Visual navigation system of unmanned aerial vehicle

Abstract

The utility model discloses an unmanned aerial vehicle visual navigation system which comprises a shell, and an MCU, a barometer, an RTK module, a 4G module, a UWB, a TTL-to-USB, a USB HUB, a PC, a visual module and a power supply system are integrally installed on the shell. The MCU communicates with the RTK module, the barometer and the TTL to USB chip; the 4G module is communicated with the USB HUB through one path of USB; the UWB is communicated with the TTL to USB through one path of UART; the PC is communicated with the USB HUB through one path of USB; the visual module communicates with the PC through a USB and is connected with the first camera and the second camera. According to the utility model, the structural design is scientific and reasonable, and the capability of accurate positioning and navigation can still be realized under the condition that GPS signals are lost; the system can provide more stable navigation performance in a dynamically changing environment; and positioning data are uploaded in real time and a cloud computing result is received through the 4G communication module, so that the flexibility and the expandability of the system are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle visual navigation equipment, in particular to a unmanned aerial vehicle visual navigation system. Background Art

[0002] Existing UAV visual navigation systems mainly rely on the Global Positioning System (GPS) and Inertial Navigation System (INS) for positioning and path planning. These systems can provide stable navigation functions in open areas. However, in urban canyons, indoor environments, or other areas where GPS signals are limited, these systems cannot provide accurate navigation information. Some systems use real-time kinematic differential technology (RTK) to enhance navigation accuracy, however, RTK still has limitations when the signal is weak or lost.

[0003] The shortcomings of the prior art are mainly manifested in:

[0004] 1. It is highly dependent on GPS signals and cannot work when the GPS signal is weak or blocked.

[0005] 2. Existing visual navigation systems are limited by the performance of the computing platform and have insufficient adaptability to complex or dynamic environments.

[0006] 3. Single sensor data is easily interfered by local environmental factors, resulting in unstable or failed navigation.

[0007] In order to solve the above problems and achieve more stable and accurate UAV positioning and navigation, we propose a UAV visual navigation system. Utility Model Content

[0008] The purpose of the utility model is to provide a UAV visual navigation system to solve the problems raised in the above background technology.

[0009] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a UAV visual navigation system, comprising a shell, on which an MCU, a barometer, an RTK module, a 4G module, UWB, a TTL to USB, a USB HUB, a PC, a visual module, and a power supply system are integrated; the MCU communicates with the RTK module, the barometer, and the TTL to USB chip; the 4G module communicates with the USB HUB via one USB; the UWB communicates with the TTL to USB via one UART; the PC communicates with the USB HUB via one USB; the visual module communicates with the PC via USB and connects camera one and camera two.

[0010] In the above solution, the housing comprises an upper housing and a lower housing that are detachably connected, and a power switch is provided on the housing.

[0011] In the above scheme, the power supply system includes a power input +12V voltage, which is converted by DC-DC to power the UWB and RTK modules, MCU, IC and USB chip.

[0012] In the above solution, the barometer communicates with the MCU via 1 SPI.

[0013] In the above scheme, the RTK module is composed of RTK and IMU; the RTK module communicates with the MCU through 1 UART, and the RTK module outputs 2 UART to TTL to USB.

[0014] In the above scheme, the TTL to USB chip communicates with the MCU through 1 UART, communicates with the RTK through 2 UARTs, communicates with the UWB through 1 UART, and outputs 1 USB to communicate with the USB HUB chip.

[0015] In the above scheme, the USB HUB communicates with the 4G module through 1 USB channel, communicates with the TTL to USB chip through 1 USB channel, and outputs 1 USB channel to communicate with the PC.

[0016] Compared with the prior art, the utility model has the following beneficial effects: the visual navigation system of the unmanned aerial vehicle has a simple and reasonable structural design, and has the following advantages by introducing a PC and integrating a variety of sensors such as an RTK module, a visual module, a 4G module, an ultra-wideband (UWB), and a barometer on the housing:

[0017] 1. Achieved the ability to accurately locate and navigate even when GPS signals are lost;

[0018] 2. The system can provide more stable navigation performance in a dynamically changing environment;

[0019] 3. Multi-source data fusion reduces the impact of environmental changes on navigation accuracy;

[0020] 4. Powerful computing platform support enables the system to process more complex algorithms, improving the capabilities of the visual system and the autonomy of the intelligent agent;

[0021] 5. Real-time uploading of positioning data and receiving of cloud computing results through 4G communication module increases the flexibility and scalability of the system;

[0022] 6. Customized machine learning models make the system more optimized for specific application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the control principle structure of the utility model.

[0024] Figure 2This is a schematic diagram of the structure of the power supply system of the utility model.

[0025] Figure 3 It is a schematic diagram of the shell separation structure of the utility model.

[0026] Figure 4 This is a schematic diagram of the housing assembly structure of the utility model.

[0027] In the figure: MCU101, barometer 102, RTK module 103, 4G module 104, UWB105, TTL to USB 106, USBHUB 107, PC 108, vision module 109, power system 110, casing 1. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] See also Figure 1-4 The utility model provides a technical solution: a UAV visual navigation system, comprising a shell 1, on which an MCU 101, a barometer 102, an RTK module 103, a 4G module 104, a UWB 105, a TTL to USB 106, a USB HUB 107, a PC 108, a visual module 109, and a power supply system 110 are integrated and installed; the MCU 101 communicates with the RTK module 103, the barometer 102, and the TTL to USB 106 chip; the 4G module 104 communicates with the USB HUB 107 via a USB; the UWB 105 communicates with the TTL to USB 106 via a UART; the PC 108 communicates with the USB HUB 107 via a USB; the visual module 109 communicates with the PC 108 via a USB and connects the camera 1 and the camera 2.

[0030] In the above solution, the housing 1 comprises an upper housing and a lower housing that are detachably connected, and a power switch is provided on the housing 1.

[0031] In the above solution, the power supply system 110 includes a power input +12V voltage, which is converted by DC-DC to supply power to the UWB 105 and RTK module 103, MCU 101, IC and USB chip.

[0032] In the above solution, the barometer 102 communicates with the MCU 101 via 1-way SPI.

[0033] In the above scheme, the RTK module 103 is composed of RTK and IMU; the RTK module 103 communicates with MCU101 through 1 UART, and the RTK module 103 outputs 2 UART to TTL to USB106.

[0034] In the above scheme, the TTL to USB106 chip communicates with MCU101 through 1 UART, communicates with RTK through 2 UARTs, communicates with UWB105 through 1 UART, and outputs 1 USB to communicate with USB HUB107 chip.

[0035] In the above scheme, the USB HUB 107 communicates with the 4G module 104 through 1 USB, communicates with the TTL to USB 106 chip through 1 USB, and outputs 1 USB to communicate with the PC 108 end.

[0036] In this drone visual navigation system, MCU101 communicates with RTK module 103 via 1-channel UART, communicates with barometer 102 via 1-channel SPI, and outputs 1-channel UART to TTL to USB106 chip;

[0037] The barometer 102 communicates with the MCU 101 via 1-way SPI;

[0038] The RTK module 103 is composed of RTK and IMU;

[0039] The RTK module 103 communicates with the MCU 101 via 1-channel UART, and the RTK module 103 outputs 2-channel UART to the TTL to USB chip;

[0040] The 4G module 104 communicates with the USB HUB 106 chip via 1-way USB;

[0041] UWB105 communicates with TTL to USB106 via 1-way UART;

[0042] The TTL to USB106 chip communicates with MCU101 through 1 UART, communicates with RTK through 2 UARTs, communicates with UWB105 through 1 UART, and outputs 1 USB (including 4 USBs: MCU, UWB, RTK, IMU) to communicate with USB HUB107 chip;

[0043] The USB HUB107 chip communicates with the 4G module through 1 USB, and communicates with the TTL to USB chip through 1 USB (including 4 USBs: MCU, UWB, RTK, IMU); outputs 1 USB (including 5 USBs: MCU, UWB, RTK, IMU, 4G) to communicate with the PC;

[0044] PC108 communicates with USB HUB107 via 1 USB (including 5 USBs: MCU, UWB, RTK, IMU, 4G);

[0045] The visual module 109 communicates with the PC via USB and connects the camera 1 and the camera 2;

[0046] like Figure 2 As shown, the utility model provides a UAV visual navigation system, wherein the power supply system includes:

[0047] The power input voltage is +12V, and the output voltage is +5V after DC-DC conversion. +5V is used to power UWB105 and RTK. +5V is converted by LDO to output +3.3V voltage to power MCU101, IC and USB chip.

[0048] The power supply inputs a +12V voltage, and outputs a +4V voltage after DC-DC conversion, and the +4V voltage is used to power the 4G module 104 .

[0049] This device realizes real-time processing of complex algorithms by introducing powerful computing capabilities based on Windows 10 system.

[0050] It integrates multiple sensors such as RTK module 103, vision module 109, 4G module 104, ultra-wideband (UWB), barometer 102, etc., and uses data fusion technology to ensure high-precision navigation and positioning in various environments.

[0051] The vision module 109 is used in conjunction with advanced machine learning algorithms to improve the accuracy and robustness of visual recognition and tracking.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A visual navigation system for an unmanned aerial vehicle, comprising a housing (1), characterized in that: The housing (1) is integrated with an MCU (101), a barometer (102), an RTK module (103), a 4G module (104), a UWB (105), a TTL to USB (106), a USB HUB (107), a PC (108), a vision module (109), and a power supply system (110); the MCU (101) communicates with the RTK module (103), the barometer (102), and the TTL to USB (106) chip; the 4G module (104) communicates with the USB HUB (107) via a USB; the UWB (105) communicates with the TTL to USB (106) via a UART; the PC (108) communicates with the USB HUB (107) via a USB; and the vision module (109) communicates with the PC (108) via a USB and is connected to camera 1 and camera 2.

2. The unmanned aerial vehicle visual navigation system according to claim 1, characterized in that: The housing (1) comprises an upper housing and a lower housing which are detachably connected, and a power switch is provided on the housing (1).

3. The unmanned aerial vehicle visual navigation system according to claim 1, characterized in that: The power supply system (110) includes a power supply input +12V voltage, which is converted by DC-DC to supply power to the UWB (105) and RTK modules (103), MCU (101), IC and USB chip.

4. The unmanned aerial vehicle visual navigation system according to claim 1, characterized in that: The barometer (102) communicates with the MCU (101) via a SPI.

5. The unmanned aerial vehicle visual navigation system according to claim 1, characterized in that: The RTK module (103) is composed of an RTK and an IMU; the RTK module (103) communicates with the MCU (101) via a UART channel, and the RTK module (103) outputs a 2-channel UART to TTL to USB (106).

6. The unmanned aerial vehicle visual navigation system according to claim 5, characterized in that: The TTL to USB (106) chip communicates with the MCU (101) via one UART, communicates with the RTK via two UARTs, communicates with the UWB (105) via one UART, and outputs one USB to communicate with the USB HUB (107) chip.

7. The unmanned aerial vehicle visual navigation system according to claim 1, characterized in that: The USB HUB (107) communicates with the 4G module (104) via one USB channel, and communicates with the TTL to USB (106) chip via one USB channel; and outputs one USB channel to communicate with the PC (108) terminal.

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