Unmanned aerial vehicle positioning device with polarized light compensation function

Abstract

The utility model relates to an unmanned aerial vehicle positioning device with a polarized light compensation function. The unmanned aerial vehicle positioning device comprises an unmanned aerial vehicle body, a camera, a polarized light sensing module, an angle adjusting assembly, an inertial measurement module, a data processing module, a polarized light compensation module and a microcontroller, the unmanned aerial vehicle positioning device with the polarized light compensation function is ingenious in design, image distortion caused by polarized light can be eliminated or reduced through the polarized light compensation module, and therefore the quality of images collected by the camera is improved; under adverse light conditions such as weak light, strong reflection or extreme weather, the angle adjusting assembly enables the polarized light sensing module to adjust the position according to needs, so that the polarized light sensing module effectively detects polarized light information in the environment and dynamically adjusts image data in combination with the polarized light compensation module; the method can effectively reduce image distortion in strong reflection and weak light environments, improves the precision of visual positioning, and enables the unmanned aerial vehicle to obtain accurate image information under these conditions.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field more specifically, it is related to a kind of unmanned plane positioning device with polarization light compensation function capable of improving positioning accuracy in poor light condition environment. BACKGROUND

[0002] With the continuous expansion of the application range of unmanned plane, the stability and accuracy of unmanned plane in various complex environments are also increasingly required, and the existing unmanned plane positioning mainly relies on GPS or visual positioning system, however, for example, in weak light environment, such as night, haze, indoor, etc.: visual camera can not extract the effective feature points of target object due to the factor of low light; In high dynamic light, such as tunnel entrance and exit, water surface reflection, etc., light mutation leads to visual algorithm failure;

[0003] Therefore, the existing unmanned plane positioning is mostly unable to provide accurate position information under the condition of weak light, strong reflection or extreme weather, which greatly limits the application range and efficiency of unmanned plane. SUMMARY

[0004] The utility model discloses a kind of unmanned plane positioning device with polarization light compensation function, which can solve the above problems well.

[0005] To achieve the above requirements, the technical scheme adopted by the utility model to solve its technical problems is:

[0006] The utility model provides a kind of unmanned plane positioning device with polarization light compensation function, comprising:

[0007] The unmanned plane body is provided with a connecting rod at the front end;

[0008] Camera, fixedly arranged on the connecting rod, for collecting environmental image information;

[0009] Polarized light sensing module, movably arranged on one side of the camera, for detecting polarization light information in the current environment;

[0010] Angle adjusting assembly, for driving the polarization light sensing module to rotate, to realize accurate collection and calibration of polarization light information;

[0011] Inertial measurement module, installed on the unmanned plane body, for detecting the current attitude and motion state of the unmanned plane;

[0012] Data processing module, for processing polarization light information from polarization light sensing module, image information of camera and unmanned plane motion data of inertial measurement module;

[0013] A polarized light compensation module is connected with the data processing module, and is used for compensating image data of the camera according to polarized light information, so as to eliminate or reduce image distortion caused by polarized light.

[0014] A microcontroller, the camera, the polarized light sensing module, the angle adjusting assembly, the inertial measurement module, the data processing module and the polarized light compensation module are electrically connected with the microcontroller and controlled by the microcontroller.

[0015] The unmanned aerial vehicle positioning device with the polarized light compensation function, wherein the shell of the camera or the connecting rod is fixedly connected with a forwardly extending supporting rod; a holder is arranged at the front end of the camera on the supporting rod; the polarized light sensing module and the angle adjusting assembly are arranged on the holder.

[0016] The unmanned aerial vehicle positioning device with the polarized light compensation function, wherein the polarized light sensing module comprises a polarized lens for filtering polarized light of a specific direction from ambient light, and a photoelectric detector fixedly connected with the polarized lens; the filtered polarized light directly irradiates the light-sensitive area of the photoelectric detector; the photoelectric detector converts light intensity into an electric signal and transmits the electric signal to the data processing module through a wire or a circuit board.

[0017] The unmanned aerial vehicle positioning device with the polarized light compensation function, wherein the polarized light sensing module further comprises a multi-band polarized detection sensor, which is used for collecting polarized signals of visible light and near-infrared light, and eliminating interference by using scattering characteristic differences of different wave bands.

[0018] The wavelength of the visible light is 450-650 nm.

[0019] The wavelength of the near-infrared light is 850-1050 nm.

[0020] The unmanned aerial vehicle positioning device with the polarized light compensation function, wherein the surface of the polarized lens is further provided with an anti-reflection coating.

[0021] The unmanned aerial vehicle positioning device with the polarized light compensation function, wherein the angle adjusting assembly comprises a longitudinal rotating assembly for driving the polarized light sensing module to rotate longitudinally, and a horizontal rotating assembly for driving the polarized light sensing module and the longitudinal rotating assembly to rotate horizontally; the longitudinal rotating assembly and the horizontal rotating assembly do not interfere with each other.

[0022] The utility model discloses unmanned aerial vehicle positioning device with polarization light compensation function, wherein, the support of U type is rotationally arranged on the holder, and the polarization light sensing module is movably arranged in the hollow portion of the support, and the left and right sides of the polarization light sensing module are rotationally connected with the two side walls of the support through two rotating shafts, and the longitudinal rotation component includes the driven gear fixedly sleeved on any rotating shaft, the driving gear meshed with the driven gear and the first rotary motor driving the driving gear rotation, and the first rotary motor is fixedly installed on the support.

[0023] The utility model discloses unmanned aerial vehicle positioning device with polarization light compensation function, wherein, the horizontal rotation component includes the turntable rotationally arranged on the holder, and the second rotary motor driving the turntable rotation, and the support is fixedly installed on the turntable.

[0024] The utility model discloses unmanned aerial vehicle positioning device with polarization light compensation function, and the beneficial effect lies in: this unmanned aerial vehicle positioning device with polarization light compensation function designs the cleverly, through polarization light compensation module, can eliminate or reduce the image distortion caused by polarization light, thereby improving the image quality that camera acquisition gathers, in the adverse light condition such as weak light, strong reflection or extreme weather, angle adjusting component makes polarization light sensing module can adjust position as needed, makes polarization light sensing module effective detection polarization light information in the environment, and combines polarization light compensation module dynamic adjustment image data, can effectively reduce the image distortion under strong reflection and weak light environment, promotes the precision of visual positioning, makes unmanned aerial vehicle also can obtain accurate image information under these conditions, inertia measurement module provides the attitude and motion state data of unmanned aerial vehicle, combines polarization light compensation image information, realizes multi -sensor fusion through data processing module, and positioning accuracy is improved significantly. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, the utility model will be further described below in combination with the drawings and the embodiment, and the drawings in the following description are only partial embodiments of the utility model, and for those skilled in the art, other drawings can be obtained without creative labor under the premise of these drawings:

[0026] Figure 1 It is the structure schematic diagram of unmanned aerial vehicle positioning device of the utility model.

[0027] Figure 2 It is Figure 1 The internal structure diagram of polarization light sensing module 30 and angle adjusting component 40 in DETAILED DESCRIPTION

[0028] The terms "first", "second", "third", and "fourth" and the like in the description and in the claims of the present application and the accompanying drawings are used for distinguishing between similar objects, not necessarily described in a particular order. Also, the terms "comprise", "comprising", "including", and "having" and any variations thereof in the description and in the claims are intended to cover both a complete and an exclusive inclusion of the stated features, steps, or components. For example, a process, method, article, or apparatus that comprises a list of steps or components does not necessarily comprise only those steps or components but can include additional steps or components not expressly listed or inherent to such process, method, article, or apparatus.

[0029] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is expressly understood that the embodiments described herein are merely examples from a potentially infinite number of embodiments that serve the same or similar purpose or functions. Accordingly, the phrase "an embodiment" is not used to identify or describe all embodiments.

[0030] "Multiple" means two or more. "And / or", describing the relationship between the associated objects, means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents that the front and rear associated objects are a "or" relationship.

[0031] Furthermore, the terms "upper", "lower", "left", "right", "top", "bottom", "vertical", and the like indicate the orientation of the device or apparatus in the normal use position.

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below, obviously, the described embodiments are partial embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0033] A kind of unmanned aerial vehicle positioning device with polarization light compensation function of the preferred embodiment of the utility model, as shown in Figures 1-2 The device comprises:

[0034] The unmanned aerial vehicle body 10 is provided with a connecting rod 11 at the front end;

[0035] The camera 20 is fixedly arranged on the connecting rod 11 and is used to collect environmental image information;

[0036] The polarization light sensing module 30 is movably arranged on one side of the camera 20 and is used to detect polarization light information in the current environment;

[0037] An angle adjustment assembly 40 is used to drive the polarization light sensing module 30 to rotate, so as to realize accurate collection and calibration of the polarization light information.

[0038] An inertial measurement module is installed on the UAV body 10 and is used to detect the current attitude and motion state of the UAV. In the field of UAVs, the inertial measurement module can adopt a MEMS inertial navigation sensor in the prior art, which has the advantages of miniaturization, low cost, low power consumption, etc. Therefore, for most UAV applications, the inertial measurement module adopting the MEMS technology is a practical and economical choice.

[0039] A data processing module, such as a multi-core processor of the high-pass Snapdragon series, is used to process the polarization light information from the polarization light sensing module 30, the image information of the camera 20, and the UAV motion data of the inertial measurement module.

[0040] A polarization light compensation module, such as a polarization light modulator in the prior art, is connected with the data processing module and is used to compensate the image data of the camera 20 according to the polarization light information, so as to eliminate or reduce the image distortion caused by the polarization light.

[0041] A microcontroller, which is electrically connected with and controlled by the camera 20, the polarization light sensing module 30, the angle adjustment assembly 40, the inertial measurement module, the data processing module, and the polarization light compensation module.

[0042] The UAV positioning device with the polarization light compensation function is designed ingeniously. Through the polarization light compensation module, the image distortion caused by the polarization light can be eliminated or reduced, so as to improve the image quality collected by the camera. Under the adverse light conditions such as weak light, strong reflection, or extreme weather, the angle adjustment assembly 40 enables the polarization light sensing module to adjust the position as needed, so that the polarization light sensing module can effectively detect the polarization light information in the environment, and dynamically adjust the image data in combination with the polarization light compensation module, which can effectively reduce the image distortion in the strong reflection (such as water surface, snow ground) and weak light environment, improve the accuracy of visual positioning, and enable the UAV to obtain accurate image information under these conditions. The inertial measurement module (IMU) provides the attitude and motion state data of the UAV, which, in combination with the image information after polarization light compensation, realizes multi-sensor fusion (such as extended Kalman filtering) through the data processing module, and significantly improves the positioning accuracy.

[0043] Specifically, the working principle of the UAV positioning device with the polarization light compensation function is as follows:

[0044] 1. Image collection: The camera 20 collects environmental image information during the flight of the UAV.

[0045] 2. Polarized light detection: The polarized light sensing module 30 detects the polarized light information in the current environment and can be fine-tuned through the angle adjustment component 40 to obtain more accurate polarized light data.

[0046] 3. UAV body attitude and motion measurement: The inertial measurement module monitors the attitude and motion state of the UAV in real time and transmits the data to the data processing module.

[0047] 4. Data processing: The data processing module receives data from the camera, polarized light sensing module, and inertial measurement module for comprehensive processing.

[0048] 5. Polarized light compensation: The polarized light compensation module compensates for image data collected by the camera based on information provided by the polarized light sensing module to eliminate or reduce image distortion caused by polarized light.

[0049] 6. Control and execution: The microcontroller is the core of the entire system, which controls the work of the camera, polarized light sensing module, angle adjustment component, inertial measurement module, data processing module, and polarized light compensation module to ensure the coordinated operation of the entire system.

[0050] Through such a workflow, the UAV positioning device with polarized light compensation function can maintain high-precision positioning and image acquisition capability under complex light conditions, thereby improving its overall performance.

[0051] Further, the camera 20 can be a high-resolution camera in the prior art; the camera 20 is fixedly connected to a forwardly extending support rod 12 on the shell or connecting rod 11; a gimbal 13 is provided on the support rod 12 at the front end of the camera 20; the polarized light sensing module 30 and the angle adjustment component 40 are both arranged on the gimbal 13; the gimbal 13 can provide a stable platform to reduce the influence of vibration on the camera 20 and the polarized light sensing module 30 during flight, thereby improving the stability of image acquisition.

[0052] Further, the polarized light sensing module 30 includes a polarized lens 31 that filters out polarized light of a specific direction from ambient light, and a photodetector 32 fixedly connected to the polarized lens 31; the filtered polarized light directly irradiates the photosensitive area of the photodetector 32; the polarized lens 31 can filter out polarized light of a specific direction, and can exclude light interference of other directions, only collecting light information useful for positioning and image analysis; by filtering out light of non-target polarization direction, noise can be reduced, signal quality can be improved, and the signal-to-noise ratio of the electrical signal output by the photodetector 32 can be improved.

[0053] In specific applications such as monitoring of water surfaces or highly reflective surfaces, polarized light can reduce the influence of reflected light, enhance the contrast of images, and make target objects clearer;

[0054] In strong light or high reflection environment, the polarized light sensing module can effectively reduce the influence of glare and reflected light, thereby improving the clarity and accuracy of the image.

[0055] The photodetector 32 converts the light intensity into an electrical signal and transmits it to the data processing module through a wire or circuit board; the photodetector 32 usually has the characteristics of fast response, can capture the changes of ambient light in real time, and is suitable for dynamic monitoring and rapid positioning; the electrical signal is transmitted to the data processing module through a wire or circuit board, and this signal form is easy to process and analyze, and useful information can be quickly obtained.

[0056] Further, the polarized light sensing module 30 also includes a multi-band polarization detection sensor 33 for collecting visible and near-infrared polarization signals, and using the scattering characteristic differences of different wave bands to eliminate interference; the multi-band polarization detection sensor 33 is arranged on the connecting rod 11.

[0057] Among them, the wavelength of visible light is 450-650 nm;

[0058] The wavelength of near-infrared is 850-1050 nm.

[0059] By simultaneously detecting visible and near-infrared wave bands, the unmanned aerial vehicle can effectively work in more kinds of environmental conditions, including low light, smoke, fog, etc. The near-infrared wave band usually provides better penetration ability; by using the scattering characteristic differences of different wave bands, interference caused by atmospheric scattering, reflection, etc. can be more effectively eliminated, thereby improving the clarity and contrast of the image, and the sensitivity of different wave bands of polarized light to ambient light is different. By comparing and analyzing the signals of the two wave bands, specific types of interference light such as water surface reflection, glass reflection, etc. can be better identified and eliminated.

[0060] Further, the surface of the polarized lens 31 is also provided with an anti-reflection coating, which can significantly reduce the reflection of light on the lens surface, thereby reducing the loss of light energy and improving the transmittance, so that the photodetector 32 can receive more light signals and improve the overall detection efficiency.

[0061] Further, the angle adjusting assembly 40 includes a longitudinal rotation assembly 41 for driving the polarized light sensing module 30 to rotate longitudinally, and a horizontal rotation assembly 42 for driving the polarized light sensing module 30 and the longitudinal rotation assembly to rotate horizontally; the longitudinal rotation assembly and the horizontal rotation assembly do not interfere with each other. The polarized light sensing module 30 can be precisely adjusted on two different axes, so that the direction of the polarized light sensing module 30 can be more finely controlled.

[0062] Further, the U-shaped support 14 is rotatably arranged on the holder 13, which can provide a stable support structure for the polarized light sensing module 30 and reduce image blur caused by vibration during flight; the polarized light sensing module 30 is movably arranged in the hollow portion of the support 14; the left and right sides of the polarized light sensing module 30 are respectively rotatably connected to the two side walls of the support 14 through two rotating shafts 15; the longitudinal rotating assembly 41 includes a driven gear 411 fixedly sleeved on any rotating shaft 15, a driving gear 412 engaged with the driven gear 411, and a first rotating motor 413 driving the driving gear 412 to rotate; the first rotating motor 413 is fixedly installed on the support 14, and the polarized light sensing module 30 can be accurately adjusted in the longitudinal direction; the rotating direction and speed of the rotating shaft are controlled through the gear engagement power transmission and the first rotating motor 413, so that the longitudinal rotating angle of the polarized light sensing module 30 can be accurately controlled to adapt to different monitoring requirements.

[0063] Further, the horizontal rotating assembly 42 includes a rotating disc 421 rotatably arranged on the holder 13 and a second rotating motor 422 driving the rotating disc 421 to rotate; the support 14 is fixedly installed on the rotating disc 421; through the rotating disc 421 and the second rotating motor 422, the polarized light sensing module 30 can rotate 360 degrees in the horizontal direction, so as to collect environmental information from different angles.

[0064] It should be understood that those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the present application.

Claims

1. A drone positioning device with polarization light compensation function, characterized in that , comprising: The unmanned aerial vehicle body is provided with a connecting rod at the front end; The camera is fixedly arranged on the connecting rod and used for collecting environmental image information; The polarized light sensing module is movably arranged on one side of the camera and used for detecting polarized light information in the current environment; The angle adjusting assembly is used to drive the polarized light sensing module to rotate, so as to realize accurate collection and calibration of the polarized light information; The inertial measurement module is installed on the unmanned aerial vehicle body and used for detecting the current attitude and motion state of the unmanned aerial vehicle; The data processing module is used to process the polarized light information from the polarized light sensing module, the image information of the camera and the motion data of the unmanned aerial vehicle from the inertial measurement module; The polarized light compensation module is connected with the data processing module and used to compensate the image data of the camera according to the polarized light information, so as to eliminate or reduce the image distortion caused by the polarized light; The microcontroller is electrically connected with the camera, the polarized light sensing module, the angle adjusting assembly, the inertial measurement module, the data processing module and the polarized light compensation module and controlled by the microcontroller.

2. The drone positioning apparatus of claim 1, wherein, The shell of the camera or the connecting rod is fixedly connected with a forwardly extending support rod; a holder is arranged on the front end of the support rod; the polarized light sensing module and the angle adjusting assembly are arranged on the holder.

3. The drone positioning apparatus of claim 2, wherein, The polarized light sensing module comprises a polarized lens filtering out polarized light of a specific direction from environmental light, and a photodetector fixedly connected with the polarized lens; the filtered polarized light directly irradiates the photosensitive area of the photodetector; the photodetector converts the light intensity into an electric signal and transmits the electric signal to the data processing module through a wire or a circuit board.

4. The drone positioning apparatus of claim 3, wherein, The polarized light sensing module further comprises a multi-band polarized detection sensor used to collect visible light and near-infrared polarized signals and eliminate interference by using the difference in scattering characteristics of different wave bands. The wavelength of the visible light is 450-650 nm. The wavelength of the near-infrared light is 850-1050 nm.

5. The drone positioning apparatus of claim 3, wherein, The surface of the polarized lens is further provided with an anti-reflection coating.

6. The unmanned aerial vehicle positioning apparatus of any one of claims 2-5, wherein, The angle adjusting assembly comprises a longitudinal rotation assembly driving the polarized light sensing module to rotate longitudinally, and a horizontal rotation assembly driving the polarized light sensing module and the longitudinal rotation assembly to rotate horizontally; the longitudinal rotation assembly and the horizontal rotation assembly do not interfere with each other.

7. The drone positioning apparatus of claim 6, wherein, A U-shaped support is rotatably arranged on the holder; the polarized light sensing module is movably arranged in the hollow part of the support; the left and right sides of the polarized light sensing module are rotatably connected with the two side walls of the support through two rotating shafts; the longitudinal rotation assembly comprises a driven gear fixedly sleeved on any rotating shaft, a driving gear meshing with the driven gear, and a first rotating motor driving the driving gear to rotate; the first rotating motor is fixedly installed on the support.

8. The drone positioning apparatus of claim 7, wherein, The horizontal rotation assembly comprises a rotating disc rotatably arranged on the holder, and a second rotating motor driving the rotating disc to rotate; the support is fixedly installed on the rotating disc.

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