CN208181424U - Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system - Google Patents
Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system Download PDFInfo
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- CN208181424U CN208181424U CN201820592830.1U CN201820592830U CN208181424U CN 208181424 U CN208181424 U CN 208181424U CN 201820592830 U CN201820592830 U CN 201820592830U CN 208181424 U CN208181424 U CN 208181424U
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- steering engine
- coaster
- unmanned plane
- sliding rail
- access control
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- 229910052799 carbon Inorganic materials 0.000 claims abstract description 16
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- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
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- 208000035473 Communicable disease Diseases 0.000 description 1
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- 208000015181 infectious disease Diseases 0.000 description 1
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Abstract
An unmanned aerial vehicle full-automatic grabbing device based on a visual identification system comprises an outer frame, a carbon plate connecting piece, a first steering engine, a sliding rail, a pulley, a stepping motor, a clamping mechanism, a camera and a single chip microcomputer, wherein the camera and the single chip microcomputer are used for collecting images of an object to be grabbed; the automatic clamping device is characterized in that a pulley is arranged on the slide rail, the stepping motor is arranged inside one end of the slide rail and drives the pulley to move on the slide rail, and the clamping mechanism is arranged on the pulley. The utility model provides an unmanned aerial vehicle full-automatic gripping device based on a visual identification system, which is of an integrated structure and is convenient for the installation and the disassembly of the unmanned aerial vehicle; by using the visual recognition technology, the target is recognized and positioned, dependence on manual control and grabbing is eliminated, and tasks are executed efficiently.
Description
Technical field
The utility model air vehicle technique field, it is full-automatic more particularly, to a kind of unmanned plane of view-based access control model identifying system
Grabbing device.
Background technique
Currently, the application field of unmanned plane is more and more wider, remote control flight is the essential characteristic of unmanned plane, is based on this
Essential characteristic can derive multiple use, for example scout, and take photo by plane, plant protection, express transportation, disaster relief, observe wild move
Object, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making etc..Since unmanned plane has mobility again
Good, task response is fast, and information feeds back timely feature, and carrying out air transport using unmanned plane becomes an important development side
To.
Existing unmanned plane air transport is mainly used for military purposes, can transport the wounded, weapons and ammunitions, food and water
Deng the wounded can be quickly sent to hospital by the high efficiency of unmanned plane；Civilian transport unmanned plane can be used to transport medical article,
Express delivery cargo etc., but real extensive utilization is not yet received at present.
It is generally desirable to which freight is bigger, the figure of unmanned plane is also bigger, and military transport unmanned plane is substantially and directly
The general size of machine is risen, and civilian transport unmanned plane is then relatively more small and exquisite.The utilization of small drone is increasingly increased at present,
There are more and more users to transport using small drone, launch goods and materials, but goods and materials crawl most currently on the market,
Delivery device uses hand gear more, and operator is needed to be manually operated, this mode inefficiency, be badly in need of by advanced technology into
Row improves.
Summary of the invention
In order to overcome the shortcomings of the prior art, the utility model provides nobody of a kind of view-based access control model identifying system
Machine Full-automatic grasping device, the device are an integral structure, and facilitate the installation and removal of unmanned plane；Functionally, using vision
Identification technology, realization identify and position target, and so as to get rid of the dependence to manual control crawl, efficient execute is appointed
Business.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of unmanned plane Full-automatic grasping device of view-based access control model identifying system, including outer framework, carbon plate connector, first
Steering engine, sliding rail, coaster, stepper motor, gripping body, camera and single-chip microcontroller for acquiring object image to be grabbed, it is described
Outer framework is detachably arranged on unmanned plane, and the middle position above the outer framework is arranged with carbon plate connector, and institute
It states the middle position above carbon plate connector and is fixedly installed with the first steering engine, the output end of first steering engine is equipped with rotation
Axis, and rotary shaft passes through carbon plate connector；The sliding rail is located at the lower section of outer framework and is mounted on the lower end of rotary shaft, described
Sliding rail is equipped with coaster, and the coaster and the sliding rail form the pair that horizontally slips, and the stepper motor is mounted on the sliding rail one
It the inside at end and moves on the slide rail with fly block, the gripping body is mounted on the coaster；The camera is mounted on
On the bottom of carbon plate connector, and camera is connect by figure transmission module with image processing module, described image processing module and
The single-chip microcontroller connection, the single-chip microcontroller are connect with the first steering engine, stepper motor and gripping body respectively.
Further, the gripping body includes clamping frame, straight-bar, connecting rod, the second steering engine, third steering engine and fixing clamp,
Straight-bar is fixedly mounted in the top of the clamping frame, and the upper end of the straight-bar can slide up and down and be mounted on coaster, and described the
Two steering engines are mounted on coaster, and its output end is equipped with connecting rod, and the connecting rod is hingedly formed by two rod pieces, described
The other end of connecting rod is hinged on clamping frame, and the side above the clamping frame is equipped with the third steering engine, and third rudder
The output end of machine is equipped with fixing clamp, and the fixing clamp and clamping frame cooperation are for grabbing object, second steering engine, the
Three steering engines are connect with the single-chip microcontroller.
Further, described image processing module is computer.
Further, the output end of the stepper motor is equipped with belt, and coaster is fixedly connected with belt.
Further, the angle range of first steering engine is 0-360 °.
Further, the camera is at least provided with two.
The beneficial effects of the utility model are mainly manifested in: in mechanical structure, the view-based access control model identifying system nobody
Machine Full-automatic grasping device is integral type, facilitates the installation and removal of unmanned plane；Functionally, which uses visual identity skill
Art can be transmitted signals at computer by included camera acquisition band crawl object image by figure transmission module
Reason sends on the location information to grabbing device of target after handling out result, then may be implemented by single-chip microcontroller to target
It accurately identifies positioning and is grabbed, compared with the prior device, the dependence to manual control crawl can be got rid of, it is efficient to execute
Task.
Detailed description of the invention
Fig. 1 is the utility model stereoscopic schematic diagram.
Fig. 2 is the utility model gripping body schematic diagram.
Fig. 3 is that the utility model rotary shaft drives sliding rail to rotate schematic diagram.
Fig. 4 is the utility model partial schematic diagram.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
Referring to Fig.1~Fig. 4, a kind of unmanned plane Full-automatic grasping device of view-based access control model identifying system, including outer framework 1,
Carbon plate connector 2, the first steering engine 3, sliding rail 5, coaster 6, stepper motor 7, gripping body 8, for acquiring object image to be grabbed
Camera 9 and single-chip microcontroller, the outer framework 1 is detachably arranged on unmanned plane, the middle position of 1 top of outer framework
Place is arranged with carbon plate connector 2, and the middle position of 2 top of the carbon plate connector is fixedly installed with the first steering engine 3, described
The output end of first steering engine 3 is equipped with rotary shaft 4, and rotary shaft 4 passes through carbon plate connector 2；The sliding rail 5 is located at outer framework 1
Lower section and be mounted on the lower end of rotary shaft 4, the sliding rail 5 is equipped with coaster 6, and the coaster 6 forms a left side with the sliding rail 5
Right sliding pair, the stepper motor 7 is mounted on the inside of described 5 one end of sliding rail and moves on sliding rail 5 with fly block 6, described
Gripping body 8 is mounted on the coaster 6；The camera 9 is mounted on the bottom of carbon plate connector 2, and camera 9 passes through
Figure transmission module is connect with image processing module, and described image processing module is connect with the single-chip microcontroller, the single-chip microcontroller respectively with
First steering engine 3, stepper motor 7 and gripping body 8 connect.
Further, the gripping body 8 includes clamping frame 10, straight-bar 11, connecting rod 12, the second steering engine 13, third steering engine
14 and fixing clamp 15, straight-bar 11 is fixedly mounted in the top of the clamping frame 10, and the upper end of the straight-bar 11 can slide up and down
It is mounted on coaster 6, second steering engine 13 is mounted on coaster 6, and its output end is equipped with connecting rod 12, the connecting rod
12 are hingedly formed by two rod pieces, and the other end of the connecting rod 12 is hinged on clamping frame 10,10 top of clamping frame
Side the third steering engine 14 is installed, and the output end of third steering engine 14 is equipped with fixing clamp 15, the fixing clamp 15 with
For grabbing object, second steering engine 13, third steering engine 14 are connect with the single-chip microcontroller for the cooperation of clamping frame 10.
Further, described image processing module is computer.
Further, the output end of the stepper motor 7 is equipped with belt 16, and coaster 6 is fixedly connected with belt 16.
Further, the angle range of first steering engine 3 is 0-360 °.
Further, the camera 9 is at least provided with two.
The stepper motor 7 drives coaster 6 by any one connection types such as gear, belt, chains.
As shown in figure 4, the output end of the stepper motor 7 is equipped with belt 16, and coaster 6 is fixedly connected with belt 16.
The working process of the utility model is as follows: the present apparatus acquires image by included camera 9, is passed by figure transmission module
It send to computer and is handled, handle out the single-chip microcontroller on the location information to grabbing device for sending target after result, single-chip microcontroller connects
The first steering engine 3 is controlled after receiving information and rotary shaft 4 rotates corresponding angle, and then single-chip microcontroller control stepper motor 7 rotates, and makes
Coaster 6 reaches above object, and after coaster 6 reaches, single-chip microcontroller controls the rotation of the second steering engine 13, rotates connecting rod 12, cooperation
The straight-bar 11 of 10 top of clamping frame drives clamping frame 10 to move down, and last single-chip microcontroller controls 15 turns of 14 fixing clamp of third steering engine
Dynamic, cooperation clamping frame 10 grabs object, and single-chip microcontroller successively controls the first steering engine 3, the second steering engine 13, stepper motor after the completion of crawl
7 recover to original position.
Claims (6)
1. a kind of unmanned plane Full-automatic grasping device of view-based access control model identifying system, it is characterised in that: connect including outer framework, carbon plate
Fitting, the first steering engine, sliding rail, coaster, stepper motor, gripping body, camera and list for acquiring object image to be grabbed
Piece machine, the outer framework are detachably arranged on unmanned plane, and the middle position above the outer framework is arranged with carbon plate company
Fitting, and the middle position above the carbon plate connector is fixedly installed with the first steering engine, the output end of first steering engine
Rotary shaft is installed, and rotary shaft passes through carbon plate connector；The sliding rail is located at the lower section of outer framework and is mounted on rotary shaft
On lower end, the sliding rail is equipped with coaster, and the coaster and the sliding rail form the pair that horizontally slips, and the stepper motor is mounted on
It the inside of described sliding rail one end and moves on the slide rail with fly block, the gripping body is mounted on the coaster；It is described to take the photograph
It is mounted on as head on the bottom of carbon plate connector, and camera is connect by figure transmission module with image processing module, described image
Processing module is connect with the single-chip microcontroller, and the single-chip microcontroller is connect with the first steering engine, stepper motor and gripping body respectively.
2. the unmanned plane Full-automatic grasping device of view-based access control model identifying system as described in claim 1, it is characterised in that: described
Gripping body includes clamping frame, straight-bar, connecting rod, the second steering engine, third steering engine and fixing clamp, and the top of the clamping frame is fixed
Straight-bar is installed, and the upper end of the straight-bar can slide up and down and be mounted on coaster, second steering engine is mounted on coaster, and
Its output end is equipped with connecting rod, and the connecting rod is hingedly formed by two rod pieces, and the other end of the connecting rod is hinged on
It clamps on frame, the side above the clamping frame is equipped with the third steering engine, and the output end of third steering engine is equipped with fixation
Folder, the fixing clamp and clamping frame cooperation for grabbing object, second steering engine, third steering engine with the single-chip microcontroller
Connection.
3. the unmanned plane Full-automatic grasping device of view-based access control model identifying system as claimed in claim 2, it is characterised in that: described
Image processing module is computer.
4. the unmanned plane Full-automatic grasping device of view-based access control model identifying system as claimed in claim 1 or 2, it is characterised in that:
The output end of the stepper motor is equipped with belt, and coaster is fixedly connected with belt.
5. the unmanned plane Full-automatic grasping device of view-based access control model identifying system as claimed in claim 1 or 2, it is characterised in that:
The angle range of first steering engine is 0-360 °.
6. the unmanned plane Full-automatic grasping device of view-based access control model identifying system as claimed in claim 1 or 2, it is characterised in that:
The camera is at least provided with two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820592830.1U CN208181424U (en) | 2018-04-25 | 2018-04-25 | Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820592830.1U CN208181424U (en) | 2018-04-25 | 2018-04-25 | Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system |
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| Publication Number | Publication Date |
|---|---|
| CN208181424U true CN208181424U (en) | 2018-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820592830.1U Withdrawn - After Issue CN208181424U (en) | 2018-04-25 | 2018-04-25 | Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438223A (en) * | 2018-04-25 | 2018-08-24 | 浙江工业大学 | Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system |
| CN109895099A (en) * | 2019-03-28 | 2019-06-18 | 哈尔滨工业大学（深圳） | A kind of flight mechanical arm visual servo grasping means based on physical feature |
-
2018
- 2018-04-25 CN CN201820592830.1U patent/CN208181424U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438223A (en) * | 2018-04-25 | 2018-08-24 | 浙江工业大学 | Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system |
| CN108438223B (en) * | 2018-04-25 | 2024-03-26 | 浙江工业大学 | Unmanned aerial vehicle full-automatic grabbing device based on visual identification system |
| CN109895099A (en) * | 2019-03-28 | 2019-06-18 | 哈尔滨工业大学（深圳） | A kind of flight mechanical arm visual servo grasping means based on physical feature |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181204 Effective date of abandoning: 20240326 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20181204 Effective date of abandoning: 20240326 |