CN106405565A - Unmanned aerial vehicle barrier-avoiding/height-determining system - Google Patents
Unmanned aerial vehicle barrier-avoiding/height-determining system Download PDFInfo
- Publication number
- CN106405565A CN106405565A CN201610715310.0A CN201610715310A CN106405565A CN 106405565 A CN106405565 A CN 106405565A CN 201610715310 A CN201610715310 A CN 201610715310A CN 106405565 A CN106405565 A CN 106405565A
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- CN
- China
- Prior art keywords
- lens
- angle
- receiving
- infrared
- photodiode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an unmanned aerial vehicle barrier-avoiding/height-determining system. The system includes a TOF processing chip. An infrared emitter is connected to an emission driver of the TOF processing chip. An infrared receiver is connected to a receiving processing circuit of the TOF processing chip. An emission collimating lens is disposed in the emission direction of the infrared emitter. A receiving focusing lens is disposed in the receiving direction of the infrared receiver.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, particularly to a kind of unmanned plane avoidance/fixed high system.
Background technology
The document of Publication No. CN105182348A, discloses a kind of positioning and the tracking in real time of unmanned plane based on ultrasonic wave
Device and application technology, including a ultrasonic transmitter and a ultrasonic receiver；Ultrasonic transmitter includes one block of electricity
Road plate one and at least one ultrasonic wave emitting head, at least one ultrasonic wave emitting head is arranged in parallel the same position in circuit board one
On；Ultrasonic receiver includes one piece of circuit board two and at least three ultrasonic waves receive first, at least three ultrasonic waves reception heads
One parallel connection is arranged on the diverse location of circuit board two, and the reception of above-mentioned ultrasonic wave is first all not on the same line.
Existing ranging technology, except ultrasonic wave, is further divided into binocular vision, radar and TOF.Binocular vision technology door
Sill are high, low-response, have more situation detect less than；The blind area of ultrasonic wave is larger, and response speed, reliability are undesirable；Miniature thunder
Reach that detection range is near, high cost, Batch Production Technology are more complicated.
And the utilization that TOF (Time Of Flight, flight time) finds range, that is, sensor send modulated near infrared light
(or ruddiness), meets object back reflection, and sensor passes through to calculate light transmitting and reflection interval difference or phase difference, to convert and to be taken
The distance of scenery.The transmitting of LED and photodiode that existing infrared TOF range finding product mostly is straw hat top receives combination, does not have
Supporting optical design, operating distance and environment resistant light ability is had all to have much room for improvement.
ISL29501 is a signal processing integrated circuit chip based on the flight time (TOF).When it is with external transmitting
Pipe and recipient can realize low cost, low energy consumption and long visual range sensing when used along.This chip has built-in current
Digital to analog converter (DAC) is driving external LED or laser tube.Modulation light sends from transmitting tube and is connect by photoelectric tube after target reflection
It is subject to.Return signal is converted into the electric current that can be used for signal transacting by ISL29501 by photoelectric tube.Equipped with data signal on chip
Processor is used for calculating the flight time being directly proportional to object distance, and is separately furnished with I2C Inter-Integrated Circuit bus interface
Configured and controlled.Meanwhile, external photoelectric tube and adopter can allow user designed system is carried out energy consumption, performance and
Optimization in the measurement distance demand different to meet user.Cellphone subscriber's application, inductive proximity can be had to pass with application
Sense, energy conservation, home automation and automobile application.
Content of the invention
The present invention provides a kind of unmanned plane avoidance/fixed high system, and during solving existing employing TOF range finding, measurement distance is not
Far, and the fixed high inaccurate problem of unmanned plane.
A kind of unmanned plane avoidance/fixed high system, including TOF process chip, has infrared transmitter to connect TOF process chip
Transmitting driver, infrared remote receiver connects the receiving processing circuit of TOF process chip, sets in the direction of the launch of infrared transmitter
It is equipped with transmitting collimation lens, set up collectiong focusing lens in the recipient of infrared remote receiver.
Behind the front surface plane refraction face of described transmitting collimation lens and collectiong focusing lens and lens, surface is freely bent
Axisymmetric shape centered on the plane of refraction of face,
(lens diameter D/ focal length of lens f) is more than 2 times of angle of divergence tangent value to transmitting collimation lens relative aperture, after collimation
The angle of divergence be less than ± 2 °, lens material be secondary lens common used material PMMA, refractive index be n=1.4935.
Infrared transmitter and the photodiode of infrared remote receiver selection, receiving angle is more than or equal to the angle of divergence, reception area
Domain is more than or equal to emitting area, the hot spot energy perfect imaging in target face on the photodiode, and the interference outside receiving area
Luminous energy is shielded well,
, in the range of ± 12 °～± 25 °, the relative aperture of lens is in 0.8～1.2 model for the photodiode angle of divergence selecting
In enclosing,
The receiving area of selected photodiode is in 0.5～2.5mm2In the range of, corresponding receiving lens focal length is 10
It is ensured that receiving angle is more than ± 2 ° in the range of～15mm.
The present invention is found range using a kind of TOF (Time of Flight) infrared electro ranging technology, red including one
Outside line transmitter and an infrared remote receiver：Infrared transmitter includes an infrared LED and emission driving circuit and transmitting is accurate
Straight lens；Infrared remote receiver includes an infrared receiving tube and receipt signal process circuit and receives energy centralization lens.
Beneficial effects of the present invention include：
1. the radiant energy flux of photodiode significantly increases.
With the system adding after lens before contrast plus lens, the radiant energy flux of photodiode increases to 19uW by 5uW.Target is put down
The Illumination Distribution in face shows, the uniformity of hot spot is fine.
2. the present invention selects non-spherical lens+ISL29501 infrared distance measurement scheme, reduces to transmitting tube and reception pipe
Require.
No optical system can be higher to transmitting and reception pipe requirement, and the transmitting tube angle of divergence is little and luminous power is big, receives
Area is sufficiently large, guarantee effective detection range.Capacity usage ratio can be improved by optical system, substantially reduce to transmitting
The requirements of type selecting of reception pipe.
3. properties of product are greatly improved
After the receiving plane of the transmitting tube angle of divergence and power, reception pipe requires to reduce, transmitting tube performance can be improved, real
Border measuring distance increases to 15m by original 10m.
4. reduces cost.
The present invention only need to increase lens cost, but greatly reduces transmitting tube and reception pipe cost, and simplifies periphery electricity
Road.
Brief description
The system block diagram of Fig. 1 present invention
Fig. 2 is the side view of lens according to the present invention.
Fig. 3 is the stereogram of lens according to the present invention.
Fig. 4 is photodiode ray schematic diagram of the present invention.
Fig. 5 is photodiode x-ray angle design sketch of the present invention.
Specific embodiment
As shown in figure 1, technology of the present invention realizes composition having：Infrared transmitter, transmitting collimation lens, infrared receiver
Device, collectiong focusing lens, TOF electro-optical distance measurement special chip, main control chip and interface circuit composition.
The power module of circuit system, by 5V input voltage voltage stabilizing to 3.3V, is master control and range finder module offer power supply.TOF
Range finder module uses Intersil brand ISL29501TOF dedicated processes chip and infrared transmitter, receiver, realizes infrared light
Signal transmitting drives and infrared signal receives enhanced processing and enters row distance calculating.Main control module is used for controlling TOF to survey
Carry out distance test away from module, gathered data simultaneously carries out data processing, control output, communicate with host computer, debugging interface is used
In debugging and download main control module program.Interface circuit is used for connecting external power source, and provides surge protection.
As shown in Fig. 2,3 and 4, in order to improve optics utilization rate, during design, ensure that lens relative aperture is more than 0.8, by LED
Light source mounting plane is placed in the focal point of lens, adjusts surface free form surface after lens, makes lens to 0 °～30 ° of light all
There is good collimating effect.
As shown in figure 5, collimation before distribution curve flux as shown in the left diagram, energy concentrates in ± 40 °.After collimation, distribution curve flux is such as
Shown in right figure, energy concentrates in ± 10 °, and the angle of divergence is in ± 2 °.
The present invention needs to select the photodiode of suitable dimension, and receiving angle is more than or equal to the angle of divergence so that reception area
Domain is more than or equal to emitting area, the hot spot energy perfect imaging in target face on the photodiode, and the interference outside receiving area
Luminous energy is shielded well.
Electro-optical distance measurement special chip of the present invention adopts the special place of american semiconductor company Intersil brand ISL29501TOF
Reason chip, realizes infrared signal transmitting driving and infrared signal receives enhanced processing and enters row distance calculating.Infrared
Transmitter increases aspherical LED collimation lens, realizes the convergence of transmitting LED energy, reduces the angle of divergence of emitted energy, increases light
Signal transmission distance；Infrared remote receiver increases aspherical reception energy centralization lens, collects for realizing optical signal, and focuses on red
Outer reception pipe, improves optical signal utilization rate, greatly strengthen detecting distance.
This technical essential when implementing is as follows.
1. infrared transmitter described in is high-speed response LED, realizes 4.5MHz pulsed optical signals needed for TOF electro-optical distance measurement and sends out
Penetrate；
2. infrared remote receiver described in is high-speed response photodiode, realizes TOF electro-optical distance measurement required transmitting light pulse letter
Number detect；
3. described in, transmitting collimation lens is aspherical LED collimation lens, realizes the convergence of transmitting LED energy, reduces transmitting
The angle of divergence of energy, increases optical signal transmission distance；
4. collectiong focusing lens described in are non-spherical lens, collect for realizing optical signal, and focus on infrared receiving tube, carry
High optical signal utilization rate；
5. TOF electro-optical distance measurement special chip described in adopts american semiconductor company Intersil brand ISL29501TOF special
Use process chip.Realize infrared signal transmitting driving and infrared signal receives enhanced processing and enters row distance calculating.
6. main control chip described in adopts Freescale Semiconductor brand MKL03ARM processor, this processor
It is using ARM M0+ kernel, maximum support 48MHz processing speed, can be led in real time with TOF electro-optical distance measurement special chip
Letter, and by range finding special chip returning result processed after flight control system is sent to by output interface.Therefore, described master
Control chip plays a key effect in the product.
7. interface circuit described in adopts UART communication format, and highest supports 115200bps data transmission rate.Ensure that survey
The promptness between flight control system for the test result.
The present invention includes for realizing unmanned plane avoidance advantage：
1. the little measurement distance of described small product size is big, and volume only has the 50% of ultrasonic sensor, to unmanned plane small size
Application is very applicable, and measurement distance can reach 18 meters.
2. high precision, described product can realize 1% precision measure in 0.1 meter～5 meters；
3. measuring speed is fast, and described product is capable of the output of 100Hz valid data, finds range far above ultrasonic wave class and senses
Device, is easy to flight control system and adjusts flight attitude in time.When unmanned plane is in high-speed motion, obstacle can be quickly detected
Thing, makes unmanned plane stop by flying control instruction, it is to avoid to cause unmanned plane aircraft bombing, and provide operator's information.
4. the interference of the signal such as completely not vibrated, sound of measurement result, greatly improves the stability of product.Measurement result
Do not affected by environment light condition, no matter the scene such as day and night, summer, snowfield, desert can steady operation.
5. product temperature good stability described in, product temperature adaptability is from -15 DEG C～55 DEG C.Disclosure satisfy that most of nothing
Man-machine application scenarios demand.
6. low cost.Compared to laser ranging product, this product adopts infrared transmitter, can substantially reduce product
This.
7. described in, product induction area is little, and product is capable of 3 ° of transmission signals and points to angle.0.7 can be formed at 15 meters
Rice measurement coverage.Substantially disclosure satisfy that SUAV application demand.
8. safe.Compared to the harm to human eye for the laser class distance measuring sensor, infrared electro range finding product is to human body
Non-hazardous, are fully able to be applied to consumer level unmanned plane.
9. the little measurement distance of small product size described in is big, and under the conditions of measurement distance, volume only has ultrasonic sensor
50%.Very applicable to unmanned plane low volume applications, and can effectively reduce unmanned plane own wt.
Claims (3)
1. a kind of unmanned plane avoidance/fixed high system, it is characterised in that including TOF process chip, has infrared transmitter to connect TOF
The transmitting driver of process chip, infrared remote receiver connects the receiving processing circuit of TOF process chip, sending out in infrared transmitter
Penetrate and transmitting collimation lens is provided with direction, set up collectiong focusing lens in the recipient of infrared remote receiver.
2. unmanned plane avoidance as claimed in claim 1/fixed high system is it is characterised in that described transmitting collimation lens and connecing
Axisymmetric shape centered on free form surface plane of refraction in surface behind the front surface plane refraction face of pinching focus lens and lens,
(lens diameter D/ focal length of lens f) is more than 2 times of angle of divergence tangent value to transmitting collimation lens relative aperture, sending out after collimation
Scattered angle is less than ± 2 °, and lens material is secondary lens common used material PMMA, and refractive index is n=1.4935.
3. unmanned plane avoidance as claimed in claim 1/fixed high system is it is characterised in that infrared transmitter and infrared remote receiver
From photodiode, receiving angle be more than or equal to the angle of divergence, receiving area be more than or equal to emitting area, the light in target face
On the photodiode, and the interference luminous energy outside receiving area is shielded spot energy perfect imaging well,
, in the range of ± 12 °～± 25 °, the relative aperture of lens is in 0.8～1.2 scope for the photodiode angle of divergence selecting
It is interior,
The receiving area of selected photodiode is in 0.5～2.5mm2In the range of, corresponding receiving lens focal length is in 10～15mm
In the range of it is ensured that receiving angle be more than ± 2 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610715310.0A CN106405565A (en) | 2016-08-24 | 2016-08-24 | Unmanned aerial vehicle barrier-avoiding/height-determining system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610715310.0A CN106405565A (en) | 2016-08-24 | 2016-08-24 | Unmanned aerial vehicle barrier-avoiding/height-determining system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106405565A true CN106405565A (en) | 2017-02-15 |
Family
ID=58005135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610715310.0A Pending CN106405565A (en) | 2016-08-24 | 2016-08-24 | Unmanned aerial vehicle barrier-avoiding/height-determining system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020846A (en) * | 2018-01-15 | 2018-05-11 | 上海兰宝传感科技股份有限公司 | A kind of the sensor obstacle avoidance system and method in detectable barrier orientation |
| CN109543541A (en) * | 2018-10-23 | 2019-03-29 | 北京的卢深视科技有限公司 | A kind of biopsy method and device |
| CN109946678A (en) * | 2019-03-15 | 2019-06-28 | 深圳市速腾聚创科技有限公司 | Laser radar emission system and method |
| WO2022155917A1 (en) * | 2021-01-22 | 2022-07-28 | 欧菲光集团股份有限公司 | Transmitting module, imaging module and electronic device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020846A (en) * | 2018-01-15 | 2018-05-11 | 上海兰宝传感科技股份有限公司 | A kind of the sensor obstacle avoidance system and method in detectable barrier orientation |
| CN109543541A (en) * | 2018-10-23 | 2019-03-29 | 北京的卢深视科技有限公司 | A kind of biopsy method and device |
| CN109543541B (en) * | 2018-10-23 | 2024-03-08 | 合肥的卢深视科技有限公司 | Living body detection method and device |
| CN109946678A (en) * | 2019-03-15 | 2019-06-28 | 深圳市速腾聚创科技有限公司 | Laser radar emission system and method |
| WO2022155917A1 (en) * | 2021-01-22 | 2022-07-28 | 欧菲光集团股份有限公司 | Transmitting module, imaging module and electronic device |
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Application publication date: 20170215 |