Intelligent visual tracking equipment

Abstract

The utility model provides an intelligent visual tracking device for an unmanned vehicle, which relates to the technical field of visual target tracking, and is characterized in that electric cylinders are fixedly arranged at the corners of the bottom of the visual tracking device, and lifting seats are fixedly arranged at the telescopic ends of the electric cylinders; single-control motors are fixedly arranged outside the lifting seats, and single driving wheels are fixedly arranged at the shaft ends of the single-control motors; the middle of the bottom of the visual tracking equipment is fixedly provided with a U-shaped frame used for moving in a track; the visual tracking equipment has double moving functions, rail moving or trackless moving can be selected according to using requirements, the advancing gear is attached to the driving rack to rotate, driving force is generated, the visual tracking equipment is driven to integrally move, and rail moving can be completed; the single-control motor is controlled through a program to drive the single driving wheel to rotate, trackless movement can be carried out, and the problem that existing tracking equipment lacks a dual-movement function is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of visual tracking, and more specifically, relates to an intelligent visual tracking device. Background Art

[0002] Visual tracking devices usually use image capture programs to capture the identification positions on the target object. After determining the identification positions on the target object, they drive the actuator to move to track the target object. Currently, they are mainly used for the perception and positioning of targets in the surrounding environment of unmanned vehicles, and are divided into tracked and trackless unmanned vehicles.

[0003] Based on the above, the tracking methods of commonly used equipment are single and the level of intelligence is low. It is inconvenient to select the movement mode as needed, switch between tracked and trackless, lack a convenient disassembly and assembly structure, and the function of being able to charge during movement. Utility Model Content

[0004] In order to solve the above technical problems, the present invention provides an intelligent visual tracking device to solve the problems of the existing equipment proposed in the above background technology, such as the single tracking method, low intelligence level, inconvenience in selecting the movement method as needed, switching between tracked and trackless, lack of convenient disassembly and assembly structure, and the ability to charge during movement.

[0005] The purpose and effect of the intelligent visual tracking device of this utility model are achieved by the following specific technical means:

[0006] An intelligent visual tracking device, wherein an electric cylinder is fixedly provided at the bottom corner of the visual tracking device, a lifting seat is fixedly provided at the telescopic end of the electric cylinder, a single-control motor is fixedly provided outside the lifting seat, and a single driving wheel is fixedly provided at the shaft end of the single-control motor; a U-shaped frame for rail travel is fixedly provided in the bottom middle of the visual tracking device; four groups of rotating seats are rotatably provided on the top side of the visual tracking device, the bottoms of the rotating seats are individually controlled by motors, and a limiting structure for limiting the rotation of each group of rotating seats by 0-90 degrees is provided on the top of the visual tracking device; a pan-tilt structure for adjusting balance is fixedly provided on the top of the pan-tilt structure, and a camera for visual tracking is installed on the top of the mobile track; a moving track, a driving rack is fixedly provided on the inner side of the moving track, an L-shaped rail frame is fixedly provided on the top of the moving track, and two groups of power supply racks are fixedly provided in the top middle of the moving track; an intelligent information processor 7 is installed in the top middle of the visual tracking device.

[0007] Furthermore, spring rods are fixedly provided on both sides of the U-shaped frame, and two sets of vehicle transmission frames are provided on the external limit rotation of the spring rods, and rail wheels are provided on the outer sides of the vehicle transmission frames; traveling gears are provided on the lower middle of the vehicle transmission frames, and rotating sleeves are provided on the top of the vehicle transmission frames, and the rotating sleeves are provided with bevel gear transmission connections with the rotating shafts of the traveling gears.

[0008] Furthermore, a middle group is fixedly arranged in the middle of the bottom of the U-shaped frame, and brushes are fixedly arranged below both sides of the middle group.

[0009] Furthermore, a hexagonal shaft is rotatably arranged in the middle of the bottom of the visual tracking device, and the hexagonal shaft slides in two sets of rotating sleeves; a motor is arranged in the middle of the bottom of the visual tracking device and is connected to the hexagonal shaft through a bevel gear transmission.

[0010] Furthermore, the track wheel can fit on the top of the L-shaped rail frame.

[0011] Furthermore, a power supply copper bar is provided above the power supply frame, and the brush is fitted to the power supply copper bar.

[0012] Furthermore, the intelligent information processing unit is equipped with a target tracking algorithm and a servo control algorithm.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The visual tracking device has dual movement functions and can choose track-based movement or trackless movement according to usage needs. The driving force is generated by the rotation of the travel gear to drive the rack, which drives the overall movement of the visual tracking device to complete track-based movement. The program controls the single-control motor to drive the single drive wheel to rotate, which can achieve trackless movement. This increases applicability and can be used as needed to perform different tasks without interfering with each other.

[0015] The hexagonal shaft provides a sliding transmission effect. The motor drives the hexagonal shaft to rotate, and the hexagonal shaft drives the rotating sleeve to rotate. The rotating sleeve cooperates with the bevel gear to drive the traveling gear to rotate, so that the visual tracking device can be moved. When derailing, the two sets of vehicle transmission frames are squeezed together to disengage the traveling gear from the drive rack. At this time, the visual tracking device can be lifted to unlock it. The hexagonal shaft can provide a convenient effect, and the visual tracking device can be disassembled without completely disassembling the transmission structure.

[0016] Setting up brushes can provide power during movement. The copper bars of the power supply frame are connected to the circuit in advance. When moving on the rails, the brushes can also contact the copper bars in the power supply frame to provide power.

[0017] The intelligent information processing unit adopts an intelligent visual target tracking algorithm based on a bidirectional feature pyramid. It can stably track targets around the unmanned vehicle and transmit the target position (miss distance) to the gimbal to control the movement of the visual camera, solving the problem of stable tracking of targets in the surrounding environment by the unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model in a tracked state.

[0019] Figure 2 It is a schematic diagram of the main structure of the visual tracking device of the utility model.

[0020] Figure 3 It is a schematic diagram of the side elevation structure of the visual tracking device of the utility model.

[0021] Figure 4 It is a schematic diagram of the transmission structure of the U-shaped frame of the utility model.

[0022] Figure 5 It is a schematic diagram of the side tilt structure of the U-shaped frame of the utility model.

[0023] Figure 6 This is a schematic diagram of the network structure of the visual tracking algorithm of this utility model.

[0024] In the figure, the corresponding relationship between the component names and the drawing numbers is as follows:

[0025] 1. Visual tracking device; 101. Electric cylinder; 102. Lifting seat; 103. Single-control motor; 104. Single drive wheel; 2. U-shaped frame; 201. Spring rod; 202. Car transmission frame; 203. Track wheel; 204. Travel gear; 205. Rotating sleeve; 206. Intermediate group; 207. Brush; 3. Hexagonal shaft; 4. Rotating seat; 5. Camera; 6. Moving track; 601. Drive rack; 602. L-shaped rail frame; 603. Power supply frame; 7. Intelligent information processing machine. DETAILED DESCRIPTION

[0026] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. Example

[0027] As attached Figure 1 To the attached Figure 6 As shown:

[0028] The utility model provides an intelligent visual tracking device, including a visual tracking device 1, wherein an electric cylinder 101 is fixedly provided at the bottom corner of the visual tracking device 1, and a lifting seat 102 is fixedly provided at the telescopic end of the electric cylinder 101, and a single-controlled motor 103 is fixedly provided outside the lifting seat 102, and a single-controlled motor 103 is fixedly provided at the shaft end of the single-controlled motor 103. A U-shaped frame 2 for rail travel is fixedly provided in the middle of the bottom of the visual tracking device 1; four sets of rotating seats 4 are rotatably provided on the top side of the visual tracking device 1, and the bottom of the rotating seat 4 is connected to the rotating seat 4. The motors are controlled individually, and a limiting structure is provided on the top of the visual tracking device 1 to limit the rotation of each group of rotating seats 4 by 0-90 degrees; a pan-tilt structure for adjusting the balance is fixedly provided on the top of the rotating seat 4, and a camera 5 for visual tracking is installed on the top of the pan-tilt structure; a moving track 6, a driving rack 601 is fixedly provided on the inner side of the moving track 6, an L-shaped rail frame 602 is fixedly provided on the top of the moving track 6, and two groups of power supply racks 603 are fixedly provided in the middle of the top of the moving track 6; an intelligent information processor 7 is installed in the middle of the top of the visual tracking device 1.

[0029] Among them, spring rods 201 are fixedly provided on both sides of the U-shaped frame 2, and two sets of vehicle transmission frames 202 are provided on the external limit rotation of the spring rods 201. The outer sides of the vehicle transmission frames 202 are rotatably provided with track wheels 203; the lower middle of the vehicle transmission frame 202 is rotatably provided with a travel gear 204, and the top of the vehicle transmission frame 202 is rotatably provided with a rotating sleeve 205, and the rotating sleeve 205 is connected to the rotating shaft of the travel gear 204 by a bevel gear transmission.

[0030] A middle group 206 is fixedly provided in the middle of the bottom of the U-shaped frame 2 , and brushes 207 are fixedly provided below both sides of the middle group 206 .

[0031] Among them, a hexagonal shaft 3 is rotatably set in the middle of the bottom of the visual tracking device 1, and the hexagonal shaft 3 slides in the two sets of rotating sleeves 205; a motor is set in the middle of the bottom of the visual tracking device 1 and is connected to the hexagonal shaft 3 through a bevel gear transmission.

[0032] The track wheel 203 can fit on the top of the L-shaped rail frame 602 .

[0033] A power supply copper bar is provided above the power supply frame 603 , and the brush 207 is in contact with the power supply copper bar.

[0034] Among them, the intelligent information processor 7 is equipped with a target tracking algorithm, a servo control algorithm, and an execution device.

[0035] like Figure 1-6 As shown, when a track is selected, a mobile track 6 of corresponding length is laid at the application site; then the visual tracking device 1 is installed on the top of the mobile track 6, and the track wheel 203 is carried by the L-shaped track frame 602 to provide supporting force;

[0036] The motor is used to drive the hexagonal shaft 3 to rotate, and the hexagonal shaft 3 drives the rotating sleeve 205 to rotate. The rotating sleeve 205 cooperates with the bevel gear to drive the traveling gear 204 to rotate. The traveling gear 204 fits the driving rack 601 to rotate and generate driving force, driving the visual tracking device 1 to move as a whole; the intelligent control program is used to control the camera 5, track through identification and analysis, and issue travel instructions to achieve rail movement; the copper bars of the power supply frame 603 are connected to the circuit in advance, and when traveling on the rail, power can also be supplied by contacting the copper bars in the power supply frame 603 through the brush 207. Example

[0037] On the basis of Example 1, when derailing, the two sets of vehicle transmission frames 202 are squeezed together by the handle to make the travel gear 204 disengage from the drive rack 601. At this time, the visual tracking device 1 can be lifted to unlock;

[0038] The electric cylinder 101 is extended to push the lifting base 102 downward, and the single driving wheel 104 is used to support the visual tracking device 1;

[0039] The single-control motor 103 is controlled by a program to drive the single driving wheel 104 to rotate, thereby enabling movement. The movement trajectory can be controlled by adjusting the speed of the single driving wheel 104 , and the rotation and turning effects can be achieved through the differential principle.

[0040] The specific usage and function of this embodiment are as follows:

[0041] In the present invention, when used, if a track is selected, a mobile track 6 of corresponding length is laid at the application site; then the visual tracking device 1 is installed on the top of the mobile track 6, and the track wheel 203 is carried by the L-shaped track frame 602 to provide supporting force;

[0042] The motor drives the hexagonal shaft 3 to rotate, which in turn drives the rotating sleeve 205 to rotate. The rotating sleeve 205 cooperates with the bevel gear to drive the travel gear 204 to rotate. The travel gear 204 fits the drive rack 601 to rotate and generate driving force, which drives the visual tracking device 1 to move as a whole. The intelligent control program controls the camera 5, performs tracking through recognition and analysis, and issues travel instructions to achieve tracked movement.

[0043] When derailment is required, the two sets of vehicle transmission frames 202 are squeezed together by the handle to disengage the travel gear 204 from the drive rack 601. At this time, the visual tracking device 1 can be lifted to unlock it; the electric cylinder 101 is extended to push the lifting base 102 downward, and the visual tracking device 1 is supported by the single drive wheel 104. Then, the single control motor 103 is controlled by the program to drive the single drive wheel 104 to rotate, and the movement can be carried out. The speed of the single drive wheel 104 can be adjusted to control the movement trajectory, and the rotation and reversing effects can be achieved through the differential principle.

[0044] The copper bars of the power supply frame 603 are connected to the circuit in advance, and when the vehicle is moving on the track, the brushes 207 can contact the copper bars in the power supply frame 603 to provide power.

[0045] The intelligent information processing unit completes the visual target tracking and servo control functions, including the unmanned vehicle visual tracking module and the servo control module. The target position (miss distance) can be obtained through the target tracking module, and the movement of the tracking device pan / tilt can be controlled through the servo control module, thereby realizing the intelligence of the tracking device.

Claims

1. An intelligent visual tracking device, comprising: A visual tracking device (1), wherein an electric cylinder (101) is fixedly provided at the bottom corner of the visual tracking device (1), a lifting seat (102) is fixedly provided at the telescopic end of the electric cylinder (101), a single-control motor (103) is fixedly provided outside the lifting seat (102), and a single-drive wheel (104) is fixedly provided at the shaft end of the single-control motor (103); the visual tracking device (1) is characterized in that a U-shaped frame (2) for rail travel is fixedly provided at the middle of the bottom; four groups of rotating seats (4) are rotatably provided at the top side of the visual tracking device (1), the bottoms of the rotating seats (4) are individually controlled by motors, and a limiting structure for limiting the rotation of each group of rotating seats (4) by 0-90 degrees is provided at the top of the visual tracking device (1); a pan-tilt structure for adjusting balance is fixedly provided at the top of the rotating seats (4), and a camera (5) for visual tracking is installed at the top of the pan-tilt structure; A movable track (6) is provided with a driving rack (601) fixedly disposed on the inner side of the movable track (6), an L-shaped rail frame (602) is fixedly disposed on the top of the movable track (6), and two sets of power supply frames (603) are fixedly disposed in the middle of the top of the movable track (6); and an intelligent information processing machine (7) is installed in the middle of the top of the visual tracking device (1).

2. The intelligent visual tracking device according to claim 1, wherein: Spring rods (201) are fixedly provided on both sides of the U-shaped frame (2); two sets of vehicle transmission frames (202) are rotatably provided on the outer limit rotation sides of the spring rods (201); rail wheels (203) are rotatably provided on the outer sides of the vehicle transmission frames (202); travel gears (204) are rotatably provided in the middle of the lower sides of the vehicle transmission frames (202); rotating sleeves (205) are rotatably provided on the tops of the vehicle transmission frames (202); the rotating sleeves (205) are connected to the rotating shafts of the travel gears (204) via bevel gear transmission.

3. The intelligent visual tracking device according to claim 1, wherein: A middle group (206) is fixedly provided in the middle of the bottom of the U-shaped frame (2), and brushes (207) are fixedly provided below both sides of the middle group (206).

4. The intelligent visual tracking device according to claim 2, wherein: A hexagonal shaft (3) is rotatably provided in the middle of the bottom of the visual tracking device (1), and the hexagonal shaft (3) slides in two sets of rotating sleeves (205); a motor is provided in the middle of the bottom of the visual tracking device (1) and is connected to the hexagonal shaft (3) through a bevel gear transmission.

5. The intelligent visual tracking device according to claim 2, wherein: The track wheel (203) can fit on the top of the L-shaped rail frame (602).

6. The intelligent visual tracking device according to claim 3, wherein: A power supply copper bar is provided above the power supply frame (603), and the brush (207) is in contact with the power supply copper bar.

7. The intelligent visual tracking device according to claim 1, wherein: The intelligent information processing machine (7) is equipped with a target tracking algorithm and a servo control algorithm.

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