Unmanned aerial vehicle navigation positioning device based on vision and inertia fusion

Abstract

The utility model discloses an unmanned aerial vehicle navigation and positioning device based on vision and inertia fusion, which comprises a shell, a cavity is arranged in the shell, a main control module used for unmanned aerial vehicle navigation and positioning is arranged in the cavity, a vision camera used for identifying the surrounding environment is arranged at one end of the front side of the shell, and a camera is arranged at the other end of the front side of the shell. The signal output end of the visual camera is electrically connected to the signal input end of the main control module through a wire, the tops of the two sides of the shell are both slidably connected with connecting blocks, and the tops of the two connecting blocks are both connected with clamping plates through connecting pieces. The two sets of nut seats are driven to move inwards at the same time through the arrangement of the moving assembly, the two-way lead screw is rotated, the two sets of nut seats are driven to move inwards at the same time, and the two sets of clamping plates are driven by the connecting plates to move inwards, so that the two sets of clamping plates are clamped on the unmanned aerial vehicle body. And the clamping device is clamped on the unmanned aerial vehicle body, so that the clamping stability is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned aerial vehicle navigation positioning device technical field, concretely is a kind of unmanned aerial vehicle navigation positioning device based on vision and inertial fusion. BACKGROUND

[0002] The unmanned aerial vehicle navigation positioning device based on vision and inertial fusion fuses the data of vision measurement and inertial measurement, the image information obtained by camera in vision measurement model is used to identify and locate, for example, landmark building, specific target etc.;Inertial measurement model relies on inertial measurement unit to obtain acceleration, angular velocity and other information of unmanned aerial vehicle, so that unmanned aerial vehicle can accurately determine its position, attitude and flight path without external human intervention.

[0003] At present, the Chinese patent with announcement number CN220671634U discloses a beidou unmanned aerial vehicle navigation positioning device, which comprises a base plate, a T-shaped groove is arranged at the top end of the base plate, opposite sides in the T-shaped groove are provided with inner grooves, a first sliding groove is arranged at the top end of the base plate and communicates with the inner grooves, a clamping block is slidably connected in the inner groove, a fixed block is arranged at the top end of the clamping block, the outer wall of the fixed block is slidably connected with the inner part of the first sliding groove, a first elastic component is arranged in the inner groove, and a sliding assembly is arranged at the bottom end of the clamping block. The utility model discloses a T-shaped groove, an inner groove, a clamping block, a fixed block, a first sliding groove and a first spring are arranged, and the positioning of the beidou unmanned aerial vehicle navigation can be completed by the cooperation of the first spring and the clamping block. The fixed block can be disassembled by being stirred in the first sliding groove, and the problem of difficult disassembly of the existing beidou unmanned aerial vehicle navigation is solved.

[0004] The above-mentioned beidou unmanned aerial vehicle navigation positioning device has some problems in use. Although the positioning of the beidou unmanned aerial vehicle navigation can be completed by the cooperation of the first spring and the clamping block, and the fixed block can be disassembled by being stirred in the first sliding groove, the positioning structure of the cooperation of the spring and the clamping block leads to that the positioning of the beidou positioner is not firm enough, and it is very likely to cause loosening during high-speed flight or up-and-down movement of the unmanned aerial vehicle. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing an unmanned aerial vehicle navigation positioning device based on vision and inertial fusion to solve the problem that the positioning structure of the cooperation of the spring and the clamping block leads to that the positioning of the beidou positioner is not firm enough, and it is very likely to cause loosening during high-speed flight or up-and-down movement of the unmanned aerial vehicle in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] The utility model provides a kind of unmanned aerial vehicle navigation positioning device based on vision and inertial fusion, including the inside of the cavity of the shell being equipped with main control module for unmanned aerial vehicle navigation positioning, the front side one end of the shell is equipped with visual camera for identifying surrounding environment, the signal output end of visual camera is electrically connected to the signal input end of main control module by wire, the top of both sides of the shell is slidably connected with connecting block, the top of two groups of connecting block is connected with clamping plate by connecting piece, the inside of the shell is provided with moving assembly for moving two groups of clamping plate inward simultaneously to be clamped on the fuselage of unmanned aerial vehicle;

[0008] The moving assembly includes a receiving groove opened in the top of the shell, a bidirectional screw is rotatably connected to the inner cavity of the receiving groove, two nuts are threadedly connected to the two ends of the bidirectional screw respectively, the top of the two nuts is fixedly connected with a connecting plate respectively, the top of the two connecting plates is fixedly connected to the bottom surface of the corresponding side connecting block, and a check assembly is arranged on one side of the shell to prevent the bidirectional screw from rotating.

[0009] Preferably, the check assembly is fixedly installed on the protective shell of one side surface of the shell, one end of the bidirectional screw penetrates through the shell to the inside of the protective shell, a worm gear is fixedly sleeved on one end of the bidirectional screw in the protective shell, a worm is rotatably connected to one side of the worm gear in the protective shell, the surface of the worm engages with the surface of the worm gear, and one end of the worm penetrates through the surface of the protective shell downward and is fixedly connected with a hexagonal block.

[0010] Preferably, the connecting piece includes a countersunk head screw rotatably connected to the top of each clamping plate, a threaded hole is formed in the top of each connecting block at a position corresponding to the countersunk head screw, each countersunk head screw is rotatably penetrated through the corresponding clamping plate downward and threadedly connected to the inner cavity of the corresponding threaded hole, and a guide piece for guiding the clamping plate is arranged on the surface of each connecting block.

[0011] Preferably, the guide piece includes a guide strip fixedly installed on the top of each connecting block, a guide groove matched with the guide strip is formed in the two sides of each clamping plate at a position corresponding to the guide strip, and each guide strip on the same side is slidably inserted into the inner cavity of the corresponding guide groove.

[0012] Preferably, a spring is fixedly connected to the top of each connecting block at a position corresponding to the outer circumferential surface of the threaded hole, and the other end of each spring is fixedly connected to the bottom surface of the corresponding clamping plate.

[0013] Preferably, the two groups of connecting blocks are fixedly connected with limiting blocks at the bottom of two sides, the top of the shell is provided with limiting grooves corresponding to the limiting blocks, and the limiting blocks are slidably connected in the limiting grooves.

[0014] Preferably, the two groups of clamping plates are provided with rubber pads inside, the two groups of rubber pads are inserted with two groups of first bolts at opposite sides, and the two groups of first bolts respectively penetrate the corresponding side rubber pads and are threadedly connected to the surfaces of the corresponding side clamping plates.

[0015] Compared with the prior art, the utility model has the beneficial effects that:

[0016] 1、The utility model discloses a moving assembly is set, rotates two -way screw rod, drives two groups of nut seat to move inwards simultaneously, and is driven respectively through the connecting plate, two groups of clamping plates move inwards, and are clamped on the unmanned aerial vehicle body, so as to ensure the stability of clamping, and can adjust the interval of two groups of clamping plates according to the different width of unmanned aerial vehicle, so as to can be installed on different models unmanned aerial vehicle, improve the versatility of device.

[0017] 2、The utility model discloses a check assembly setting, the check assembly of worm and gear structure in the protection shell effectively prevents the rotation of two -way screw rod, and the self -locking characteristic of worm and gear, namely worm can drive worm wheel rotation easily, but worm wheel cannot drive worm reversely, guarantees the position fixation of two -way screw rod under the clamping state, makes the clamping plate keep the stable clamping force all the time, greatly improves the reliability and safety of device in the process of unmanned aerial vehicle flight.

[0018] 3、The utility model discloses the setting of rubber pad, and the rubber pad in the clamping plate is directly contacted with the unmanned aerial vehicle body, plays good protection effect, and the rubber pad has certain elasticity and softness, can avoid the scratch, wear or indentation damage of clamping plate to unmanned aerial vehicle body in the clamping process, and the first bolt firmly fixes the rubber pad on the clamping plate, guarantees the position stability of rubber pad in the use process, will not fall off or shift because of long -term vibration or other factors, and convenient to replace rubber pad. ACCURACY

[0019] Fig. 1 It is the structure schematic view of the utility model's unmanned aerial vehicle navigation positioning device based on vision and inertia fusion;

[0020] Fig. 2 It is the sectional structure schematic view of the utility model's shell;

[0021] Fig. 3 It is the structure schematic view of the utility model's threaded hole.

[0022] In the drawing:

[0023] 100, shell; 101, visual camera; 102, containing groove; 103, limiting groove; 104, cavity; 105, main control module; 106, limiting block;

[0024] 200, connecting block; 201, spring; 202, clamping plate; 203, rubber pad; 204, first bolt; 205, countersunk bolt; 206, guide groove; 207, guide bar; 208, threaded hole;

[0025] 300, protective shell; 301, worm; 302, worm gear; 303, hexagonal block;

[0026] 400, bidirectional screw; 401, nut seat; 402, connecting plate. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0028] Please refer to Figs. 1-3 The embodiment provides a kind of unmanned aerial vehicle navigation positioning device based on vision and inertial fusion, the inside of shell 100 is provided with cavity 104, the inside of cavity 104 is provided with main control module 105 for unmanned aerial vehicle navigation positioning, the front side of shell 100 one end is provided with visual camera 101 for identifying surrounding environment, the signal output end of visual camera 101 is electrically connected to the signal input end of main control module 105 by wire, the top of both sides of shell 100 is slidably connected with connecting block 200, the top of two groups of connecting block 200 is connected with clamping plate 202 by connecting piece, the inside of shell 100 is provided with moving assembly for moving two groups of clamping plate 202 inwards simultaneously to be clamped on the fuselage of unmanned aerial vehicle;

[0029] The moving assembly comprises a containing groove 102 formed in the top of the shell 100, the inner cavity of the containing groove 102 is rotationally connected with a bidirectional screw rod 400, the two ends of the bidirectional screw rod 400 are respectively threadedly connected with nut seats 401, the top of the two groups of nut seats 401 is respectively fixedly connected with connecting plates 402, the top of the two groups of connecting plates 402 is respectively fixedly connected to the bottom surface of the corresponding side connecting block 200, one side of the shell 100 is provided with a check assembly for preventing the bidirectional screw rod 400 from rotating back, through the arrangement of the moving assembly, the bidirectional screw rod 400 is rotated, the two groups of nut seats 401 are simultaneously moved inward, and the two groups of clamping plates 202 are moved inward through the driving of the connecting plates 402 respectively, and are clamped on the unmanned aerial vehicle body, so that the stability of clamping is ensured, and the spacing of the two groups of clamping plates 202 can be adjusted according to the different widths of the unmanned aerial vehicles, so that the device can be installed on unmanned aerial vehicles of different models, and the versatility of the device is improved.

[0030] The main control module 105 can be selected as a single-chip microcomputer with a model number STC89C51, a high-precision inertial measurement unit (IMU) is additionally arranged in the cavity 104 of the shell 100, the IMU can be selected as a module combined with a three-axis accelerometer and a three-axis gyroscope, and can measure acceleration and angular velocity information of the unmanned aerial vehicle in real time. The signal output end of the IMU is electrically connected to the signal input end of the main control module 105 through a wire, the main control module 105 adopts a Kalman filtering algorithm to fuse and process image information collected by the visual camera 101 and inertial information measured by the IMU. Specifically, image feature points and position information provided by the visual camera 101 are used as the basis for relative positioning, and acceleration and angular velocity information provided by the IMU are used for real-time estimation and prediction of the motion state of the unmanned aerial vehicle. Through the Kalman filtering algorithm, the two kinds of information are weighted and fused, so that the accuracy and reliability of the unmanned aerial vehicle navigation positioning are improved.

[0031] During the flight of the unmanned aerial vehicle, the main control module 105 constructs a map of the surrounding environment in real time by using image information collected by the visual camera 101. An algorithm based on visual SLAM (Simultaneous Localization and Mapping) such as an ORB-SLAM algorithm is adopted to extract and match feature points in the image, and a three-dimensional map of the environment around the unmanned aerial vehicle is constructed. The real-time constructed map is matched with a pre-stored global map, and the positioning accuracy of the unmanned aerial vehicle is further improved. When the unmanned aerial vehicle enters a known map area, the main control module 105 determines the accurate position of the unmanned aerial vehicle in the global map by comparing the feature information of the real-time map and the global map. At the same time, the positioning result is corrected and optimized in combination with the inertial information provided by the IMU, so as to reduce the positioning error.

[0032] When the visual camera 101 at the front end of the shell 100 starts to work, the environment around the unmanned aerial vehicle is imaged, and the collected image signals are transmitted to the main control module 105 inside the cavity 104 of the shell 100 through the wires. After the main control module 105 receives the signals, the corresponding image processing and navigation positioning algorithm is used to extract the feature points and other information in the image, and then the pre-stored map or other positioning reference data is combined to analyze and judge the position and attitude of the unmanned aerial vehicle, so as to realize the navigation and positioning function of the unmanned aerial vehicle.

[0033] Further, the check valve assembly is fixedly installed on the protective shell 300 on one side surface of the shell 100, one end of the bidirectional screw rod 400 penetrates the shell 100 to one side and extends to the inside of the protective shell 300, the one end of the bidirectional screw rod 400 inside the protective shell 300 is fixedly sleeved with the worm wheel 302, the inside of the protective shell 300 and one side of the worm wheel 302 are rotationally connected with the worm gear 301, the surface of the worm gear 301 engages the surface of the worm wheel 302, one end of the worm gear 301 penetrates the surface of the protective shell 300 downward and is fixedly connected with the hexagonal block 303. Through the setting of the check valve assembly, the check valve assembly composed of the worm wheel 302 and the worm gear 301 in the protective shell 300 effectively prevents the rotation of the bidirectional screw rod 400. The self-locking characteristic of the worm wheel 302 and the worm gear 301, that is, the worm gear 301 can easily drive the worm wheel 302 to rotate, but the worm wheel 302 cannot reversely drive the worm gear 301, ensures the position fixation of the bidirectional screw rod 400 in the clamping state, makes the clamping plate 202 always maintain stable clamping force, and greatly improves the reliability and safety of the device in the flight process of the unmanned aerial vehicle.

[0034] Further, the connecting piece includes a countersunk head screw 205 rotationally connected to the top of the two sets of clamping plates 202, the top of the two sets of connecting blocks 200 and the positions corresponding to the countersunk head screws 205 are provided with threaded holes 208, and the two sets of countersunk head screws 205 are respectively rotationally penetrated through the corresponding side clamping plates 202 downward and are threadedly connected to the inner cavities of the corresponding side threaded holes 208. The surfaces of the two sets of connecting blocks 200 are provided with guide pieces for guiding the clamping plates 202. Through the setting of the connecting piece, the countersunk head screws 205 at the top of the two sets of clamping plates 202 are respectively rotated, and the two sets of clamping plates 202 are respectively pushed downward, so as to adjust the distance between the clamping plates 202 and the shell 100, so as to adapt to unmanned aerial vehicles of various heights and improve the stability of clamping.

[0035] Preferably, the guide piece comprises guide strips 207 fixedly installed on the top of the two groups of connecting blocks 200 respectively, the two groups of clamping plates 202 are provided with guide grooves 206 corresponding to the guide strips 207 on the two sides and the positions corresponding to the guide strips 207, and the two guide strips 207 on the same side are respectively slidingly inserted into the inner cavities of the corresponding position guide grooves 206. Through the arrangement of the guide piece, when the clamping plate 202 moves, the guide strip 207 slides in the guide groove 206, so that the clamping plate 202 can only move along the predetermined straight line direction, and the unstable phenomena such as deviation, shaking or rotation of the clamping plate 202 during the movement are avoided.

[0036] It is worth noting that the top of the two groups of connecting blocks 200 and the positions corresponding to the outer circumferential surface of the threaded holes 208 are fixedly connected with springs 201, and the other ends of the two groups of springs 201 are fixedly connected to the bottom surface of the corresponding side clamping plate 202. Through the arrangement of the spring 201, the spring 201 can push the clamping plate 202 upward to prevent the clamping plate 202 from moving downward.

[0037] Further, the bottoms of the two groups of connecting blocks 200 are fixedly connected with limiting blocks 106, the top of the shell 100 and the positions corresponding to the limiting blocks 106 are provided with limiting grooves 103, and the limiting blocks 106 are slidingly connected to the inner cavities of the limiting grooves 103. Through the arrangement of the limiting block 106 and the limiting groove 103, the limiting block 106 at the bottom of the connecting block 200 slides in the limiting groove 103 on the top of the shell 100, and the movement range of the connecting block 200 is accurately limited.

[0038] Further, the interiors of the two groups of clamping plates 202 are provided with rubber pads 203, the opposite sides of the two groups of rubber pads 203 are inserted with two groups of first bolts 204, and the two groups of first bolts 204 are respectively threaded into the surface of the corresponding side clamping plate 202 through the corresponding side rubber pad 203. Through the arrangement of the rubber pad 203, the rubber pad 203 in the clamping plate 202 directly contacts with the unmanned aerial vehicle body, which plays a good protection role. The rubber pad 203 has certain elasticity and softness, which can avoid scratching, wear or indentation damage to the unmanned aerial vehicle body during clamping of the clamping plate 202. At the same time, the first bolt 204 firmly fixes the rubber pad 203 on the clamping plate 202, so as to ensure the position stability of the rubber pad 203 during use, and the rubber pad 203 will not fall off or shift due to long-term vibration or other factors, and the rubber pad 203 is convenient to replace.

[0039] Working principle;

[0040] When the device for unmanned aerial vehicle navigation positioning is installed on the unmanned aerial vehicle body, first, by external force acting on the hexagonal block 303 below the protective shell 300 in the check valve assembly, the hexagonal block 303 drives the worm 301 to rotate, and the worm 301 rotates while driving the bidirectional screw rod 400 through the worm gear 302;

[0041] When the bidirectional screw rod 400 rotates, the two nut seats 401 move in opposite directions along the axial direction of the bidirectional screw rod 400, the top of the nut seat 401 is fixedly connected with the connecting plate 402, the connecting plate 402 is connected with the connecting block 200, the limiting blocks 106 at the bottom of the two sides of the connecting block 200 slide in the corresponding limiting grooves 103 at the top of the shell 100, so as to ensure that the connecting block 200 can only move stably along the defined direction, and simultaneously drive the two groups of clamping plates 202 to move inward, until the opposite side surfaces of the two groups of clamping plates 202 respectively contact the corresponding side surfaces of the unmanned aerial vehicle body;

[0042] Then, the tool is used to rotate the countersunk head bolts 205 at the top of the two groups of clamping plates 202 respectively, the two groups of clamping plates 202 are pushed downward respectively, so that the rubber pads 203 on the surfaces of the two groups of clamping plates 202 respectively abut against the unmanned aerial vehicle body, and the countersunk head bolts 205 are tightened, the abutting force on the unmanned aerial vehicle body is increased, and the navigation positioning device is installed on the unmanned aerial vehicle body.

[0043] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle navigation positioning device based on visual and inertial fusion, characterized in that, The utility model provides a kind of unmanned aerial vehicle, including shell (100), the inside of the cavity (104) of the inside of the cavity (104) of the shell (100) is equipped with main control module (105) for unmanned aerial vehicle navigation positioning, the front side one end of the shell (100) is equipped with visual camera (101) for identifying surrounding environment, the signal output end of the visual camera (101) is electrically connected to the signal input end of main control module (105) by wire, the top of both sides of the shell (100) is slidably connected with connecting block (200), the top of two groups of the connecting block (200) is connected with clamping plate (202) by connecting piece, the inside of the shell (100) is equipped with moving assembly for moving two groups of clamping plate (202) inwards simultaneously to be clamped on unmanned aerial vehicle fuselage. The moving assembly includes accommodating groove (102) opened in the top of shell (100), the inner cavity of accommodating groove (102) is rotatably connected with two-way screw rod (400), the two ends of two-way screw rod (400) are respectively threadedly connected with nut seat (401), the top of two groups of nut seat (401) is respectively fixedly connected with connecting plate (402), the top of two groups of connecting plate (402) is respectively fixedly connected to the bottom surface of corresponding side connecting block (200), one side of the shell (100) is provided with check assembly to prevent two-way screw rod (400) from rotating. 2.The unmanned aerial vehicle navigation and positioning device based on vision-inertial fusion of claim 1, wherein: The check assembly is fixedly installed on the surface of the protection shell (300) on one side of the shell (100), one end of the two-way screw rod (400) penetrates the shell (100) to the inside of the protection shell (300) on one side, one end of the two-way screw rod (400) in the protection shell (300) is fixedly sleeved with worm gear (302), the inside of the protection shell (300) and one side of the worm gear (302) are rotatably connected with worm (301), the surface of the worm (301) engages the surface of the worm gear (302), one end of the worm (301) penetrates the surface of the protection shell (300) downward and is fixedly connected with hexagonal block (303). 3.The unmanned aerial vehicle navigation and positioning device based on vision-inertial fusion of claim 1, wherein: The connecting piece includes sink head bolt (205) rotatably connected to the top of two groups of clamping plate (202) respectively, threaded holes (208) are formed in the top of two groups of connecting block (200) and at positions corresponding to sink head bolt (205), two groups of sink head bolt (205) are rotatably penetrated downward through corresponding side clamping plate (202) and are threadedly connected to the inner cavity of corresponding side threaded hole (208), the surface of two groups of connecting block (200) is provided with guide for guiding clamping plate (202). 4.The unmanned aerial vehicle navigation and positioning device based on vision-inertial fusion of claim 3, wherein: The guide includes guide strip (207) fixedly installed on the top of two groups of connecting block (200) respectively, guide grooves (206) are formed in the two sides of two groups of clamping plate (202) and at positions corresponding to guide strip (207), two groups of guide strip (207) on the same side are slidably inserted into the inner cavity of corresponding position guide groove (206).

5. The unmanned aerial vehicle navigation and positioning device based on vision-inertial fusion according to claim 3, characterized in that: The top of the connecting block (200) and the corresponding position of the outer circular surface of the threaded hole (208) are fixedly connected with springs (201), and the other end of the two groups of springs (201) is fixedly connected to the bottom surface of the corresponding side clamping plate (202). 6.The unmanned aerial vehicle navigation and positioning device based on vision-inertial fusion of claim 1, wherein: The bottom of the two groups of connecting blocks (200) is fixedly connected with a limiting block (106), the top of the shell (100) and the corresponding position of the limiting block (106) are provided with a limiting groove (103), and the limiting block (106) is slidingly connected to the inner cavity of the limiting groove (103).

7. The unmanned aerial vehicle navigation and positioning device based on fusion of vision and inertia according to any one of claims 1-6, characterized in that: The inside of the two groups of clamping plates (202) is provided with rubber pads (203), the opposite side of the two groups of rubber pads (203) is inserted with two groups of first bolts (204), and the two groups of first bolts (204) penetrate through the corresponding side rubber pad (203) and are screwedly connected to the surface of the corresponding side clamping plate (202).

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