Visual guidance head device and unmanned aerial vehicle

Abstract

The application belongs to the technical field of unmanned aerial vehicle, and proposes a visual homing head device and unmanned aerial vehicle, wherein the visual homing head device comprises a fixed support, the lower surface of the fixed support is fixedly installed with a camera mounting seat, the outer surface of the camera mounting seat is provided with a plurality of camera mounting grooves along the longitudinal axis direction, and the camera mounting grooves are all fixedly installed with cameras; the fields of view of the plurality of cameras are jointly spliced to form a continuous large field of view coverage area. The outer surface of the camera mounting seat is provided with a plurality of camera mounting grooves along the longitudinal axis direction, the plurality of camera mounting grooves are all fixedly installed with cameras, a large field of view coverage similar to "compound eye" is formed, mechanical rotating parts are completely saved, and the visual homing head device has the advantages of simple structure, low cost, high reliability and no delay, and is particularly suitable for low-cost and high-reliability folding wing unmanned aerial vehicle platforms.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) technology, and specifically relates to a visual guidance head device and an UAV. Background Technology

[0002] Modern drones often carry electro-optical pods for target reconnaissance, identification, and tracking. Traditional electro-optical pods typically include a high-precision gimbal, zoom lens, and various sensors, achieving omnidirectional field of view coverage through mechanical rotation. However, this design has the following drawbacks: the mechanical gimbal is complex and expensive, prone to failure due to moving parts, and suffers from mechanical delays in response. Therefore, the stability and reliability of the gimbal are challenged during high-speed flight or high-maneuverability of the drone. Furthermore, the mechanical rotation of the gimbal cannot achieve instantaneous, synchronized acquisition of the entire field of view.

[0003] To address the aforementioned issues, there is an urgent need for a drone visual guidance solution that is simple in structure, highly reliable, and can provide instantaneous wide-area vision. Utility Model Content

[0004] This application provides a visual guidance head device, including a fixed bracket, a camera mounting base fixedly installed on the lower surface of the fixed bracket, and a plurality of camera mounting slots provided on the outer surface of the camera mounting base along the longitudinal axis, in which cameras are fixedly installed; the fields of view of the plurality of cameras are stitched together to form a continuous large field of view coverage area.

[0005] Furthermore, the camera mounting base includes a first component; the camera includes a first visible light camera; and a plurality of first visible light cameras are sequentially arranged along a camera mounting slot on the outer surface of the first component.

[0006] Furthermore, the camera mounting base also includes a second component, with the second component respectively disposed on both sides of the first component; the camera also includes a second visible light camera; the plurality of second visible light cameras are divided into two groups, and the two groups of second visible light cameras are respectively installed in camera mounting slots on the outer surfaces of the two second components.

[0007] Furthermore, the overlap area of ​​the field of view of adjacent cameras is less than 10% of the field of view of a single camera.

[0008] Furthermore, the camera mounting slot of the camera mount is equipped with an adjusting screw, which is connected to the camera.

[0009] Furthermore, the fixed support includes a vertical plate, a horizontal plate, and a tripod. A vertical plate is fixedly installed on one side of the vertical plate, and a tripod is fixedly installed on the other side. A camera mounting base is fixedly installed at the angle between the vertical plate and the horizontal plate.

[0010] This application also provides a drone, including a fuselage, a nose, and a seeker head cover. The nose is fixedly installed at the front end of the fuselage, and the seeker head cover is provided on the outer surface of the nose. The aforementioned visual seeker head device is fixedly installed in the seeker head cover.

[0011] Furthermore, the front end of the seeker head cover is streamlined, and the seeker head cover is integrally formed with the aerodynamic shape of the machine head.

[0012] Furthermore, the outer surface of the seeker head cover is provided with several transparent covers, each corresponding to a camera lens.

[0013] Furthermore, the seeker head housing is made of fiberglass or composite materials.

[0014] The beneficial effects of this utility model are: 1. The visual guidance head device of this utility model includes a fixed bracket, and a camera mounting base is fixedly installed on the lower surface of the fixed bracket. The outer surface of the camera mounting base is provided with a plurality of camera mounting slots along the longitudinal axis, and a camera is fixedly installed in each of the plurality of camera mounting slots. The fields of view of the plurality of cameras are spliced ​​together to form a continuous large field of view coverage area. This utility model forms a large field of view coverage similar to a "compound eye" by providing a plurality of camera mounting slots along the longitudinal axis on the outer surface of the camera mounting base, and fixing a camera in each of the plurality of camera mounting slots. It completely eliminates mechanical rotating parts and has the advantages of simple structure, low cost, high reliability and no delay. It is particularly suitable for low-cost and high-reliability folding wing UAV platforms.

[0015] 2. The camera mounting base of the visual guidance head device of this utility model includes a first component; the camera includes a first visible light camera; a plurality of first visible light cameras are arranged sequentially along the camera mounting slots on the outer surface of the first component; the plurality of first visible light cameras are arranged longitudinally along the longitudinal axis of the UAV, with the optical axis tilting downwards sequentially, together covering the main area below the front of the UAV head; the camera mounting base also includes a second component, with a second component arranged on both sides of the first component; the camera also includes a second visible light camera; the plurality of second visible light cameras are divided into two groups, and the two groups of second visible light cameras are respectively installed in the camera mounting slots on the outer surface of the two second components. The other four second visible light cameras are divided into left and right groups, symmetrically installed on both sides of the second component, for expanding the left and right lateral field of view.

[0016] 3. The field of view overlap area of ​​adjacent cameras in the vision guide head device of this utility model is less than 10% of the field of view of a single camera; thus, a larger visual range can be obtained using fewer cameras, saving costs.

[0017] 4. The camera mounting slot of the vision guide head device of this utility model is provided with an adjusting screw for connecting the camera; each camera mounting slot is provided with an angle adjustment mechanism for fine-tuning the camera's pitch and yaw angles.

[0018] 5. The front end of the seeker head cover of the UAV of this utility model is streamlined, and the seeker head cover is integrally formed with the aerodynamic shape of the nose; effectively reducing flight wind resistance.

[0019] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures pointed out in the description and the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A three-dimensional structural schematic diagram of the vision guide head device in an embodiment of this application is shown.

[0022] Figure 2 A frontal view of the vision guide head device in an embodiment of this application is shown.

[0023] Figure 3 A schematic diagram of the field of view of the vision guide head device in an embodiment of this application is shown.

[0024] Figure 4 A schematic diagram of the installation position of the seeker head cover of the UAV in an embodiment of this application is shown.

[0025] Explanation of reference numerals in the attached drawings: 1. Guide head cover; 2. Transparent cover plate; 3. Fixing bracket; 31. Vertical plate; 32. Horizontal plate; 33. Tripod; 4. Camera mounting base; 41. First component; 42. Second component; 5. Camera; 51. First visible light camera; 52. Second visible light camera. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Example 1 refer to Figure 1A visual guidance head device includes a fixed bracket 3, a camera mounting base 4 fixedly mounted on the lower surface of the fixed bracket 3, and a plurality of camera mounting slots arranged along the longitudinal axis on the outer surface of the camera mounting base 4, each slot housing a camera 5. The fields of view of the plurality of cameras 5 are stitched together to form a continuous large field of view coverage area. This invention utilizes the plurality of camera mounting slots arranged along the longitudinal axis on the outer surface of the camera mounting base 4, each slot housing a camera 5, to form a large field of view coverage similar to a "compound eye" (see reference). Figure 3 It completely eliminates mechanical rotating parts and has the advantages of simple structure, low cost, high reliability and no delay, making it particularly suitable for low-cost and high-reliability folding wing drone platforms.

[0028] Furthermore, the camera mounting base 4 includes a first component 41; the camera 5 includes a first visible light camera 51; and several first visible light cameras 51 are sequentially arranged along the camera mounting slots on the outer surface of the first component 41. Specifically, four first visible light cameras 51 are arranged longitudinally along the longitudinal axis of the UAV, with their optical axes tilting downwards sequentially, collectively covering the main area below and in front of the nose of the UAV.

[0029] In a specific embodiment, the camera mounting base 4 further includes a second component 42, with the second component 42 respectively disposed on both sides of the first component 41; the camera 5 also includes a second visible light camera 52; the plurality of second visible light cameras 52 are divided into two groups, and the two groups of second visible light cameras 52 are respectively installed in camera mounting slots on the outer surface of the two second components 42. The other four second visible light cameras 52 are divided into left and right groups, symmetrically installed on both sides of the second component 42, with their optical axes deflected to the left and right at a certain angle (e.g., 30°-55°) to expand the lateral field of view. The camera 5 of this invention adopts modular independent installation, and can be disassembled, replaced, or upgraded individually, making maintenance convenient.

[0030] Furthermore, the overlap area of ​​the field of view of adjacent cameras 5 is less than 10% of the monocular field of view of camera 5. This allows for a larger visual range to be obtained using fewer cameras 5, thus saving costs.

[0031] In the above embodiments, another optional implementation is that the camera mounting slot of the camera mounting base 4 is provided with an adjusting screw, which is used to connect the camera 5. Specifically, each camera mounting slot is provided with an angle adjustment mechanism for fine-tuning the camera's pitch and yaw angles. The angle adjustment mechanism is an adjusting screw, and the angle of the camera 5 is adjusted by rotating the adjusting screw.

[0032] refer to Figure 1The mounting bracket 3 includes a vertical plate 31, a horizontal plate 32, and a tripod 33. The vertical plate 31 is fixedly mounted on one side, and the tripod 33 is fixedly mounted on the other side. A camera mount 4 is fixedly mounted at the angle between the vertical plate 31 and the horizontal plate 32. Specifically, the mounting bracket 3 and the camera mount 4 are made of composite materials or lightweight metal materials, thereby improving strength and reducing weight.

[0033] Example 2 refer to Figure 2 A vision seeker device includes: a seeker housing 1, a mounting bracket 3 mounted on the seeker housing 1, and at least four cameras 5 mounted on the mounting bracket 3. The mounting bracket 3 is made of composite material or lightweight metal; camera mounting bases 4 are fixed to specific positions on the mounting bracket 3 by locking screws. Each camera mounting base 4 is designed with elongated holes and adjusting screws for fine-tuning the pitch and yaw angles of its mounted cameras 5, ensuring that the fields of view of all cameras can be accurately stitched together as designed.

[0034] Furthermore, at least four cameras 5 are fixedly mounted on the camera mount 4 at specific angles, with some cameras 5 mounted on the curve of the same plane; their optical lenses face forward of the seeker head housing 1; the fields of view of all cameras are stitched together in the space in front of the UAV to form a continuous, large field of view coverage area without mechanical movement. The front end of the seeker head housing 1 has a streamlined design, and the seeker head housing 1 is smoothly connected to the aerodynamic shape of the UAV nose to reduce flight drag.

[0035] Preferably, the camera mounting base 4 is fixed to the fixing bracket 3 by locking screws. The camera mounting base 4 includes a first component 41 and two second components 42. The first component 41 is fixedly mounted on the side surface of the vertical plate 31 and the lower surface of the horizontal plate 32 by bolts, which improves the connection strength. The second components 42 are symmetrically arranged on both sides of the first component 41, and the angle between the second components 42 and the first component 41 is 30°-45°. Both second components 42 are positioned facing forward of the drone (e.g., ...). Figure 1 (As shown).

[0036] refer to Figure 2 At least eight cameras 5 are used in the layout; four first visible light cameras 51 are arranged longitudinally along the first component 41 with their optical axes tilted downwards, mainly responsible for the core areas in the forward and downward directions; the other four second visible light cameras 52 are divided into two groups and symmetrically distributed on the outer surfaces of the two second components 42, mainly responsible for the left and right lateral fields of view.

[0037] like Figure 3 As shown, the fields of view (FOV) of all cameras 5 are stitched together in the space in front of the drone to form a continuous monitoring area with a horizontal field of view of nearly 180° and a vertical field of view of more than 160°, just like "compound eyes", which can achieve full coverage without any mechanical rotation.

[0038] Example 3 refer to Figure 4 A drone includes a fuselage, a nose section, and a seeker head housing 1. The nose section is fixedly mounted on the front end of the fuselage, and the seeker head housing 1 is disposed on the outer surface of the nose section. A visual seeker head device according to Embodiments 1 and 2 is fixedly mounted in the seeker head housing 1. The multi-camera fixed layout is used to replace the compound-eye seeker head of the traditional optoelectronic pod, thereby reducing the cost of the drone.

[0039] Furthermore, the front end of the seeker head housing 1 is streamlined, and the seeker head housing 1 is integrally formed with the aerodynamic shape of the UAV nose. This effectively reduces wind resistance during flight. Several transparent covers 2 are provided on the outer surface of the seeker head housing 1, and each of the transparent covers 2 corresponds to a lens of the camera 5. This thus protects the camera 5.

[0040] Furthermore, the seeker head housing 1 is made of fiberglass or composite materials. The overall structure is compact, using lightweight materials, and the total weight is far lower than that of traditional optoelectronic pods; thus achieving lightweighting and aerodynamic optimization of the UAV.

[0041] like Figure 4 As shown, this utility model provides a fixed visual seeker device for a folding-wing UAV, mainly comprising a seeker housing 1 and a fixed bracket 3 fixed inside the seeker housing 1. The seeker housing 1 is made of fiberglass or composite material, and its shape is integrally formed with the aerodynamic shape of the UAV's nose, with a smooth and streamlined front end to effectively reduce flight drag. The seeker housing 1 has eight transparent covers 2, which are made of optical glass or high-transparency acrylic.

[0042] This utility model has the following advantages: 1. By completely eliminating the expensive precision mechanical gimbal, servo motors, and stabilization mechanisms, and using multiple fixed industrial cameras, manufacturing costs and maintenance complexity are significantly reduced.

[0043] This utility model adopts a visual guidance head device without any mechanical moving parts, which fundamentally avoids mechanical failures caused by vibration and impact, and is particularly suitable for the harsh working conditions during the launch and recovery of folding wing UAVs.

[0044] The three utility models employ a visual guidance head device, which eliminates the need for mechanical rotation when switching fields of view. All camera images are acquired synchronously, enabling instantaneous perception and response to targets across the entire area without mechanical delay.

[0045] Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A visual guidance head device, characterized in that, Includes a fixed bracket (3), on the lower surface of the fixed bracket (3) a camera mounting base (4) is fixedly installed, and the outer surface of the camera mounting base (4) is provided with several camera mounting slots along the longitudinal axis, and a camera (5) is fixedly installed in each of the camera mounting slots; the fields of view of several cameras (5) are spliced ​​together to form a continuous large field of view coverage area.

2. The visual guidance head device according to claim 1, characterized in that, The camera mounting base (4) includes a first component (41); the camera (5) includes a first visible light camera (51); a plurality of first visible light cameras (51) are arranged sequentially along the camera mounting slot on the outer surface of the first component (41).

3. The visual guidance head device according to claim 2, characterized in that, The camera mounting base (4) further includes a second component (42), and the second component (42) is respectively provided on both sides of the first component (41); the camera (5) further includes a second visible light camera (52); the plurality of second visible light cameras (52) are divided into two groups, and the two groups of second visible light cameras (52) are respectively installed in the camera mounting slots on the outer surface of the two second components (42).

4. A visual guidance head device according to any one of claims 1-3, characterized in that, The overlapping area of ​​the field of view of adjacent cameras (5) is less than 10% of the monocular field of view of camera (5).

5. A visual guidance head device according to claim 1, characterized in that, The camera mounting base (4) has an adjusting screw in its camera mounting slot, and the adjusting screw is connected to the camera (5).

6. A visual guidance head device according to claim 1, characterized in that, The fixed bracket (3) includes a vertical plate (31), a horizontal plate (32) and a tripod (33). The vertical plate (31) is fixedly installed on one side and the tripod (33) is fixedly installed on the other side. A camera mounting base (4) is fixedly installed at the angle between the vertical plate (31) and the horizontal plate (32).

7. A drone, characterized in that, The device includes a body, a head and a guide head cover (1). The head is fixedly installed at the front end of the body. The guide head cover (1) is provided on the outer surface of the head. The vision guide head device according to any one of claims 1-6 is fixedly installed in the guide head cover (1).

8. The unmanned aerial vehicle according to claim 7, characterized in that, The front end of the guide head cover (1) is streamlined, and the guide head cover (1) is integrally formed with the aerodynamic shape of the machine head.

9. A drone according to claim 8, characterized in that, The outer surface of the guide head cover (1) is provided with several transparent cover plates (2), and the several transparent cover plates (2) correspond one-to-one with the lens of the camera (5).

10. A drone according to any one of claims 7-9, characterized in that, The guide head cover (1) is made of glass fiber or composite material.

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