CN205692054U - A kind of wireless line walking machine of head movement monitoring - Google Patents

Abstract

The utility model discloses the wireless line walking machine of a kind of head movement monitoring, including wireless line walking machine, the one or nine axle IMU sensor, first communication module, photographic head, The Cloud Terrace, head movement monitor.This utility model solves the problem of operating difficulties during unmanned plane of driving, simulate the Visual Observations Observations custom of human eye, utilize the two or nine axle IMU sensor on head movement detector and the one or nine axle IMU sensor on wireless line walking machine, control wireless line walking machine to follow head movement detector and move, strengthen Consumer's Experience.The means of economic low cost are improved the operating process of unmanned plane, Optimization Work efficiency by this utility model simple in construction.

Description

A wireless line inspection machine for head movement monitoring

technical field

The utility model belongs to the technical field of electric equipment monitoring tools, in particular to a wireless line inspection machine for head movement monitoring.

Background technique

At present, UAVs have been widely used in the monitoring of high-altitude power equipment, but two staff members cooperate with each other during operation, one staff is responsible for driving the wireless line patrol machine, and the other staff is responsible for watching the camera on the wireless line patrol machine Video shot for inspection of high-altitude cables. However, during the operation, when a certain part needs to be observed in detail, the tacit cooperation between the two staff will seriously affect the inspection efficiency. The staff responsible for driving the wireless line inspection machine can only observe the wireless inspection machine from a distance The working status and position of the line machine cannot be driven to a suitable position, and the staff observing the video cannot perform line inspections while driving the wireless line machine.

Contents of the invention

The technical problem to be solved by the utility model is to provide a wireless line patrol machine for head movement monitoring, which can realize stable driving of the wireless line patrol machine and observation of line conditions with only one staff member.

The utility model solves the above-mentioned technical problems through the following technical solutions,

A wireless line patrol machine for head motion monitoring, including a wireless line patrol machine, a first nine-axis IMU sensor, a first communication module, a camera, a pan/tilt, and a head motion monitor,

The wireless line patrol machine is used as a flight platform, including an attitude adjustment module and a power module,

The first communication module receives the control instruction sent by the head movement monitor;

The attitude adjustment module sends an attitude adjustment signal according to the control instruction;

The power module controls the flight attitude of the wireless line patrol machine according to the attitude adjustment signal;

It is characterized in that,

The first nine-axis IMU sensor and the first communication module are installed on the wireless line patrol machine. The first nine-axis IMU sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis geomagnetometer, and outputs the current position and starting position in real time. The change in the three-dimensional space between the starting positions is obtained to obtain the flight position parameters of the wireless line patrol machine; and sent to the head motion monitor through the first communication module;

Described camera is installed on the cloud platform, obtains image video; And send to the head movement monitor through the first communication module;

The pan-tilt is installed at the bottom of the wireless line patrol machine, and controls the camera to rotate up, down, left and right;

The head motion monitor includes a sports helmet, and a second nine-axis IMU sensor, a second communication module, a processing chip and a display module installed on the sports helmet,

The second nine-axis IMU sensor detects the motion parameters of the sports helmet, and sends the motion parameters to the processing chip;

The processing chip, after receiving the motion parameters, sends the motion parameters to the attitude adjustment module through the second communication module and the first communication module;

The attitude adjustment module performs an attitude adjustment operation according to motion parameters;

The processing chip receives and compares the flight position parameter and the motion parameter to obtain a difference, and sends the difference to the attitude adjustment module through the second communication module and the first communication module;

The attitude adjustment module performs an attitude adjustment operation according to the difference;

The display module receives images and videos through the first communication module and the second communication module.

As an optimization, the wireless line patrol machine is a DJI Phantom 3 integrated aerial photography drone;

As an optimization, the first nine-axis IMU sensor and the second nine-axis IMU sensor are GY-85 nine-axis IMU sensors;

As an optimization, the second communication module and the remote control antenna signal booster, the remote control antenna signal booster amplifies the signal sent by the second communication module;

As an optimization, the processing chip includes an Arduino Nano chip and a comparator;

The Arduino Nano chip converts the flight position parameter and the motion parameter into three channel values of the X axis, the Y axis, and the Z axis, namely the PMM signal value;

The comparison compares the flight position parameter with the PMM signal value of the motion parameter to obtain a PMM signal difference;

As an optimization, it also includes a remote control, the remote control sends a pan-tilt control signal to the pan-tilt through the second communication module and the first communication module, and the pan-tilt rotates up, down, left, and right according to the pan-tilt control signal;

As an optimization, the remote control sends a movement control signal to the wireless line patrol machine through the second communication module and the first communication module, and the wireless line patrol machine performs fast flight up, down, left and right according to the movement control signal;

As an optimization, the display module is a head-mounted display matched with a sports helmet.

As an optimization, the camera is a DS-GJZC8612TV binocular camera to display a stereoscopic VR image.

The utility model solves the problem of difficult operation in the process of driving the drone, simulates the visual observation habit of the human eye, and utilizes the second nine-axis IMU sensor on the head motion detector and the first nine-axis IMU on the wireless line patrol machine The sensor controls the wireless line patrol machine to follow the movement of the head motion detector, which enhances the user experience. The utility model has a simple structure, improves the operation process of the unmanned aerial vehicle by economical and low-cost means, and optimizes the work efficiency.

Description of drawings

Fig. 1 is a structural schematic diagram of an embodiment of the utility model.

detailed description

Below in conjunction with accompanying drawing and embodiment, further set forth the content of the utility model in detail.

A wireless line inspection machine for head movement monitoring, including a wireless line inspection machine, a first nine-axis IMU sensor, a first communication module, a camera, a pan/tilt, a head movement monitor, a remote control,

The wireless line patrol machine is used as a flight platform, including an attitude adjustment module and a power module, and the wireless line patrol machine is a DJI Phantom 3 integrated aerial photography drone;

The first communication module receives the control instruction sent by the head movement monitor;

The attitude adjustment module sends an attitude adjustment signal according to a control instruction; the control instruction is a difference between a motion parameter and a PMM signal;

The power module controls the flight attitude of the wireless line patrol machine according to the attitude adjustment signal;

The first nine-axis IMU sensor and the first communication module are installed on the wireless line patrol machine. The first nine-axis IMU sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis geomagnetometer, and outputs the current position and starting position in real time. The change in the three-dimensional space between the starting positions is obtained to obtain the flight position parameters of the wireless line patrol machine; and sent to the head motion monitor through the first communication module;

Described camera is installed on the cloud platform, obtains image video; And sends to head movement monitor by first communication module; Described camera is DS-GJZC8612TV binocular camera, forms stereoscopic VR image;

The pan-tilt is installed at the bottom of the wireless line patrol machine, and controls the camera to rotate up, down, left and right;

The head motion monitor includes a sports helmet, and a second nine-axis IMU sensor, a second communication module, a processing chip and a display module installed on the sports helmet,

The second nine-axis IMU sensor detects the motion parameters of the sports helmet, and sends the motion parameters to the processing chip;

The first nine-axis IMU sensor and the second nine-axis IMU sensor are GY-85 nine-axis IMU sensors;

The second communication module is wirelessly connected to the first communication module, and sends motion parameters and PMM signal difference to the attitude adjustment module of the wireless line patrol machine;

The second communication module and the remote control antenna signal booster, the remote control antenna signal booster amplifies the signal sent by the second communication module;

The processing chip, after receiving the motion parameters, sends the motion parameters to the attitude adjustment module through the second communication module and the first communication module; the processing chip includes an Arduino Nano chip and a comparator;

The Arduino Nano chip converts the flight position parameter and the motion parameter into three channel values of the X axis, the Y axis, and the Z axis, namely the PMM signal value;

The comparison compares the flight position parameter with the PMM signal value of the motion parameter to obtain a PMM signal difference;

The processing chip receives and compares the flight position parameter and the motion parameter to obtain a difference, and sends the difference to the attitude adjustment module through the second communication module and the first communication module;

The attitude adjustment module performs an attitude adjustment operation according to the difference;

The display module receives image video through the first communication module and the second communication module, and the display module is a helmet-mounted display matched with a sports helmet;

The remote control sends a pan-tilt control signal to the pan-tilt through the second communication module and the first communication module, and the pan-tilt rotates up, down, left, and right according to the pan-tilt control signal;

The remote control sends a movement control signal to the wireless line patrol machine through the second communication module and the first communication module, and the wireless line patrol machine performs fast flight up, down, left and right according to the movement control signal.

When in use, after wearing the head movement monitor, the operator controls the wireless line patrol machine to fly upward according to the head up; controls the wireless line patrol machine to fly downward according to the head down; The operator walks and controls the wireless line patrol machine to fly forward; it can also control the wireless line patrol machine to fly up, down, left and right quickly according to the movement control signal through remote control. At the same time, the operator watches the video taken by the wireless line patrol machine in real time through the head-mounted display on the head movement monitor. When the wireless line patrol machine reaches the equipment that needs to be detected, take the head rotation or slow movement to control the wireless line patrol machine to adjust the attitude at close range, so as to observe the equipment carefully.

When the existing aircraft is flying, it is necessary to use the joystick to control the flight direction, and at the same time, another joystick is used to control the steering of the pan-tilt to control the steering of the field of view. However, it is inconvenient for the aircraft controller and the gimbal controller to coordinate and deal with each other's situation, especially when shooting in a narrow space. The utility model improves the common display, chooses and installs the second nine-axis IMU sensor helmet display, uses the natural rotation of the head to control the steering of the airborne camera, achieves synchronization with the human's field of vision, and gives the user a perfect simulation picture.

The utility model greatly improves the drawbacks of the existing unmanned aerial vehicle that cannot adjust the viewing angle at will, effectively simplifies the operation of the line patrol unmanned aerial vehicle, and the operator can realize the control of the line patrol drone with the first viewing angle, further Enhanced the practicability of line patrol drones.

Claims (9)

1. A wireless line inspection machine for head movement monitoring, comprising a wireless line inspection machine, a first nine-axis IMU sensor, a first communication module, a camera, a cloud platform, and a head movement monitor, The wireless line patrol machine is used as a flight platform, including an attitude adjustment module and a power module, The first communication module receives the control instruction sent by the head movement monitor; The attitude adjustment module sends an attitude adjustment signal according to the control instruction; The power module controls the flight attitude of the wireless line patrol machine according to the attitude adjustment signal; It is characterized in that, The first nine-axis IMU sensor and the first communication module are installed on the wireless line patrol machine. The first nine-axis IMU sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis geomagnetometer, and outputs the current position and starting position in real time. The change in the three-dimensional space between the starting positions is obtained to obtain the flight position parameters of the wireless line patrol machine; and sent to the head motion monitor through the first communication module; Described camera is installed on the cloud platform, obtains image video; And send to the head movement monitor through the first communication module; The pan-tilt is installed at the bottom of the wireless line patrol machine, and controls the camera to rotate up, down, left and right; The head motion monitor includes a sports helmet, and a second nine-axis IMU sensor, a second communication module, a processing chip and a display module installed on the sports helmet, The second nine-axis IMU sensor detects the motion parameters of the sports helmet, and sends the motion parameters to the processing chip; The processing chip, after receiving the motion parameters, sends the motion parameters to the attitude adjustment module through the second communication module and the first communication module; The attitude adjustment module performs an attitude adjustment operation according to motion parameters; The processing chip receives and compares the flight position parameter and the motion parameter to obtain a difference, and sends the difference to the attitude adjustment module through the second communication module and the first communication module; The attitude adjustment module performs an attitude adjustment operation according to the difference; The display module receives images and videos through the first communication module and the second communication module. 2. The wireless line inspection machine for head movement monitoring according to claim 1, wherein the wireless line inspection machine is a DJI Phantom 3 integrated aerial photography UAV. 3. The wireless line patrol machine for head movement monitoring according to claim 1, wherein the first nine-axis IMU sensor and the second nine-axis IMU sensor are GY-85 nine-axis IMU sensors. 4. The wireless line patrol machine for head movement monitoring according to claim 1, characterized in that, the second communication module and the remote control antenna signal booster, and the remote control antenna signal booster amplifies the signal sent by the second communication module . 5. the wireless line patrol machine of head motion monitoring as claimed in claim 1, is characterized in that, described processing chip comprises Arduino Nano chip and comparator; The Arduino Nano chip converts the flight position parameter and the motion parameter into three channel values of the X axis, the Y axis, and the Z axis, namely the PMM signal value; The comparison compares the flight position parameter with the PMM signal value of the motion parameter to obtain a PMM signal difference. 6. The wireless line patrol machine for head movement monitoring according to claim 1, further comprising a remote control, the remote control sends a pan-tilt control signal to the pan-tilt through the second communication module and the first communication module, and the The gimbal rotates up, down, left and right according to the gimbal control signal. 7. The wireless line patrol machine for head movement monitoring according to claim 6, wherein the remote control sends a mobile control signal to the wireless line patrol machine through the second communication module and the first communication module, and the wireless line patrol The aircraft flies up, down, left and right quickly according to the movement control signal. 8. The wireless line patrol machine for head movement monitoring according to claim 1, wherein the display module is a helmet-mounted display matched with a sports helmet. 9. The wireless line patrol machine for head movement monitoring according to claim 1, wherein the camera is a DS-GJZC8612TV binocular camera, which forms a stereoscopic VR image.