CN210052062U - Unmanned aerial vehicle target tracking and positioning device - Google Patents
Unmanned aerial vehicle target tracking and positioning device Download PDFInfo
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- CN210052062U CN210052062U CN201921013671.6U CN201921013671U CN210052062U CN 210052062 U CN210052062 U CN 210052062U CN 201921013671 U CN201921013671 U CN 201921013671U CN 210052062 U CN210052062 U CN 210052062U
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Abstract
The utility model discloses an unmanned aerial vehicle target tracking and positioning device, including unmanned aerial vehicle body, central processing chip, memory, radio frequency transceiver, wireless remote controller, DC motor, flight driver, rotatory paddle, group battery, camera, cloud platform, image processing device and inertial navigation device, the camera is connected with image processing device, image processing device is connected with central processing chip, inertial navigation device is connected with central processing chip, the cloud platform includes mount, rotating turret and motor, the rotating turret is connected with the motor rotation, the stator and the mount fixed connection of motor; the rotating shaft of the motor is fixedly connected with the rotating frame, and the camera is fixed on the rotating frame. The inertial navigation device does not depend on any external information, does not radiate energy to the outside, has good concealment, is not influenced by external electromagnetic interference, and has small volume; utilize the cloud platform to control camera shooting angle, accurate controllable, stability is high, makes the utility model has the advantages of trail reliably, accurate location.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle target tracking technical field, in particular to unmanned aerial vehicle target tracking and positioner.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle mainly controlled by radio remote control or self program, has the advantages of small volume, low counterfeiting, convenient use and the like, and is widely applied to the fields of aerial reconnaissance, monitoring, communication, anti-diving, electronic interference and the like. At present, the unmanned aerial vehicle target tracking adopts shooting video pictures mostly, and artificially tracks and shoots to realize target locking, because there is delay in the picture transmission of shooting, and the precision of artificially operating unmanned aerial vehicle is lower, the phenomenon of target tracking discernment appears very easily.
Chinese utility model patent CN208110390U, the announcement date has announced an unmanned aerial vehicle target tracking system for 2018, 11, 16 days, which comprises a frame body, the several all-wing aircraft that is axial symmetry and/or central symmetric distribution with frame body center, set up the group battery in the frame body, set up this internal and the model of frame is the central processing chip of STM32L0, memory and radio frequency transceiver be connected with the central processing chip respectively, the wireless remote controller who is connected with radio frequency generator, the flight driver who is connected with group battery and central processing chip respectively, the dc motor who sets up on the all-wing aircraft and be connected with the flight driver, the rotating paddle who is connected with dc motor, still include: the infrared camera is arranged at the bottom of the rack body and used for shooting a video image of the environment where the target is located; the video encoder is connected with the infrared camera and converts the video image shot by the infrared camera into network flow; the image processing module is respectively connected with the video encoder and the central processing chip and is used for extracting the directional gradient histogram characteristics of the target in the network flow transmitted by the video encoder and transmitting the directional gradient histogram characteristics of the target to the central processing chip; the vector angle instrument is vertically arranged at the bottom of the rack body, is connected with the central processing chip and is used for acquiring an included angle between a connecting line of the target position and the vector angle instrument and the vertical direction of the rack body; the accelerometer and the gyroscope are arranged in the frame body, connected with the central processing chip and used for acquiring flight attitude information of the unmanned aerial vehicle and transmitting the flight attitude information to the central processing chip; and the height sensor is arranged at the bottom of the frame body and connected with the central processing chip and used for measuring the flying height of the unmanned aerial vehicle.
The sensor that above-mentioned unmanned aerial vehicle carried is too many, and the sensor easily receives external disturbance and causes unmanned aerial vehicle's weight big simultaneously. The unmanned aerial vehicle needs panoramic shooting in tracking shooting and ensures that the stability of a camera is not fluctuated, and the panoramic shooting refers to a photo shooting and picture splicing method which takes a certain point as a center to carry out horizontal 360-degree and vertical 180-degree shooting and splices a plurality of shot pictures into one picture. In the shooting process, the shooting equipment needs to be controlled to rotate in the horizontal and vertical directions so as to realize that the shooting equipment shoots at all angles, however, when shooting different angles, the shooting angle needs to be accurately controlled so as to present a complete panoramic picture during later-stage splicing.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an unmanned aerial vehicle target tracking and positioner, it is few to adopt inertial navigation device to receive external disturbance, utilizes the cloud platform to control the camera and shoots the angle, and is accurate controllable, and stability is high, has advantages such as the tracking is reliable, accurate location.
In order to solve the technical problem, the utility model discloses a technical scheme does:
an unmanned aerial vehicle target tracking and positioning device comprises an unmanned aerial vehicle body, a central processing chip, a memory, a radio frequency transceiver, a wireless remote controller, a direct current motor, a flight driver, a rotary paddle and a battery pack, wherein the central processing chip is arranged in the unmanned aerial vehicle body, the memory and the radio frequency transceiver are respectively connected with the central processing chip, the wireless remote controller is connected with the radio frequency transceiver, the direct current motor is positioned on a flying wing and is connected with the flight driver, the rotary paddle is connected with the direct current motor, the battery pack and the central processing chip are respectively connected with the flight driver, the unmanned aerial vehicle target tracking and positioning device further comprises a camera, a holder, an image processing device and an inertial navigation device, the holder is arranged at the lower part of the front end of the unmanned aerial vehicle body and is used for controlling the angle of the camera, the inertial navigation device is positioned at the top of the unmanned, the image processing device is connected with the central processing chip, the inertial navigation device is connected with the central processing chip, the cradle head comprises a fixed frame, a first rotating frame, a second rotating frame, a first motor and a second motor, stators of the first motor and the second motor are fixedly connected with the fixed frame, the camera is fixed on the second rotating frame, the first rotating frame is rotatably connected with the fixed frame through the first motor, the second rotating frame is rotatably connected with the first rotating frame through the second motor, a rotating shaft of the first motor is perpendicular to a rotating shaft of the second motor, the rotating shaft of the first motor is vertically arranged, the first rotating frame is arranged below the fixed frame, the rotating shaft of the second motor is horizontally arranged, and the first rotating frame is hinged with the second rotating frame through a hinge shaft, the articulated shaft and the rotating shaft of the second motor are coaxially arranged.
Preferably, the inertial navigation device comprises a three-axis gyroscope and an accelerometer.
Preferably, the three-axis gyroscope is a three-axis silicon micro-MEMS gyroscope,
preferably, the accelerometer is a three-axis silicon micro-MEMS accelerometer.
Preferably, the model of the image processing device is TMS320DM 4637.
Preferably, the resolution of the image processing apparatus is 320 ＊ 240 pixels.
The utility model discloses an unmanned aerial vehicle target tracking and positioner includes unmanned aerial vehicle body, central processing chip, the memory, the radio frequency transceiver, wireless remote controller, direct current motor, flight driver, rotatory paddle and group battery, still including being located camera, cloud platform, image processing device and inertial navigation device, the front end lower part of unmanned aerial vehicle body is located to the camera, the cloud platform is used for controlling the angle of camera, inertial navigation device is located the top of unmanned aerial vehicle body, the camera is connected with image processing device, image processing device is connected with central processing chip, inertial navigation device is connected with central processing chip, the cloud platform includes mount, rotating turret and motor, the rotating turret with the motor rotates to be connected, the stator and the mount fixed connection of motor; the rotating shaft of the motor is fixedly connected with the rotating frame, and the camera is fixed on the rotating frame. The inertial navigation device is an autonomous system which does not depend on any external information and does not radiate energy to the outside, so the inertial navigation device has good concealment, is not influenced by external electromagnetic interference, is less influenced by the external interference, has small volume and has the advantage of miniaturization; utilize the cloud platform to control camera shooting angle, accurate controllable, stability is high, the utility model discloses an unmanned aerial vehicle target tracking has advantages such as the tracking is reliable, accurate location with positioner.
Drawings
Fig. 1 is a schematic structural view of the target tracking and positioning device of the unmanned aerial vehicle of the present invention;
fig. 2 is a working principle block diagram of the target tracking and positioning device of the unmanned aerial vehicle of the utility model;
fig. 3 is a schematic structural view of a pan-tilt in the target tracking and positioning device of the unmanned aerial vehicle of the present invention;
in the figure, 1-unmanned aerial vehicle body, 2-central processing chip, 3-memory, 4-radio frequency transceiver, 5-wireless remote controller, 6-direct current motor, 7-flight driver, 8-rotating paddle, 9-battery pack, 10-camera, 11-cloud platform, 111-fixed frame, 112-first rotating frame, 113-second rotating frame, 114-first motor, 115-second motor, 116-articulated shaft, 12-image processing device and 13-inertial navigation device.
Detailed Description
The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 and fig. 2, an unmanned aerial vehicle target tracking and positioning device includes an unmanned aerial vehicle body 1, a central processing chip 2, a memory 3, a radio frequency transceiver 4, a wireless remote controller 5, a dc motor 6, a flight driver 7, a rotating blade 8 and a battery pack 9, wherein the central processing chip 2 is disposed in the unmanned aerial vehicle body 1, the memory 3 and the radio frequency transceiver 4 are respectively connected with the central processing chip 2, the wireless remote controller 5 is connected with the radio frequency transceiver 4, the dc motor 6 is located on a flying wing and connected with the flight driver 7, the rotating blade 8 is connected with the dc motor 6, the battery pack 9 and the central processing chip 2 are respectively connected with the flight driver 7, and the unmanned aerial vehicle target tracking and positioning device further includes a camera 10, a pan/tilt 11, an image processing device 12 and an inertial navigation device 13, the pan/tilt 11 is disposed at a lower portion of a front end of the unmanned aerial vehicle body, the inertial navigation device 13 is located at the top of the unmanned aerial vehicle body 1, the camera 10 is connected with the image processing device 12, the image processing device 12 is connected with the central processing chip 2, the inertial navigation device 13 is connected with the central processing chip 2, as shown in fig. 3, the cradle head 11 comprises a fixed frame 111, a first rotating frame 112, a second rotating frame 113, a first motor 114 and a second motor 115, stators of the first motor 114 and the second motor 115 are fixedly connected with the fixed frame 111, the camera is fixed on the second rotating frame 113, the first rotating frame 112 is rotatably connected with the fixed frame 111 through the first motor 114, the second rotating frame 113 is rotatably connected with the first rotating frame 112 through the second motor 115, a rotating shaft of the first motor 114 is vertically arranged with a rotating shaft of the second motor 115, a rotating shaft of the first motor 114 is vertically arranged, the first rotating frame 112 is arranged below the fixed frame 111, a rotating shaft of the second motor 115 is horizontally arranged, the first rotating frame 112 and the second rotating frame 113 are further hinged through a hinge shaft 116, and the hinge shaft 116 is coaxially arranged with the rotating shaft of the second motor 115.
The holder is simple to mount, and the motor is utilized to realize the rotary connection between the fixed frame 111 and the rotating frame; the holder 11 has simple structure, small volume and low cost, and can directly drive the fixed frame 111 and the rotating frame to rotate relatively by the rotation of the motor, thereby saving unnecessary transmission mechanisms; the running precision is high, and the transmission precision depends on the rotation precision of the motor because an unnecessary transmission mechanism is omitted, so the precision can reach +/-0.004 degrees; the motion is stable, the noise is low, and the response is quick. Thereby saving unnecessary transmission mechanisms (such as worm gear and worm, synchronous belt), and greatly reducing the volume of the holder 11; in addition, because the fixed frame 111 and the rotating frame are connected by only adopting the motor, the rotating precision between the fixed frame 111 and the rotating frame is only determined by the rotating precision of the motor, and therefore, the rotating precision between the fixed frame 111 and the rotating frame is greatly improved.
The inertial navigation device 13 comprises a three-axis gyroscope and an accelerometer. The triaxial gyroscope is a triaxial silicon micro-MEMS gyroscope, and the accelerometer is a triaxial silicon micro-MEMS accelerometer. Be favorable to the utility model discloses inertial navigation unit 13 among unmanned aerial vehicle target tracking and the positioner reduces the volume, has miniaturized advantage.
The model of the image processing apparatus 12 is tms320dm4637 the resolution of the image processing apparatus 12 is 320 ＊ 240 pixels.
The model of the central processing chip 2 is STM 3210.
The utility model discloses an unmanned aerial vehicle target tracking and positioner includes two parts, and one is image acquisition and processing module, and another is aircraft autonomous control module. The image processing device finishes the tracking and positioning of the target, and the flight driver realizes the control of the flight state of the airplane according to the positioning information of the image module and finishes the following work of the target.
The three-axis gyroscope in the inertial navigation device 13 is used to form a navigation coordinate system, stabilize the measurement axis of the accelerometer in the coordinate system, and give course and attitude angles; the accelerometer is used for measuring the acceleration of the moving body, the speed is obtained through the first integration of the time, and the displacement can be obtained through the first integration of the speed and the time. The inertial navigation device 13 is autonomous, does not radiate energy to the outside, nor does it look at stars in the sky or receive external signals, and its concealment is best. Because the system is an autonomous system which does not depend on any external information and does not radiate energy to the outside, the system has good concealment and is not influenced by external electromagnetic interference; the air conditioner can work in the air all day long and in full time; the navigation system can provide position, speed, course and attitude angle data, and the generated navigation information has good continuity and low noise; high data updating rate, short-term precision and good stability.
The utility model discloses an unmanned aerial vehicle target tracking and positioner includes unmanned aerial vehicle body, central processing chip, the memory, the radio frequency transceiver, wireless remote controller, direct current motor, flight driver, rotatory paddle and group battery, still including being located camera, cloud platform, image processing device and inertial navigation device, the front end lower part of unmanned aerial vehicle body is located to the camera, the cloud platform is used for controlling the angle of camera, inertial navigation device is located the top of unmanned aerial vehicle body, the camera is connected with image processing device, image processing device is connected with central processing chip, inertial navigation device is connected with central processing chip, the cloud platform includes mount, rotating turret and motor, the rotating turret with the motor rotates to be connected, the stator and the mount fixed connection of motor; the rotating shaft of the motor is fixedly connected with the rotating frame, and the camera is fixed on the rotating frame. The inertial navigation device is an autonomous system which does not depend on any external information and does not radiate energy to the outside, so the inertial navigation device has good concealment, is not influenced by external electromagnetic interference, is less influenced by the external interference, has small volume and has the advantage of miniaturization; utilize the cloud platform to control camera shooting angle, accurate controllable, stability is high, the utility model discloses an unmanned aerial vehicle target tracking has advantages such as the tracking is reliable, accurate location with positioner.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.
Claims (6)
1. The utility model provides an unmanned aerial vehicle target tracking and positioner, includes unmanned aerial vehicle body, central processing chip, memory, radio frequency transceiver, wireless remote control ware, DC motor, flight driver, rotatory paddle and group battery, the central processing chip locate unmanned aerial vehicle this internal, memory and radio frequency transceiver respectively with the central processing chip is connected, wireless remote control ware with the radio frequency transceiver is connected, DC motor is located the flying wing and is connected with the flight driver, rotatory paddle is connected with DC motor, and group battery and central processing chip are connected with the flight driver respectively, its characterized in that: the intelligent unmanned aerial vehicle comprises an unmanned aerial vehicle body, and is characterized by further comprising a camera, a holder, an image processing device and an inertial navigation device, wherein the holder is arranged at the lower part of the front end of the unmanned aerial vehicle body, the holder is used for controlling the angle of the camera, the inertial navigation device is positioned at the top of the unmanned aerial vehicle body, the camera is connected with the image processing device, the image processing device is connected with the central processing chip, the inertial navigation device is connected with the central processing chip, the holder comprises a fixing frame, a first rotating frame, a second rotating frame, a first motor and a second motor, stators of the first motor and the second motor are fixedly connected with the fixing frame, the camera is fixed on the second rotating frame, the first rotating frame is rotatably connected with the fixing frame through the first motor, the second rotating frame is rotatably connected with the first rotating frame through the second motor, and a rotating shaft of the first motor is perpendicular to a rotating shaft of the second motor, the vertical setting of pivot of first motor, first rotating turret sets up the below of mount, the pivot level of second motor sets up, first rotating turret with the second rotating turret is still articulated through articulated shaft, the articulated shaft with the coaxial setting of pivot of second motor.
2. The unmanned aerial vehicle target tracking and locating device of claim 1, characterized in that: the inertial navigation device includes a three-axis gyroscope and an accelerometer.
3. The unmanned aerial vehicle target tracking and locating device of claim 2, characterized in that: the three-axis gyroscope is a three-axis silicon micro-MEMS gyroscope.
4. The unmanned aerial vehicle target tracking and locating device of claim 2, characterized in that: the accelerometer is a three-axis silicon micro-MEMS accelerometer.
5. The unmanned aerial vehicle target tracking and locating device of claim 1, characterized in that: the model of the image processing device is TMS320DM 4637.
6. The unmanned aerial vehicle target tracking and locating device of claim 1, wherein the resolution of the image processing device is 320 ＊ 240 pixels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921013671.6U CN210052062U (en) | 2019-06-29 | 2019-06-29 | Unmanned aerial vehicle target tracking and positioning device |
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| CN201921013671.6U CN210052062U (en) | 2019-06-29 | 2019-06-29 | Unmanned aerial vehicle target tracking and positioning device |
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| CN210052062U true CN210052062U (en) | 2020-02-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112093065A (en) * | 2020-09-30 | 2020-12-18 | 浙江安防职业技术学院 | Surveying and mapping scanning equipment based on unmanned aerial vehicle technology |
| CN112584036A (en) * | 2020-11-06 | 2021-03-30 | 深圳市逗映科技有限公司 | Holder control method and device, computer equipment and storage medium |
| CN114155281A (en) * | 2021-12-02 | 2022-03-08 | 北京航空航天大学 | Automatic target tracking initialization method for unmanned aerial vehicle |
-
2019
- 2019-06-29 CN CN201921013671.6U patent/CN210052062U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112093065A (en) * | 2020-09-30 | 2020-12-18 | 浙江安防职业技术学院 | Surveying and mapping scanning equipment based on unmanned aerial vehicle technology |
| CN112584036A (en) * | 2020-11-06 | 2021-03-30 | 深圳市逗映科技有限公司 | Holder control method and device, computer equipment and storage medium |
| CN114155281A (en) * | 2021-12-02 | 2022-03-08 | 北京航空航天大学 | Automatic target tracking initialization method for unmanned aerial vehicle |
| CN114155281B (en) * | 2021-12-02 | 2023-07-18 | 北京航空航天大学 | Unmanned aerial vehicle target tracking automatic initialization method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200211 Termination date: 20200629 |
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| CF01 | Termination of patent right due to non-payment of annual fee |