CN207882762U - A kind of intelligent vehicle air navigation system based on unmanned machine vision - Google Patents
A kind of intelligent vehicle air navigation system based on unmanned machine vision Download PDFInfo
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- CN207882762U CN207882762U CN201820199537.9U CN201820199537U CN207882762U CN 207882762 U CN207882762 U CN 207882762U CN 201820199537 U CN201820199537 U CN 201820199537U CN 207882762 U CN207882762 U CN 207882762U
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- intelligent vehicle
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- unmanned plane
- control
- navigation system
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Abstract
The utility model provides a kind of intelligent vehicle air navigation system based on unmanned machine vision, including aircraft module and intelligent vehicle module.Aircraft module includes that unmanned plane flies control, brushless motor, light stream sensor and camera, intelligent vehicle module includes main control MCU, ultrasonic sensor, WIFI module, encoder speed measuring module, Servo-controller and direct current generator, the signal of acquisition is transmitted to unmanned plane and flies control by light stream sensor and camera, unmanned plane drives brushless motor after flying control processing, and the routing information handled well is sent to the WIFI module of intelligent vehicle module；Ultrasonic sensor signal, the encoder of intelligent vehicle module drive Servo-controller by the reception of intelligent vehicle module main control MCU to the routing information for the WIFI module that the speed signal and unmanned plane of intelligent vehicle direct current generator fly to be sent to intelligent vehicle module after control processing after processing.The intelligent vehicle module of the utility model can carry out precise positioning and navigation according to aerial image.
Description
Technical field
The utility model belongs to a kind of intelligent vehicle air navigation system, specially a kind of intelligence based on unmanned machine vision
It can vehicle air navigation system.
Background technology
While society continues to develop, cost of human resources is also in rise at full speed.In order to reduce production and living at
This, is accomplished manually work in every using the replacement of various machines and just becomes more and more important.Quadrotor is also referred to as quadrotor
Unmanned plane is that a kind of to have 4 propellers and propeller be in the aircraft of decussation.Its is easy to operate, easy to use, price
Cheaply, flexibility ratio is high, and people can be assisted to complete various being usually difficult to complete of the tasks.
Utility model content
The purpose of this utility model is to provide a kind of intelligent vehicle air navigation system based on unmanned machine vision.
In order to achieve the above object, the technical solution adopted in the utility model is：Including aircraft module and intelligent vehicle module,
Aircraft module includes that unmanned plane flies control, brushless motor, light stream sensor and camera, and intelligent vehicle module includes main control MCU, surpasses
Sonic sensor, WIFI module, encoder speed measuring module, Servo-controller and direct current generator, light stream sensor and camera will
The signal of acquisition is transmitted to unmanned plane and flies control, and unmanned plane drives brushless motor, and the routing information that will be handled well after flying control processing
It is sent to the WIFI module of intelligent vehicle module；The ultrasonic sensor signal of intelligent vehicle module, encoder are to intelligent vehicle direct current
The speed signal and unmanned plane of machine fly the routing information that the WIFI module of intelligent vehicle module is sent to after control is handled, by intelligent vehicle mould
Block main control MCU receives, and Servo-controller, direct current generator and encoder is driven to test the speed to form PID control closed loop, Servo-controller after processing
Control intelligent vehicle direction.
A kind of intelligent vehicle air navigation system based on unmanned machine vision, the aircraft module include
STM32F407 main control MCUs, the attitude transducer of onboard MPU6050 and AK8975, light stream sensor, wide area OV7725 camera shootings
Head.
A kind of intelligent vehicle air navigation system based on unmanned machine vision, the intelligent vehicle module include
NXP K60 main control MCUs, ultrasonic wave module, WIFI module, encoder speed measuring module, direct current generator and Servo-controller.
The aerial path planning module of unmanned plane, intelligent carriage ground motion module.Aerial unmanned plane carries camera, right
The image taken carries out certain processing, forms distinctive routing information, and by radio communication module transfer to intelligent vehicle.
Intelligent vehicle is handled again after receiving corresponding data, to data, and identification judges the direction that will advance, and to the party
To movement.After arriving at, the sensing device of destination can be triggered, using as the basis for estimation for reaching target.
The utility model carries out location navigation using unmanned machine vision technology to intelligent vehicle, and intelligent vehicle can be according to sky
Middle image is prepared positioning and navigation and accurate positioning.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the utility model intelligent vehicle module control flow chart.
Specific implementation mode
As shown in Figure 1, the utility model includes aircraft module and intelligent vehicle module.Aircraft module 1 includes unmanned plane
Fly control, brushless motor, light stream sensor and wide area OV7725 cameras, intelligent vehicle module 2 includes NXP K60 main control MCUs, ultrasound
Wave sensor, WIFI module, encoder speed measuring module, Servo-controller and direct current generator.Unmanned plane flies control master control and uses
STM32F407 main control MCUs, onboard attitude transducer carry out attitude algorithm, according to the pixel displacement and speed of light stream sensor feedback
Degrees of data drives brushless motor gesture stability and fixed point and steadily hovering is in the air.Intelligent vehicle module 2 uses NXP K60 master controls
As master control and plug-in ultrasonic sensor progress path obstacle, WIFI module is used for MCU and aircraft module is communicated, and is compiled
Code device tests the speed to intelligent vehicle, and direct current generator and encoder test the speed to form PID control closed loop, and Servo-controller controls intelligent vehicle side
To.Aircraft module 1 shoots ground image, the life based on eight neighborhood is carried out to image by carrying wide area OV7725 cameras
After long algorithm process, identification intelligent vehicle module simultaneously carries out path planning, will treated data by wireless WIFI communication modes
Pass to the WIFI module of intelligent vehicle module 2 so that intelligent vehicle independently traveling and obstacle processing, and then realize unmanned plane and intelligent vehicle
Air-ground coordination operation.
A kind of intelligent vehicle air navigation system based on unmanned machine vision, onboard attitude transducer are selected
MPU6050 and AK8975, wide area OV7725 cameras.
The aerial path planning module of unmanned plane, intelligent carriage ground motion module.Aerial unmanned plane carries camera, right
The image taken carries out certain processing, forms distinctive routing information, and by radio communication module transfer to intelligent vehicle.
Intelligent vehicle is handled again after receiving corresponding data, to data, and identification judges the direction that will advance, and to the party
To movement.After arriving at, the sensing device of destination can be triggered, using as reaching the basis for estimation of target, and is controlled
Motor and steering engine carry out PID closed-loop controls with realizing route traveling target, such as Fig. 2.
Claims (4)
1. a kind of intelligent vehicle air navigation system based on unmanned machine vision, it is characterised in that：Including aircraft module（1）
With intelligent vehicle module（2）, aircraft module（1）Fly control, brushless motor, light stream sensor and camera, intelligence including unmanned plane
Vehicle module includes main control MCU, ultrasonic sensor, WIFI module, encoder speed measuring module, Servo-controller and direct current generator,
The signal of acquisition is transmitted to unmanned plane and flies control by light stream sensor and camera, and unmanned plane drives brushless motor after flying control processing,
And the routing information handled well is sent to intelligent vehicle module（2）WIFI module；Intelligent vehicle module（2）Ultrasonic sensor
Signal, encoder are sent to intelligent vehicle module after flying control processing to the speed signal and unmanned plane of intelligent vehicle direct current generator（2）'s
The routing information of WIFI module, by intelligent vehicle module（2）Main control MCU receives, and Servo-controller, direct current generator and volume are driven after processing
Code device tests the speed to form PID control closed loop, and Servo-controller controls intelligent vehicle direction.
2. a kind of intelligent vehicle air navigation system based on unmanned machine vision according to claim 1, feature exist
In:Unmanned plane flies control master control using STM32F407 as main control MCU.
3. a kind of intelligent vehicle air navigation system based on unmanned machine vision according to claim 1, feature exist
In:Intelligent vehicle module is using NXP K60 main control MCUs as master control.
4. a kind of intelligent vehicle air navigation system based on unmanned machine vision according to claim 1, feature exist
In:The stylus of aircraft module is wide area OV7725 cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820199537.9U CN207882762U (en) | 2018-02-06 | 2018-02-06 | A kind of intelligent vehicle air navigation system based on unmanned machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820199537.9U CN207882762U (en) | 2018-02-06 | 2018-02-06 | A kind of intelligent vehicle air navigation system based on unmanned machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207882762U true CN207882762U (en) | 2018-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820199537.9U Expired - Fee Related CN207882762U (en) | 2018-02-06 | 2018-02-06 | A kind of intelligent vehicle air navigation system based on unmanned machine vision |
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| CN (1) | CN207882762U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110096056A (en) * | 2019-04-08 | 2019-08-06 | 三峡大学 | A kind of intelligent vehicle detection system and its control method based on unmanned aerial vehicle platform |
| CN110162103A (en) * | 2019-06-13 | 2019-08-23 | 河南宙合网络科技有限公司 | A kind of unmanned plane independently cooperates with transportation system and method with intelligent vehicle group |
| CN113625777A (en) * | 2021-09-22 | 2021-11-09 | 福建江夏学院 | Multifunctional flight control circuit and method based on unmanned aerial vehicle |
-
2018
- 2018-02-06 CN CN201820199537.9U patent/CN207882762U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110096056A (en) * | 2019-04-08 | 2019-08-06 | 三峡大学 | A kind of intelligent vehicle detection system and its control method based on unmanned aerial vehicle platform |
| CN110162103A (en) * | 2019-06-13 | 2019-08-23 | 河南宙合网络科技有限公司 | A kind of unmanned plane independently cooperates with transportation system and method with intelligent vehicle group |
| CN113625777A (en) * | 2021-09-22 | 2021-11-09 | 福建江夏学院 | Multifunctional flight control circuit and method based on unmanned aerial vehicle |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180918 Termination date: 20190206 |
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| CF01 | Termination of patent right due to non-payment of annual fee |