computational overhead can be significantly reduced. Set of passing corner pointsAndthe correlation calculation of (2) keeps the matched points in the two sets, removes other points, and respectively counts as matched point sets:

and。

to obtain accurate tracking results, the target model may be dynamically updated. The update process is formulated as:

（3）

a model representing the current time of the object o,a model representing the time instant before the target o,indicating that the target o is at the timealpha is weighted on the contribution of the most recent tracking result (usually<0.1）。

In the target that unmanned aerial vehicle tracked, a plurality of areas that shape and nature are similar can appear, like the car of operation in the road, pedestrian etc. and among the practical application, unmanned aerial vehicle's task may only require to track a target, and the target that is tracked is the same with the form in other areas, consequently, often can arouse the mistake and track, for solving this problem, the utility model discloses still include the best score value of calculating every tracking orbit, the orbit of every target can be with 2D point sequence in image coordinate systemIndicates the target trackThe score of the trace may be calculated by:

（4）

in the formulaIs the angle between the connecting line of one track point and two adjacent track points as shown in figure 9,greater than or equal to 0 and less than or equal to 1.The higher the track, the smoother the tracked object, the more interesting it is for the tracked object. Utilize the utility model provides a method can be followed a plurality of similar target regions and screened out the target that is tracked, and get rid of other targets.

In step 4, the average speed and direction of the target can be measured by adopting the following method, so that the unmanned aerial vehicle carries at least three calibration devices, the calibration devices are in the visual field of the camera, the camera can inevitably shoot the image of the calibration device when shooting the image of the target, the three calibration devices can accurately determine the accurate coordinates of the three calibration devices, and according to the setting relationship between the three calibration devices and the unmanned aerial vehicle, when the three calibration devices are arranged, the unmanned aerial vehicle can accurately determine the accurate coordinates of the three calibration devices

Fig. 10 is a block diagram of the radio frequency part of the communication subsystem of the unmanned aerial vehicle, as shown in fig. 10, the radio frequency part of the communication subsystem of the unmanned aerial vehicle includes a transmitter, a receiver, a frequency synthesizer 801, a frequency source 829 and a PN code generator 828, the transmitter includes a radio frequency modulator (modulator) 805 for modulating ciphertext data to be transmitted onto a first frequency signal generated by the frequency synthesizer 801, the frequency synthesizer 801 synthesizes different frequencies from the frequency generated by the frequency source according to the PN code generated by the PN code generator 828, the receiver includes a mixer 808, and the mixer 808 is configured to mix a received signal with a second frequency signal generated by the frequency synthesizer 801 to demodulate ciphertext data transmitted by a transmitting end. The transmitter further includes at least an encryptor 803 and a binary sequence generator 801, the length of the binary sequence is one byte, the data bits from high to low are sequentially denoted as K [ n ], the encryptor 803 divides the plaintext data to be transmitted into M bytes, any bit of any byte is denoted as D [ M, K ], and then any bit S [ M, K ] of M bytes of the ciphertext data is calculated according to the following formula:

， wherein k and n are determined by the set password.

The receiver further comprises a decryptor 809, the receiver comprises the decryptor 809 and a binary pseudo-random sequence generator, the decryptor 809 divides the received ciphertext data into M bytes, and decrypts the ciphertext data according to the following formula to obtain plaintext data:

， wherein k and n are determined by the set password.

The radio frequency part further comprises a duplexer 806 and an antenna 804, and the power amplifier 807 and the mixer 808 are connected to the antenna 804 through the duplexer.

According to one embodiment, the frequency synthesizer 801 includes a frequency multiplier 825, a frequency multiplier 827, a frequency multiplier 820, a first phase shifter 824, a phase shifter 823, a phase shifter 830, a multiplier 821, a multiplier 822, and an adder 826, wherein the frequency multiplier 825 is configured to multiply a frequency of a signal provided by a frequency source to obtain a first signal; the phase shifter 824 is configured to shift the phase of the first signal to obtain a second signal orthogonal to the first signal; the frequency multiplier 827 is configured to multiply the frequency of the signal provided by the frequency source to obtain a third signal; the phase shifter 823 is configured to shift the phase of the third signal to obtain a fourth signal orthogonal to the third signal; the multiplier 821 is used for multiplying the second signal and the fourth signal and providing the result to the adder; the multiplier is used for multiplying the first signal and the third signal and providing the multiplied signals to the adder; the adder adds the signals provided by the multipliers 821 and 822 and provides the added signals to the frequency multiplier 820 to obtain a first frequency signal, and the output signal of the adder is phase-shifted by the phase shifter 830 to obtain a second frequency signal.

Fig. 11 is a block diagram of the frequency source provided by the present invention, as shown in fig. 11, the present invention provides a frequency source including: the frequency divider comprises a crystal oscillator, a frequency divider with a ratio of K, a phase discriminator, a low-pass filter, a Voltage Controlled Oscillator (VCO) and a frequency divider with a ratio of N, wherein the crystal oscillator is used for generating a fixed frequency signal and supplying the fixed frequency signal to the frequency divider; the VCO generates a voltage-controlled oscillation signal according to a reference Vf and a voltage provided by the low-pass filter, the voltage is divided by the frequency divider and then provided by the phase detector, the phase detector compares phases of signals provided by the frequency divider and filters high frequency through the low-pass filter LPF so as to generate a voltage signal, and the voltage signal is superposed with Vf to further control a frequency signal generated by the VCO.

Fig. 12 is a circuit diagram of a Voltage Controlled Oscillator (VCO), as shown in fig. 10, the present invention provides a Voltage Controlled Oscillator (VCO) comprising a film bulk acoustic wave oscillator BAWF1, a film bulk acoustic wave oscillator BAWF2, a field effect transistor T3, a field effect transistor T4, a field effect transistor T7, a field effect transistor T5, a field effect transistor T6, a field effect transistor T8 and a constant current source, wherein a source of the field effect transistor T3 is connected to a drain of the field effect transistor T4, and a drain and a gate of the field effect transistor T3 are both connected to a power source EC; the grid electrode of the field effect transistor T7 is connected with the source electrode of the field effect transistor T3, the drain electrode is connected with the power supply EC, and the source electrode is connected with the constant current source; the source electrode of the field effect transistor T5 is connected with the drain electrode of the field effect transistor T6, and the drain electrode and the grid electrode of the field effect transistor T5 are both connected with a power supply EC; the drain of the field effect transistor T8 is connected to the power source EC, the gate is connected to the source of the field effect transistor T5, and the source is connected to the constant power source; the grid T4 of the field effect transistor is connected with the grid of the field effect transistor T5 and is a signal input end, and the source electrode of the field effect transistor T4 and the source electrode of the field effect transistor T6 are signal output ends. The drain electrode of the field effect transistor T4 is connected to the first end of the thin film bulk acoustic wave resonator BAWF 1; the drain electrode of the field effect transistor T6 is connected to the first end of the thin film bulk acoustic resonator BAWF 2; the second end of the film bulk acoustic resonator BAWF1 is connected with the second end of the film bulk acoustic resonator BAWF2 and is a voltage control end. The control voltage Vf is connected to the control terminal through a resistor R10.

The Voltage Controlled Oscillator (VCO) further comprises a field effect transistor T9, a field effect transistor T10, a field effect transistor T11 and a constant current source CS, one end of the constant current source CS is connected to the power supply EC, the other end is connected to the drain of the field effect transistor T11, the source of the field effect transistor T11 is grounded, the gate is connected to the drain thereof and is connected to the gate of the field effect transistor T9 and the gate of the field effect transistor T10, the source of the field effect transistor T9 is grounded, and the drain is connected to the source of the field effect transistor T7 to provide constant current thereto; the source of the fet T10 is grounded, and the drain is connected to the source of the fet T8 to supply a constant current thereto.

Fig. 13 is a circuit diagram of a high frequency power amplifier (power amplifier) in a transmitter provided by the present invention, as shown IN fig. 13, the high frequency power amplifier circuit provided by the present invention comprises a high frequency signal input terminal IN, an input matching network, an amplifier, an output matching network, a high frequency signal output terminal OUT and a bias circuit, wherein the amplifier is composed of a high power amplifier tube T44, the high frequency signal input terminal IN is impedance-matched via the input matching network 300, the signal is input to the base of the high power amplifier T44, the signal output by the collector of the high power amplifier T44 is impedance matched with the antenna loop through the output matching network and then input to the antenna loop, the bias circuit is composed of a transistor T43 and a resistor R47, the base of the transistor T43 is connected to the control voltage Vcon through a resistor R41, the collector of the transistor T43 is connected to the power supply Vcc1, and the emitter supplies current to the base of the high power amplifier T44 through a resistor R47.

Preferably, the high-frequency power amplifying circuit further comprises a temperature compensation circuit, the temperature compensation circuit comprises a transistor T41, a transistor T42, a resistor R43, a resistor R43 and a resistor R44, wherein a base of the transistor T42 is connected to a first end of the resistor R42, a second end of the resistor R42 is connected to a first end of the resistor R41, a second end of the resistor R41 is connected to the control voltage Vcon, and a first end of the resistor R41 is connected to a collector of the transistor T41 and a base of the transistor T43; the collector of the transistor T42 is connected to the power supply Vcc1 through the resistor R43, the emitter is connected to the ground through the resistor R44, and the emitter is connected to the base of the transistor T41; the emitter of transistor T41 is connected to ground and the collector is connected to a first terminal of bank R41. The utility model discloses owing to adopted the temperature compensation circuit of such structure for high frequency power amplifier circuit's temperature compensation ability improves greatly.

According to an embodiment, the high-frequency power amplifying circuit further comprises a voltage stabilizing circuit, wherein the voltage stabilizing circuit comprises a capacitor C41 and a diode D41, one end of the capacitor C41 is connected to the base electrode of the transistor T43, and the other end of the capacitor C41 is grounded; the anode of the diode is grounded, and the cathode is connected to the base of the transistor T43.

Fig. 14 is a schematic diagram of an encryption process of the encryptor, as shown in fig. 12, the length Nbit of the binary sequence generated by the binary pseudorandom sequence generator 802 is sequentially recorded as K [ n ] from high to low data bits, the encryptor divides plaintext data to be transmitted into M equal parts, each part of the length is Nbit, any bit of any equal part is recorded as D [ M, K ], and then any bit S [ M, K ] of M bytes of ciphertext data is calculated according to the following formula:

wherein, and n and k are determined by the entered password.

As shown in fig. 9, the length of the binary sequence generated by the binary pseudorandom sequence generator 802 is one byte, each byte includes 8 bits, the data bits from high to low are sequentially denoted as K [ n ], the plaintext data to be transmitted is divided into M bytes, each byte has a length of 8 bits, any bit of any byte is denoted as D [ M, K ], and the plaintext data is encrypted according to the following formula to obtain ciphertext data:

。

whereinAnd n is determined by the set password.

Optionally, the following preferred method may also be used for encryption: the binary sequence generated by the binary pseudorandom sequence generator 801 has a length of one byte, each byte comprises 8 bits, data bits from high to low are sequentially recorded as K [ n ], plaintext data to be transmitted are divided into M bytes, each byte has a length of 8 bits, any bit of any byte is recorded as D [ M, K ], and the plaintext data are encrypted according to the following formula to obtain ciphertext data

WhereinK is determined by the input password

Fig. 15 is a schematic diagram of the decryption process of the decryptor, as shown in fig. 13, where the length Nbit of the binary sequence generated by the binary pseudorandom sequence generator 802 is sequentially denoted as K [ n ] from high to low, the decryptor divides the received ciphertext data into M equal parts, each part has the length Nbit, and any bit of any equal part is denoted as S [ M, K ], and then any bit D [ M, K ] of M bytes of the decrypted plaintext data is calculated according to the following formula:

。

in the formula, and n and k are determined by the entered password.

According to an embodiment, the binary sequence generated by the binary pseudorandom sequence generation 802 has a length of one byte, each byte includes 8 bits, data bits from high to low are sequentially denoted as K [ n ], the received ciphertext data is divided into M bytes, each byte has a length of 8 bits, any bit of any byte is denoted as S [ M, K ], and the ciphertext data is decrypted according to the following formula to obtain plaintext data:

。

whereinAnd n is determined by the set password.

Optionally, the following preferred method may also be used for encryption: the binary sequence generated by the binary pseudorandom sequence generator 802 has a length of one byte, each byte includes 8 bits, data bits from high to low are sequentially recorded as K [ n ], the received ciphertext data is divided into M bytes, each byte has a length of 8 bits, any bit of any byte is recorded as S [ M, K ], and the ciphertext data is decrypted according to the following formula to obtain plaintext data:

。

according to one embodiment, the binary pseudo-random sequence generator may be replaced by a password storage table, which password is selected by a user from the storage table, and as long as the password is set before the unmanned aerial vehicle performs the task, the unmanned aerial vehicle and the ground server or the ground terminal encrypt and decrypt data by using the password during the task, so that the security of communication can be enhanced.

The utility model provides an in the system, owing to adopt the binary system pseudorandom preface of a word length to carry out parallel encryption and decryption to data, consequently practiced thrift the cost to encryption and decryption speed has been accelerated.

Furthermore, the methods provided herein may be implemented by a computer program of computer usable program code, the computer usable program code being stored in a computer readable storage medium within a data processing system, and the computer usable program code being downloaded over a network from a remote data processing system. Further, in embodiments of the present invention, the computer program may include computer usable program code stored in a computer readable storage medium within the service station data processing system, the computer usable program code downloaded over a network to a remote data processing system for use in a computer readable storage medium of the remote system.

The basic principles, main features and advantages of the present invention have been described above with reference to the accompanying drawings. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration only, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An unmanned aerial vehicle target tracking system is used for tracking a target and comprises a rack and a plurality of rotors symmetrically arranged on the rack, and is characterized in that an engine and a gear mechanism are arranged in the rack, a generator is arranged in the rack and comprises a first stator and a first rotor, the first stator comprises a hollow circular coil rack concentric with an annular groove, and N coils are wound on the circular coil rack at equal intervals; a first rotor is arranged in a cavity in the circular coil rack, the first rotor at least comprises a permanent magnet and an annular gear, and a window part for exposing a part of the annular gear is formed on the circular coil rack between the adjacent coils; the motor is engaged with the ring gear through the window by the gear mechanism to rotate the first rotor within the cavity in the toroidal bobbin.

2. The unmanned aerial vehicle target tracking system of claim 1, wherein the first rotor comprises a magnet ring concentric with a circular bobbin, the magnet ring comprising: the magnetic iron comprises an annular magnet box, a plurality of permanent magnets, a ring gear and a plurality of pulleys, wherein the annular magnet box is used for accommodating the plurality of magnets, the polarities of two adjacent magnets are the same, and the ring gear and the annular magnet box are concentric and arranged on the annular magnet box; the pulleys are uniformly arranged on the annular magnet box in a mode of contacting with the inner wall of the hollow cavity of the circular coil rack.

3. The drone target tracking system of claim 2, wherein: when the first rotor rotates, the coil wound on the circular coil rack outputs electric energy.

4. The drone target tracking system of claim 3, wherein the electrical energy output by the coil wound on the first stator is rectified and filtered to charge a rechargeable battery that is used to provide electrical energy to the electrical devices of the drone.

5. The unmanned aerial vehicle target tracking system of claim 4, wherein the power consuming device comprises at least a motor for providing kinetic energy to the blades, the motor comprises at least a second rotor and a second stator arranged on the outer periphery of the second rotor, the second stator comprises at least a first stator winding and a third stator winding, each of the first stator windings and each of the third stator windings are arranged in an interlaced manner, the second rotor is provided with permanent magnets, and the N poles and the S poles of the permanent magnets on the second rotor are arranged in an interlaced manner.

6. The unmanned aerial vehicle target tracking system of claim 5, wherein the second stator further comprises at least a second stator winding, each phase of the second stator winding and each phase of the second stator winding being co-slotted.

7. The unmanned aerial vehicle target tracking system of claim 6, further comprising a first motor drive, a rectifier, and a second motor drive, the first motor drive converting direct current output by the rechargeable battery into alternating current and providing the alternating current to the first stator winding to rotate a second rotor, the second rotor rotating to drive rotation of blades attached to a shaft thereof; the third stator winding is connected to a rectifier for converting the electric energy generated by the third stator winding into direct current, and the second motor driver converts the direct current into alternating current and then applies the alternating current to the second stator winding to change the rotating speed of the motor.