CN207833563U - A kind of target detection and localization and grabbing device based on unmanned plane and ground robot - Google Patents
A kind of target detection and localization and grabbing device based on unmanned plane and ground robot Download PDFInfo
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- CN207833563U CN207833563U CN201820196299.6U CN201820196299U CN207833563U CN 207833563 U CN207833563 U CN 207833563U CN 201820196299 U CN201820196299 U CN 201820196299U CN 207833563 U CN207833563 U CN 207833563U
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Abstract
The utility model is related to unmanned planes and robotic technology field, disclose a kind of target detection and localization and grabbing device based on unmanned plane and ground robot, including：Unmanned plane, ground robot, remote manipulator；Unmanned plane includes flight controller, the first camera, the first searchlight, data processor, signal projector；Ground robot includes signal receiver, second camera, the second searchlight, motion controller, gripper.The utility model solves the problems, such as that the accuracy of recycling ground object in the prior art is relatively low, monitoring effect is poor, has reached the technique effect for efficiently and accurately recycling target item.
Description
Technical field
The utility model is related to unmanned planes and robotic technology field, more particularly to one kind being based on unmanned plane and ground machine
The target detection and localization and grabbing device of people.
Background technology
The mode of garbage in scenic spot generally use manpower recycling, but this mode not only needs to expend a large amount of manpower and object
Power, but also there are certain danger.With being constantly progressive for unmanned plane and ground robot technology, unmanned plane is answered extensively
For the detection and positioning to ground object, and ground robot is widely used in every field in life, in ground object
Recycling in terms of be widely used.It, cannot be apart from ground when recycling ground object since the wind-force of unmanned plane wing generation is larger
Face is excessively close, so if to receive accuracy back and forth relatively low by installing gripper additional on unmanned plane, and ground robot is due to the visual field
Limitation be difficult to preferably ground-to-ground face situation be monitored.
Utility model content
The embodiment of the present application is filled by providing a kind of target detection and localization based on unmanned plane and ground robot with crawl
It sets, solves the problems, such as that the accuracy of recycling ground object in the prior art is relatively low, monitoring effect is poor.
The embodiment of the present application provides a kind of target detection and localization and grabbing device based on unmanned plane and ground robot, packet
It includes：Unmanned plane, ground robot, remote manipulator；
The unmanned plane includes flight controller, the first camera, the first searchlight, data processor, signal projector；
The flight controller is used to receive the flight control information from the remote manipulator, and according to the flight control information
Control the flight path of unmanned plane；First camera is used to shoot the image information obtained below unmanned plane, and will be described
Image information is transferred to the data processor；First searchlight is used to provide light at night for first camera
Source；The data processor is used to determine target according to described image information, and obtains the location information of target；The signal hair
Emitter is used to receive the location information of the target from the data processor, and the location information of the target is sent
To ground robot；
The ground robot includes signal receiver, second camera, the second searchlight, motion controller, gripper；
The signal receiver is used to receive the location information of the target from the unmanned plane, and the position of the target is believed
Breath is sent to the motion controller；The second camera is used to shoot the characteristic information of acquisition target, and by the target
Characteristic information be sent to the motion controller；Second searchlight is used to provide light at night for the second camera
Source；The motion controller is used to control the movement locus of ground robot according to the location information and characteristic information of target, and
Control grasping movement of the gripper to target.
Preferably, the unmanned plane uses multi-rotor unmanned aerial vehicle.
Preferably, first camera, the second camera be can multi-directional rotation high-precision camera.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
In the embodiment of the present application, operator sends flight control information to unmanned plane by remote manipulator, controls nothing
Man-machine flight path；Unmanned plane obtains image information by camera, and realizes target detection and localization by data processor,
And target position information is sent to ground robot；What ground robot was obtained according to target position information and by camera
Target property information controls the movement locus of ground robot, and control machine machinery claw captures target.In addition, passing through searchlighting
Target detection and localization and the crawl at night may be implemented in lamp.To sum up, the utility model is by by unmanned plane and ground robot knot
It closes, can scan for, and be accurately detected the target object in region of search, can efficiently and accurately return in wide range
Receive target item.
Description of the drawings
It, below will be to needed in embodiment description in order to illustrate more clearly of the technical solution in the present embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is one embodiment of the utility model, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1, Fig. 2 are that a kind of target detection based on unmanned plane and ground robot that the utility model embodiment provides is fixed
The structural schematic diagram of position and unmanned plane in grabbing device and remote manipulator；
Fig. 3 be a kind of target detection and localization based on unmanned plane and ground robot for providing of the utility model embodiment with
The structural schematic diagram of ground robot in grabbing device.
Wherein, 1- remote manipulators, 2- flight controllers, 3- data processors, the first cameras of 4-, the first searchlightings of 5-
Lamp, 6- signal projectors, 7- signal receivers, 8- second cameras, 9- grippers, 10- motion controllers, the second searchlightings of 11-
Lamp.
Specific implementation mode
The embodiment of the present application is filled by providing a kind of target detection and localization based on unmanned plane and ground robot with crawl
It sets, solves the problems, such as that the accuracy of recycling ground object in the prior art is relatively low, monitoring effect is poor.
The technical solution of the embodiment of the present application is in order to solve the above technical problems, general thought is as follows：
A kind of target detection and localization and grabbing device based on unmanned plane and ground robot, including：Unmanned plane, ground machine
Device people, remote manipulator；
The unmanned plane includes flight controller, the first camera, the first searchlight, data processor, signal projector；
The flight controller is used to receive the flight control information from the remote manipulator, and according to the flight control information
Control the flight path of unmanned plane；First camera is used to shoot the image information obtained below unmanned plane, and will be described
Image information is transferred to the data processor；First searchlight is used to provide light at night for first camera
Source；The data processor is used to determine target according to described image information, and obtains the location information of target；The signal hair
Emitter is used to receive the location information of the target from the data processor, and the location information of the target is sent
To ground robot；
The ground robot includes signal receiver, second camera, the second searchlight, motion controller, gripper；
The signal receiver is used to receive the location information of the target from the unmanned plane, and the position of the target is believed
Breath is sent to the motion controller；The second camera is used to shoot the characteristic information of acquisition target, and by the target
Characteristic information be sent to the motion controller；Second searchlight is used to provide light at night for the second camera
Source；The motion controller is used to control the movement locus of ground robot according to the location information and characteristic information of target, and
Control grasping movement of the gripper to target.
In the utility model, operator sends flight control information to unmanned plane by remote manipulator, controls unmanned plane
Flight path；Unmanned plane obtains image information by camera, and realizes target detection and localization by data processor, and will
Target position information is sent to ground robot；Ground robot is according to target position information and the target obtained by camera
Characteristic information controls the movement locus of ground robot, and control machine machinery claw captures target.In addition, can by searchlight
To realize target detection and localization and the crawl at night.To sum up, the utility model, can by being combined unmanned plane with ground robot
It is scanned in wide range, and is accurately detected the target object in region of search, can efficiently and accurately recycle target
Article.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
A kind of target detection and localization based on unmanned plane and ground robot provided in this embodiment is with grabbing device as schemed
1, shown in Fig. 2, Fig. 3, including：Remote manipulator 1, flight controller 2, data processor 3, the first camera 4, the first searchlight
5, signal projector 6, signal receiver 7, second camera 8, gripper 9, motion controller 10, the second searchlight 11.Specifically
, unmanned plane vertical view as shown in Figure 1 and unmanned plane upward view as shown in Figure 2, the flight controller 2, the data
Processor 3, first camera 4, first searchlight 5, the signal projector 6 are mounted in drone body；Such as
Ground robot structural schematic diagram shown in Fig. 3, the signal receiver 7, the second camera 8, the gripper 9, institute
State motion controller 10, second searchlight 11 is mounted on ground machine human body.
In practical application, operator sends out flight control information by the remote manipulator 1, and unmanned plane is flown by described
Line control unit 2 receives the flight control information from the remote manipulator 1, and controls nobody according to the flight control information
The flight path of machine.The shooting of first camera 4 obtains the image information below unmanned plane, and described image information is transmitted
To the data processor 3.The data processor 3 determines target according to described image information, and obtains the position letter of target
Breath.The signal projector 6 receives the location information of the target from the data processor 3, and by the target
Location information is sent to ground robot.
Ground robot receives the location information of the target from the unmanned plane by the signal receiver 7,
And the location information of the target is sent to the motion controller 10.The second camera 8 obtains target by shooting
Characteristic information, and the characteristic information of the target is sent to the motion controller 10.10 basis of the motion controller
The movement locus of location information and characteristic information the control ground robot of target, makes ground robot move to designated position；
After reaching designated position, the motion controller 10 can control the posture of the gripper 9, realization to be grabbed by the gripper 9
Take target object.
Wherein, the data processor 3 is determined using unmanned plane takeoff point as starting point by the image information in flight course
The body position of unmanned plane and the position of detected target.The target detection of the i.e. described unmanned plane is by the data
Reason device 3 analyzes the image information of unmanned plane captured in real-time and transmission, determines whether unmanned plane has mesh within sweep of the eye
Mark object.
It is that first camera 4 provides light by opening first searchlight 5 when light is poor or night time operation
Source, to carry out target detection and localization；It is that the second camera 8 provides light source by opening second searchlight 11, from
And carry out target crawl.
Unmanned plane uses multi-rotor unmanned aerial vehicle, for example, drone body can select quadrotor drone, quadrotor nobody
There are four the arm of forces of machine and symmetrical.
Symmetrical wheel can be arranged in ground robot, such as realizes movement by the four wheels that lower section is equipped with, and ensure
Stability in motion process.
Preferably, first camera 4, the second camera 8 be all made of can multi-directional rotation high-precision camera shooting
Head can further increase the positioning accuracy of target.
A kind of target detection and localization and crawl based on unmanned plane and ground robot that the utility model embodiment provides
Device includes at least following technique effect：
In the embodiment of the present application, operator sends flight control information to unmanned plane by remote manipulator, controls nothing
Man-machine flight path；Unmanned plane obtains image information by camera, and realizes target detection and localization by data processor,
And target position information is sent to ground robot；What ground robot was obtained according to target position information and by camera
Target property information controls the movement locus of ground robot, and control machine machinery claw captures target.In addition, passing through searchlighting
Target detection and localization and the crawl at night may be implemented in lamp.To sum up, the utility model is by by unmanned plane and ground robot knot
It closes, can scan for, and be accurately detected the target object in region of search, can efficiently and accurately return in wide range
Receive target item.
It should be noted last that the above specific implementation mode is only to illustrate the technical solution of the utility model rather than limit
System, although the utility model is described in detail with reference to example, it will be understood by those of ordinary skill in the art that, it can be right
The technical solution of the utility model is modified or replaced equivalently, without departing from the spirit and model of technical solutions of the utility model
It encloses, should all cover in the right of the utility model.
Claims (3)
1. a kind of target detection and localization and grabbing device based on unmanned plane and ground robot, which is characterized in that including：Nobody
Machine, ground robot, remote manipulator；
The unmanned plane includes flight controller, the first camera, the first searchlight, data processor, signal projector；It is described
Flight controller is controlled for receiving the flight control information from the remote manipulator, and according to the flight control information
The flight path of unmanned plane；First camera is used to shoot the image information below acquisition unmanned plane, and by described image
Information is transferred to the data processor；First searchlight is used to provide light source at night for first camera；Institute
Data processor is stated for determining target according to described image information, and obtains the location information of target；The signal projector
Location information for receiving the target from the data processor, and the location information of the target is sent to ground
Face robot；
The ground robot includes signal receiver, second camera, the second searchlight, motion controller, gripper；It is described
Signal receiver is used to receive the location information of the target from the unmanned plane, and the location information of the target is sent out
It send to the motion controller；The second camera is used to shoot the characteristic information of acquisition target, and by the spy of the target
Property information is sent to the motion controller；Second searchlight is used to provide light source at night for the second camera；
The motion controller is used to control the movement locus of ground robot according to the location information and characteristic information of target, and controls
Grasping movement of the gripper to target.
2. target detection and localization and grabbing device according to claim 1 based on unmanned plane and ground robot, special
Sign is that the unmanned plane uses multi-rotor unmanned aerial vehicle.
3. target detection and localization and grabbing device according to claim 1 based on unmanned plane and ground robot, special
Sign is, first camera, the second camera be can multi-directional rotation high-precision camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820196299.6U CN207833563U (en) | 2018-02-05 | 2018-02-05 | A kind of target detection and localization and grabbing device based on unmanned plane and ground robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820196299.6U CN207833563U (en) | 2018-02-05 | 2018-02-05 | A kind of target detection and localization and grabbing device based on unmanned plane and ground robot |
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| CN207833563U true CN207833563U (en) | 2018-09-07 |
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| CN201820196299.6U Expired - Fee Related CN207833563U (en) | 2018-02-05 | 2018-02-05 | A kind of target detection and localization and grabbing device based on unmanned plane and ground robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110428477A (en) * | 2019-06-24 | 2019-11-08 | 武汉大学 | A kind of drawing methods for the event camera not influenced by speed |
| CN110428397A (en) * | 2019-06-24 | 2019-11-08 | 武汉大学 | A kind of angular-point detection method based on event frame |
| US11214386B2 (en) * | 2018-08-02 | 2022-01-04 | Hapsmobile Inc. | System, control device and light aircraft |
-
2018
- 2018-02-05 CN CN201820196299.6U patent/CN207833563U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11214386B2 (en) * | 2018-08-02 | 2022-01-04 | Hapsmobile Inc. | System, control device and light aircraft |
| CN110428477A (en) * | 2019-06-24 | 2019-11-08 | 武汉大学 | A kind of drawing methods for the event camera not influenced by speed |
| CN110428397A (en) * | 2019-06-24 | 2019-11-08 | 武汉大学 | A kind of angular-point detection method based on event frame |
| CN110428477B (en) * | 2019-06-24 | 2021-11-02 | 武汉大学 | Method for forming image of event camera without influence of speed |
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Granted publication date: 20180907 Termination date: 20190205 |