CN210191824U - Two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition - Google Patents

Abstract

The utility model discloses a two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition, including unmanned aerial vehicle main part and transmission cloud platform, the unmanned aerial vehicle main part: the utility model provides a two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition, unmanned aerial vehicle are difficult for the card bullet when high-speed shooting, and the friction pulley is stable, and the precision and the range of shooting are high, and are equipped with the vision system algorithm, can be accurate assist the aiming, can effectively solve the problem in the background art.

Description

Two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition

Technical Field

The utility model relates to an unmanned air vehicle technique field specifically is a two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition.

Background

The unmanned aircraft is called unmanned aerial vehicle for short, and is called UAV in short, the UAV is an unmanned aircraft operated by utilizing a radio remote control device and a self-contained program control device, or is operated by an on-board computer completely or intermittently and autonomously, compared with the unmanned aircraft, the unmanned aircraft is often more suitable for tasks too 'fool, dirty or dangerous', the unmanned aircraft is commonly used for reconnaissance and attack in military, the existing unmanned aircraft is easy to block and shoot at high speed, the assembly and fixation of rubber outside a friction wheel have errors, the coaxiality of the unmanned aircraft during high-speed rotation cannot be ensured, meanwhile, the friction wheel extrudes and emits, the energy can be attenuated to a certain extent, circular beating can be generated during high-speed rotation, the accuracy and the range of shooting are reduced, and the unmanned aircraft is inaccurate in auxiliary aiming.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome current defect, provide a two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition, unmanned aerial vehicle is difficult for the card bullet when high-speed shooting, and the friction pulley is stable, and the precision and the range of shooting are high, and are equipped with the vision system algorithm, can be accurate assist the aiming, can effectively solve the problem in the background art.

In order to achieve the above object, the utility model provides a following technical scheme: a dual-tripod-head four-axis unmanned aerial vehicle based on OpenCV autonomous identification comprises an unmanned aerial vehicle main body and a launching tripod head;

unmanned aerial vehicle main part: the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, a battery, a GPS support, a navigation control module, a support plate, arms, a protective cover support, a motor base, a driving motor, a folding paddle, circular tubes, carbon fiber tubes, landing gear corner pieces, two sets of landing gear corner pieces, carbon fiber tubes, a flying head holder, a power system, a frame circuit system, a battery, a GPS support, a navigation control module, a protective cover support, a motor base, a folding paddle, a circular tube, a carbon fiber tube, landing gear corner pieces, a landing gear corner piece, a carbon fiber tube and a flying head holder, wherein the unmanned aerial vehicle main body is internally provided with the unmanned aerial vehicle flight control system, the power system and the frame circuit system, the bottom end of the unmanned aerial vehicle main, the bottom end of the flying hand holder is arranged on the lower support plate of the frame;

launching a holder: the launching cradle head is installed at the bottom end of the unmanned aerial vehicle main body, the launching cradle head comprises a synchronous belt pulley, a motor, a friction wheel, a barrel, a cradle head fixing plate and a bearing, the end part of the synchronous belt pulley is rotatably connected with a connecting plate, the connecting plate is fixed at the bottom end of a lower support plate of the frame through two support rods, the motor is symmetrically distributed on the connecting plate along the synchronous belt pulley, a bullet supply link is installed on the connecting plate, the bottom end of the synchronous belt pulley is connected with an inverted U-shaped plate, the cradle head fixing plate is arranged at the bottom end of the inverted U-shaped plate, the barrel is installed on the cradle head fixing plate, the friction wheel is installed on the cradle;

wherein, unmanned aerial vehicle flies the input of accuse and is connected with the output electricity of battery, and unmanned aerial vehicle flies the output of accuse and is connected with the input electricity of motor.

This two cloud platform four-axis unmanned aerial vehicle based on OpenCV is independently discerned adopts and assists the sight with the vision algorithm based on OpenCV, improves the accuracy of design, and the outsourcing of friction pulley is glued and is adopted the polyurethane preparation, has both satisfied actual need and satisfied economic requirement, can let frictional force reach the numerical value of calculation, and the friction pulley changes the scheme that bonds in the past, utilizes central round pin location and threaded connection, and the precision is higher on kinetic energy and axiality.

Further, the protection casing support includes carbon fiber connecting pipe and triangle connecting piece, and the carbon fiber connecting pipe is equipped with four, and links together through four triangle connecting pieces and form square support, and the bottom of triangle connecting piece is connected with the bottom of horn, adopts the carbon fiber connecting pipe to constitute the protection casing support, can prevent that unmanned aerial vehicle from colliding, and the inside structure of protection unmanned aerial vehicle is not destroyed by the striking.

Furthermore, the middle part of the friction wheel is provided with a threaded hole, the friction wheel is in threaded connection with the holder fixing plate through a center pin, and the friction wheel is positioned and in threaded connection through the center pin, so that the friction wheel is higher in precision on kinetic energy and coaxiality.

Furthermore, the batteries are arranged in two groups and symmetrically distributed on two sides of the supporting plate, and the flying distance of the two batteries can be lengthened.

Furthermore, the outsourcing of friction pulley is glued and is adopted the polyurethane preparation, and unmanned aerial vehicle length 1200mm, wide 1200mm, height 750mm, and unmanned aerial vehicle unloaded weight is 7.5kg, can reach required frictional force requirement, and is economical and practical.

Furthermore, the power system adopts an E2000 Pro power system, the navigation system adopts a guiding visual light stream navigation control system, the frame is divided into circuit systems, the E2000 power system is selected, the two batteries are in series connection, and are separately divided into one path to be connected with the unmanned aerial vehicle flight control, the guiding and the main control power supply, the power supply is reasonable in electric quantity distribution, and the electric energy is saved conveniently.

Further, unmanned aerial vehicle flies the input of accuse, and unmanned aerial vehicle flies the input of transmission cloud platform, flying hand cloud platform and motor, the unmanned aerial vehicle of being convenient for fly the whole unmanned aerial vehicle of accuse control of output electricity connection of accuse of battery, visual system, driving system and frame branch circuit system.

Further, a visual system on the unmanned aerial vehicle main body adopts a Camshift-based target tracking algorithm in OpenCV, and the target tracking algorithm mainly comprises color features, shape features, texture features and space level features, and the target features are extracted to identify a target, namely the camera exposure problem, the background simplification and interference source filtering problem, the feature identification and the object fitting problem which need to be solved.

Furthermore, the color feature is to identify the image according to the characteristic that the color histogram is insensitive to image rotation transformation, the shape feature identification method is to find the shape feature of the target in the image, extract parameters such as edge contour and gravity center of the target in the image to complete description and identification of the target, the image identification mode of texture feature is to complete identification of the image according to the information distribution of the image color and the special structural feature in the image, and the image identification mode of spatial hierarchy estimates the position and direction of the target according to the hierarchical relationship in the target image, thereby providing a specific solution.

Further, the API algorithm called from the opencv library includes: solvepnp ranging and coordinate transformation, HSV space color identification, Camshift target tracking and prediction and Imwriter automatic ellipse inscribing, solves the selection of an API algorithm for feature identification on different objects and different occasions, optimizes the quality design to the maximum extent, and ensures the working intensity of operation and the flight working time.

Compared with the prior art, the beneficial effects of the utility model are that: this two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition has following benefit:

1. the unmanned aerial vehicle is provided with a double-cradle head system which is respectively a flying hand cradle head and an emission cradle head, wherein the flying hand cradle head follows a flying hand, and the independent emission cradle head is independently controlled by an operator, so that the defect of distraction when the flying hand needs to take into consideration flying and shooting simultaneously in actual operation is overcome, and the flying and shooting accuracy of the unmanned aerial vehicle is improved;

2. utilize the experiment to get rid of the problem of friction pulley external diameter and fit-up gap during the friction pulley design, designed the fixed mode of outer rubber coating: the friction wheel is fixed by adopting a method of screw connection and center pin positioning, so that the defects that the motor and the outer coating adhesive and the coaxiality are influenced in a friction wheel bonding mode and circular runout is generated during high-speed rotation are overcome;

3. in a vision system, HSV and RGB conversion are replaced by YUV in an OpenCV library, so that high-efficiency red and blue recognition efficiency can be realized, a Camshift-based target tracking algorithm in OpenCV is adopted, unmanned aerial vehicle auxiliary aiming is realized, a dual-coordinate method is adopted for conversion and calibration, and the problem that the matching degree and speed of a vision algorithm output coordinate value and a launching cradle head have large access under two errors of program delay and processor delay is solved;

4. the magazine and the launching mechanism adopt a split type design to replace a fixed connection type design, the speed difference problem of the gravity speed and the centrifugal speed of the projectile is eliminated, when the drive plate rotates at a high speed, the centrifugal speed is inevitably far greater than the gravity speed, when the ammunition supply link and the drive plate are in the same plane, the gravity speed is eliminated, and the ammunition blocking problem of the magazine, the launching mechanism and the ammunition supply link is solved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a right side view of the structure of the present invention;

fig. 4 is a schematic top view of the present invention;

FIG. 5 is a schematic view of the enlarged structure of the part A of the present invention;

fig. 6 is a logic diagram of the program control of the present invention.

In the figure: 1 battery, 2 protection casing supports, 3 pipes, 4 undercarriage corner fittings, 5 motor cabinet, 6 folding oar, 7 backup pads, 8 pipe clamps, 9 twelve pipe clamps, 10 frame bottom suspension fagging, 11 GPS support, 12 magazine, 13 ammunition feed link, 14 motors, 15 bearings, 16 barrel, 17 synchronous pulley, 18 friction pulley, 19 cloud platform fixed plates, 20 unmanned aerial vehicle main parts, 21 horn.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: a dual-tripod-head four-axis unmanned aerial vehicle based on OpenCV autonomous identification comprises an unmanned aerial vehicle main body 20 and a transmitting tripod head;

unmanned aerial vehicle main part 20: an unmanned aerial vehicle flight control, a vision system, a power system and a rack circuit distribution system are arranged in an unmanned aerial vehicle main body 20, the unmanned aerial vehicle flight control adopts a Xinjiang N3 unmanned aerial vehicle flight control, the power system adopts an E2000 Pro power system, the E2000 power system is electrically regulated and separated by a standard version, the universality is better, the space and the weight are saved, a navigation system adopts a Guidance vision optical flow navigation control system, the navigation system is controlled by combining with the unmanned aerial vehicle flight control, the navigation capability is excellent, the rack circuit distribution system selects the E2000 power system, the two batteries 1 are in series connection, one path is separately branched to be connected with the unmanned aerial vehicle flight control, the Guidance and a main control power supply, a support plate 7 is arranged at the bottom of the unmanned aerial vehicle main body 20, the batteries 1 are arranged at the top end of the support plate 7, the batteries 1 are arranged in two groups and are symmetrically distributed at two sides of the support plate 7, the batteries 1 select TB48D type, the middle part of the top end of an unmanned aerial vehicle main body 20 is provided with a GPS support 11, the bottom end of the GPS support 11 is connected with a navigation control module in the unmanned aerial vehicle main body 20 to provide position information for the flying of the unmanned aerial vehicle, four corners of a supporting plate 7 are provided with machine arms 21, the end parts of the four machine arms 21 are provided with protective cover supports 2 to protect the internal structure of the unmanned aerial vehicle, each protective cover support 2 comprises a carbon fiber connecting pipe and a triangular connecting piece, the four carbon fiber connecting pipes are connected together through the four triangular connecting pieces to form a square support, the bottom end of each triangular connecting piece is connected with the bottom end of each machine arm 21, the protective cover supports 2 can bear certain impact force when collision occurs to protect the folding paddle 6 of the unmanned aerial vehicle, the side surface of each machine arm 21 is fixedly provided with a motor base 5 through twelve, the driving motor is a brushless motor, the two-degree-of-freedom movement of the cradle head is realized through the brushless motor with feedback, the circular tubes 3 are fixedly connected to the horn 21 through the pipe clamps 8, the circular tubes 3 are carbon fiber tubes, the bottom ends of the four circular tubes 3 are respectively provided with the landing gear corner pieces 4, so that the unmanned aerial vehicle can be protected from falling on the ground stably, the four landing gear corner pieces 4 are divided into two groups, the carbon fiber tubes are arranged between each group, the bottom end of the supporting plate 7 is provided with the flying head, the bottom end of the flying head is arranged on the lower supporting plate 10 of the frame, the flying head is controlled by a flying hand, the length of the unmanned aerial vehicle is 1200mm, the width of the unmanned aerial vehicle is 1200 mm;

launching a holder: the launching cradle head is arranged at the bottom end of an unmanned aerial vehicle main body 20 and is independently controlled by an operator, the launching cradle head comprises a synchronous belt pulley 17, a motor 14, a friction wheel 18, a gun barrel 16, a cradle head fixing plate 19 and a bearing 15, the end part of the synchronous belt pulley 17 is rotatably connected with a connecting plate, the connecting plate is fixed at the bottom end of a rack lower supporting plate 10 through two supporting rods, the movement of the left and right degrees of freedom of the launching cradle head is realized, the motors 14 are symmetrically distributed on the connecting plate along the synchronous belt pulley 17, an ammunition supply link 13 is arranged on the connecting plate, the magazine, the launching mechanism and the ammunition supply link 13 are designed in a split mode, the problem of speed difference of gravity speed and centrifugal speed of ammunition is solved perfectly, the bottom end of the synchronous belt pulley 17 is connected with an inverted U-shaped plate, the, the friction wheel 18 is arranged on the holder fixing plate 19 and symmetrically distributed along the gun barrel 16, the friction wheel is mainly made of silica gel and polyurethane in the market, the outer coating of the friction wheel 18 is made of polyurethane, a threaded hole is formed in the middle of the friction wheel 18, the friction wheel 18 is in threaded connection with the holder fixing plate 19 through a center pin, the friction wheel 18 changes the conventional bonding scheme, the center pin is used for positioning and threaded connection, the kinetic energy and coaxiality are high in accuracy, a through hole is formed in the side face of the inverted U-shaped plate, and the bearing 15 is located in the through hole;

wherein, the output end of the battery 1, the vision system, the power system and the rack sub-circuit system is electrically connected with the input end of the unmanned aerial vehicle flight control, the output end of the unmanned aerial vehicle flight control is electrically connected with the input ends of the launching cradle head, the flying hand cradle head and the motor (14), the unmanned aerial vehicle flight control is controlled by an external hand controller, the vision system on the unmanned aerial vehicle main body 20 adopts a Camshift-based target tracking algorithm in OpenCV, which mainly comprises color features, shape features, texture features and space hierarchy features, the color features are used for identifying images according to the characteristic that a color histogram is insensitive to image rotation transformation, the identification method of the shape features is to find the shape features of targets in the images, extract parameters such as edge outlines, gravity centers and the like of the targets in the images to complete description and identification of the targets, the image identification mode of the texture features is to complete identification of the images according to the information distribution of image colors and by utilizing special structural features, the position and the direction of the target are estimated according to the hierarchical relation in the target image by the image recognition mode of the spatial hierarchy, and an API algorithm called from an opencv library comprises the following steps: solvepnp distance measurement and coordinate transformation, HSV space color identification, Camshift target tracking and prediction, Imwriter automatic ellipse inscribe, namely identifying a target by extracting the characteristics of the target, and the basic idea is to reduce the exposure of a camera to simplify the complex light background, avoid a lot of meaningless interference information, then use HSV operator to correspondingly find out an object, then use API in opencv to extract the peripheral outline, and based on the opencv machine vision system: the camera module adopts an MT9V034 module to support a global shutter, the frame rate is faster, and a Micropython interpreter is used to program the camera module by using python-opencv on STM32H 7.

When in use: the E2000 power system standard edition is electrically adjusted and separated, the universality is better, relatively save space and weight, the design of double cloud platforms, a cloud platform follows the flying hand, an independent launching cloud platform is independently controlled by an operating hand, the phenomenon that the attention is dispersed easily when the flying hand takes into account flying and designing is overcome, the friction wheel 18 changes the scheme of bonding in the past, the precision is higher on kinetic energy and coaxiality by utilizing center pin positioning and threaded connection, HSV and RGB conversion are replaced by YUV in an opencv library, the more efficient red and blue recognition efficiency can be realized, the friction wheel transmitter mechanism adopts a split design, and the defect that a solid connection type is easy to block and bounce under the condition of higher radio frequency is overcome.

It should be noted that the power system disclosed in this embodiment is an E2000 Pro power system, the navigation control module adopts a guiding visual optical flow navigation control system, the camera module of the vision system adopts an MT9V034 module, and the unmanned aerial vehicle flight control motor 14 works by a method commonly used in the prior art.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. The utility model provides a two cloud platform four-axis unmanned aerial vehicle based on OpenCV autonomous recognition which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle main body (20) and a transmitting cloud deck;

unmanned aerial vehicle main part (20): the unmanned aerial vehicle flight control system comprises an unmanned aerial vehicle main body (20), a vision system, a power system and a rack branch circuit system, wherein a support plate (7) is installed at the bottom of the unmanned aerial vehicle main body (20), a battery (1) is installed at the top end of the support plate (7), a GPS support (11) is installed in the middle of the top end of the unmanned aerial vehicle main body (20), the bottom end of the GPS support (11) is connected with a navigation control module inside the unmanned aerial vehicle main body (20), machine arms (21) are installed at four corners of the support plate (7), a protective cover support (2) is arranged at the end parts of the four machine arms (21), a motor base (5) is fixedly installed on the side surface of each machine arm (21) through twelve pipe clamps (9), a driving motor is arranged in each motor base (5), the output end of the driving motor is connected with a folding paddle (6), and a circular, the circular tubes (3) are carbon fiber tubes, the bottom ends of the four circular tubes (3) are respectively provided with an undercarriage corner piece (4), the four undercarriage corner pieces (4) are divided into two groups, the carbon fiber tubes are arranged between each group, the bottom end of the supporting plate (7) is provided with a flyer holder, and the bottom end of the flyer holder is arranged on a lower supporting plate (10) of the rack;

launching a holder: the launching cradle head is arranged at the bottom end of an unmanned aerial vehicle main body (20), the launching cradle head comprises a synchronous belt pulley (17), a motor (14), a friction wheel (18), a gun barrel (16), a cradle head fixing plate (19) and a bearing (15), the end part of the synchronous belt pulley (17) is rotatably connected with a connecting plate, the connecting plate is fixed at the bottom end of a rack lower supporting plate (10) through two supporting rods, the motor (14) is symmetrically distributed on the connecting plate along the synchronous belt pulley (17), an elastic supply link (13) is arranged on the connecting plate, the bottom end of the synchronous belt pulley (17) is connected with an inverted U-shaped plate, the cradle head fixing plate (19) is arranged at the bottom end of the inverted U-shaped plate, the gun barrel (16) is arranged on the cradle head fixing plate (19), the friction wheel (18) is arranged on the cradle head, and the bearing (15) is positioned in the through hole;

wherein, unmanned aerial vehicle flies the input of accuse and is connected with the output electricity of battery (1), and unmanned aerial vehicle flies the output of accuse and is connected with the input electricity of motor (14), and unmanned aerial vehicle flies the accuse and is controlled by hand controller.

2. The dual-tripod-head four-axis unmanned aerial vehicle based on OpenCV autonomous recognition is characterized in that: the protective cover support (2) comprises four carbon fiber connecting pipes and triangular connecting pieces, the carbon fiber connecting pipes are connected together through the four triangular connecting pieces to form a square support, and the bottom ends of the triangular connecting pieces are connected with the bottom end of the horn (21).

3. The dual-tripod-head four-axis unmanned aerial vehicle based on OpenCV autonomous recognition is characterized in that: the middle part of the friction wheel (18) is provided with a threaded hole, and the friction wheel (18) is in threaded connection with the holder fixing plate (19) through a center pin.

4. The dual-tripod-head four-axis unmanned aerial vehicle based on OpenCV autonomous recognition is characterized in that: the batteries (1) are arranged in two groups and are symmetrically distributed on two sides of the supporting plate (7).

5. The dual-tripod-head four-axis unmanned aerial vehicle based on OpenCV autonomous recognition is characterized in that: the outer coating of the friction wheel (18) is made of polyurethane, the unmanned aerial vehicle is 1200mm long, 1200mm wide and 750mm high, and the no-load weight of the unmanned aerial vehicle is 7.5 kg.

6. The dual-tripod-head four-axis unmanned aerial vehicle based on OpenCV autonomous recognition is characterized in that: the power system adopts an E2000 Pro power system, the navigation system adopts a guiding visual light flow navigation control system, the frame is divided into circuit systems, the E2000 power system is selected, the two batteries (1) are in series connection, and one path of the batteries is separately divided to be connected with the unmanned aerial vehicle flight control, the guiding and the main control power supply.

7. The OpenCV autonomous recognition-based dual-tripod-head four-axis unmanned aerial vehicle of claim 6, wherein: the output end of the battery (1), the vision system, the power system and the rack sub-circuit system is electrically connected with the input end of the unmanned aerial vehicle flight control, and the output end of the unmanned aerial vehicle flight control is electrically connected with the input ends of the launching cradle head, the flying hand cradle head and the motor (14).

Images