Point type target applied to relative position estimation

Abstract

The invention belongs to the field of visual navigation, and discloses a point type target applied to relative position estimation. The main body of the point type target is a target fixing piece; the target fixing piece comprises an upper part and a lower part, the upper part is of a frame structure, a cooling fan connecting piece is fixed on the front surface, a plurality of cooling fans are fixed on the cooling fan connecting piece, and a copper radiator is fixed on the back surface; the lower part is of a bowl-shaped structure, the back surface of the bowl-shaped structure is streamlined, the resistance in the movement process of the point-type target is reduced, a circuit board is fixed on the front surface of the bowl-shaped structure, and a plurality of target points are fixed on the circuit board. The point type target can be independently imaged and is not influenced by ambient light. The radiating fan and the copper radiator arranged on the point-type target can support the power of a target point with higher power, so that the point-type target has a farther limit detection distance. The point type target applied to the relative position estimation is small in size and light in weight, the effective load of the target is hardly influenced, and the point type target has engineering practical value.

Description

Technical Field

[0001] The present invention belongs to the field of visual navigation, and particularly relates to a dot-shaped target for relative position estimation. Background Art

[0002] The Global Positioning System (GPS) is currently the most widely used global positioning method and is widely used in people's daily travel. However, in forests, indoors, or between high-rise buildings, GPS is prone to failure due to limited signal reception. The visual positioning problem in GPS-denied scenarios is a current popular research direction.

[0003] A classic method in the field of visual positioning is the Perspective-n-Point (PnP) method. The PnP method requires the positions of several existing feature points on the target, as well as the positions and corresponding relationships of the images formed by these feature points on the image. For objects lacking feature points, manually designed target points are fixed on the target object. To improve the recognition accuracy of the target and reduce the complexity of the recognition algorithm, target points based on invisible bands such as infrared or ultraviolet have been invented. By cooperating with a filter of the corresponding wavelength, most of the background stray light can be filtered out, making the target easier to be recognized.

[0004] Currently, there is an urgent need to develop a dot-shaped target for relative position estimation. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a dot-shaped target for relative position estimation to overcome the defects of the prior art.

[0006] The dot-shaped target for relative position estimation of the present invention includes target points, a circuit board, a cooling fan, a fixed copper radiator, a target fixing member, and a cooling fan connecting member; The target fixing member is the main body of the dot-shaped target. The target fixing member includes two parts, an upper part which is a frame structure, with a cooling fan connecting member fixed in front, several cooling fans fixed on the cooling fan connecting member, and a copper radiator fixed on the back; a lower part which is a bowl-shaped structure, the back of the bowl-shaped structure is streamlined to reduce the resistance during the movement of the dot-shaped target, and the circuit board is fixed in front of the bowl-shaped structure, and several target points are fixed on the circuit board, and each target point is an LED lamp bead.

[0007] Further, the target points are 850-nm infrared LED lamp beads, and eight 850-nm infrared lamp beads form a circular target.

[0008] Further, the circuit board supplies power to the target points and the cooling fan.

[0009] Further, the heat dissipation fan is an active heat dissipation module, and the copper radiator is a passive heat dissipation module, which jointly prevent the LED lamp beads at the target point from burning out.

[0010] Further, the LED lamp beads include all bands of LED lamp beads including infrared LED lamp beads and ultraviolet LED lamp beads.

[0011] Further, the circuit connection between the heat dissipation fan and the circuit board is realized through a magnetic attraction structure.

[0012] The dot target for relative position estimation of the present invention fixes the target point on the circuit board, fixes the circuit board and the copper radiator on the target point fixing structure; fixes the heat dissipation fan on the heat dissipation fan connecting piece, and fixes the heat dissipation fan connecting piece on the target fixing structure; the circuit between the target point, the circuit board and the heat dissipation fan is connected. When in use, turn on the power supply, and the target point can emit light with a single frequency, and an image can be taken using a camera with a corresponding filter.

[0013] The dot target for relative position estimation of the present invention can be independently imaged without being affected by the surrounding ambient light; the heat dissipation fan and the copper radiator provided on the dot target can support the power of a target point with a larger power, and thus have a farther limit detection distance.

[0014] The dot target for relative position estimation of the present invention is small in volume and light in weight, hardly affects the effective payload of the target, and has engineering practical value. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic structural diagram of the dot target for relative position estimation of the present invention (front view); Figure 2 It is a schematic structural diagram of the dot target for relative position estimation of the present invention (rear view).

[0017] In the figure, 1. Target point; 2. Circuit board; 3. Heat dissipation fan; 4. Copper radiator; 5. Target fixing part; 6. Heat dissipation fan connecting piece. Detailed Embodiments

[0018] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0019] Example 1: As Figure 1 、 Figure 2 shown, the dot-shaped target of this embodiment includes target points 1, a circuit board 2, a cooling fan 3, a copper heat sink 4, a target fixing member 5, and a cooling fan connecting member 6.

[0020] The usage scenario of this embodiment is the docking process of a fixed-wing aircraft autonomously refueling a fixed-wing unmanned aerial vehicle (UAV). A plurality of target points 1 are fixed on the wings and fuselage of the fixed-wing aircraft, and the fixed-wing UAV needs to estimate its relative position with respect to the fixed-wing aircraft.

[0021] The target point 1 is a circular target composed of 8 infrared LED lamp beads with a power of 10 W and a wavelength of 850 nm. The target point 1 is fixedly connected to the circuit board 2 and realizes circuit connection.

[0022] Both the circuit board 2 and the copper heat sink 4 are fixed to the target fixing member 5 by bolts.

[0023] The cooling fan 3 is fixed to the cooling fan connecting member 6 by bolts, and the cooling fan connecting member 6 is fixed to the target fixing member 5 by a buckle; for easy disassembly and assembly, the circuit connection between the cooling fan 3 and the circuit board 2 is realized through a magnetic attraction structure. In order to be applied to UAVs, it is necessary to consider reducing the resistance during the flight of the fixed-wing aircraft. The cooling fan 3 can be conveniently installed during ground tests and disassembled during flight, and only passive heat dissipation is carried out through the copper heat sink 4 and the airflow generated by the flight during the flight process.

[0024] The cooling fan connecting member 6 is fixed to the wings and fuselage of the fixed-wing aircraft, and the cooling fan connecting member 6 is designed with a streamlined structure towards the airflow direction to reduce the additional air resistance caused by the installation of the target point 1.

[0025] Example 2: This embodiment is another embodiment of the present invention. The structure of the target in this embodiment is similar to that of the target in Example 1. The same parts between this embodiment and Example 1 will not be described again below, and only the differences from Example 1 will be introduced.

[0026] The target point 1 in this embodiment is an LED lamp bead with a power of 10 W and in the ultraviolet band; the usage scenario is two UAVs before and after that need to estimate the relative position. If the target is fixed on the fuselage of the front UAV, the rear UAV needs to estimate its relative position with respect to the front UAV. In this embodiment, the cooling fan 3 does not need to be disassembled, and active heat dissipation is carried out during the forward movement of the front UAV.

[0027] It should be noted that the application scope of the dot target used for relative position estimation in the present invention is not limited.

[0028] In the present invention, "Embodiment 1", "Embodiment 2", etc. are only for distinction in description and have no other special meanings.

[0029] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dot target applied to relative position estimation, characterized in that, The described dot target includes target dots (1), a circuit board (2), a cooling fan (3), a fixed copper radiator (4), a target fixing part (5), and a cooling fan connecting part (6); The target fixing part (5) is the main body of the dot target; the target fixing part (5) includes two upper and lower parts. The upper part is a frame structure, with the cooling fan connecting part (6) fixed in the front, several cooling fans (3) fixed on the cooling fan connecting part (6), and the copper radiator (4) fixed on the back; the lower part is a bowl-shaped structure, the back of the bowl-shaped structure is streamlined to reduce the resistance during the movement of the dot target, the circuit board (2) is fixed on the front of the bowl-shaped structure, and several target dots (1) are fixed on the circuit board (2), and each target dot (1) is an LED lamp bead.

2. The dot target applied to relative position estimation according to claim 1, characterized in that, The described target dot (1) is an 850nm infrared LED lamp bead, and eight 850nm infrared lamp beads form a circular target.

3. The dot target applied to relative position estimation according to claim 1, characterized in that, The described circuit board (2) supplies power to the target dot (1) and the cooling fan (3).

4. The dot target applied to relative position estimation according to claim 1, characterized in that, The described cooling fan (3) is an active heat dissipation module, and the copper radiator (4) is a passive heat dissipation module, which jointly prevent the LED lamp beads of the target dot (1) from burning out.

5. The dot target applied to relative position estimation according to claim 1, characterized in that, The described LED lamp beads are LED lamp beads of all bands including infrared LED lamp beads and ultraviolet LED lamp beads.

6. The dot target applied to relative position estimation according to claim 1, characterized in that, The described cooling fan (3) and the circuit board (2) achieve circuit connection through a magnetic attraction structure.

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