CN105173095A - Barrier avoiding system of helicopter - Google Patents
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Abstract
The invention proposes a barrier avoiding system of a helicopter. The system comprises a millimeter wave radar mounted on the helicopter, an industrial personal computer and an infrared sensor, wherein the millimeter wave radar is used for scanning in a set scanning area to obtain distance measuring information of a ground feature and sending to the industrial personal computer; the industrial personal computer is used for coding and calculating an azimuth angle of the ground feature according to the position of a motor of the helicopter and controlling the rotation of the infrared sensor according to the azimuth angle; and the infrared sensor is used for obtaining infrared video information of the ground feature and uploading to the industrial personal computer. In the operation process of the helicopter, the industrial personal computer writes the distance measuring information of the ground feature into the infrared video information of the ground feature to integrate a distance of the ground feature with an infrared video to generated barrier identifying information for barrier avoidance of the helicopter.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to an obstacle avoidance system of a helicopter.
Background
Recently, obstacle detection and helicopter obstacle avoidance studies are being widely conducted. Some researches use a wide-angle camera to acquire images with high resolution and wide-angle range to acquire optical flow information of obstacles, and efficiently sense the obstacles through analysis of an optical flow field. In addition, a study has also proposed that a monocular vision technology is used for realizing obstacle avoidance of the helicopter, but the technology needs to obtain the absolute distance from the obstacle under the assistance of a high-precision positioning and attitude-determining sensor, and the small camera motion error can bring a large distance calculation error according to the pinhole imaging principle used for monocular vision ranging. Some researches propose that the obstacle avoidance of the aircraft is realized based on a single video camera, the realization principle is that the detection and the registration of the feature points of the obstacles on the multi-frame video data are utilized, the space coordinates of the feature points are calculated based on an intersection method, and the distance between the aircraft and the obstacles is judged according to the space positions of the feature points; although the spatial position and the attitude of the camera are acquired by the sensor, the related matching error of the feature points in each frame still brings large distance measurement error. The method is very suitable for being loaded on a small aircraft, and can quickly and accurately acquire the distance between the aircraft and the obstacle without the support of a positioning and attitude-fixing sensor to realize the purpose of environment perception.
Since 2013, the research on the application of infrared sensors to the field of helicopter collision avoidance gradually starts in China, for example, people such as Qin Ming Yang of the university of science and technology in Huazhong realize the collision avoidance function of a helicopter on a tower through identifying the tower by the infrared sensors, the research of Chen Guojun and other people in the university of Wuhan engineering increases the identification of a high-voltage power line on the basis of identifying the tower, the research currently stays in a theoretical research and development stage, as long as the infrared sensors are used for identifying obstacles, the technology has the premise that the infrared sensors are used for acquiring high-quality obstacle images, and even if high-quality obstacle identification results are acquired, because the infrared sensors cannot acquire the relative positions of the obstacles and the helicopter, the early warning information provided for a pilot by the infrared sensors alone is incomplete.
In the prior art, the hozivir MARKXXII system can provide visual and audible signals to a pilot in advance when a potential hazard exists, and comprises a main control computer, a GPS antenna, a millimeter wave imaging radar and an alarm system. The software and hardware equipment of the system have the same value, and the software mainly comprises a terrain database, different flight mode settings and an information display and early warning system connected with the flight. The system adopts a millimeter wave imaging radar and Wx wave bands to scan the terrain and the obstacles in the field of view in front of the helicopter, the obtained information comprises three-dimensional information of the terrain in the field of view in front, the system mainly distinguishes tiny terrain threatening flight safety such as overhead lines, isolated towers, isolated trees and the like, and the danger degree of the obstacles is displayed by a set color system. The system is derived from a ground-proximity obstacle avoidance system of a large passenger plane, the data and the use habit provided by the system are similar to those of the large civil passenger plane, and the data provided by the millimeter wave imaging radar in the system can only be displayed in parallel with terrain data but cannot be fused. The data format and the interface of the system are special, data can be transferred, imported and exported only through professional tools provided by the Honeywell company, and the system cannot be expanded aiming at the power line patrol system.
Because the radar system of the MARKXXII is a forward scanning imaging radar, when MARKXXII and VFR are integrated, only obstacle information in a forward scanning area is provided, and a pilot cannot acquire obstacle early warning information around the current helicopter.
The MARKXXII millimeter wave imaging radar provides a true color early warning schematic diagram, the system judges the information danger degree of a front obstacle according to colors, two-dimensional information which represents the danger degree in a radar view field is provided for a pilot, and visual geographic environment information cannot be provided for the pilot.
Data provided by a millimeter wave imaging radar in the MARKXXII system can be displayed on the two display screens in parallel with spatial information in a terrain database, but cannot be displayed in a fusion mode, and a pilot can better judge the terrain and obstacle conditions around the helicopter only by comparing and observing information provided by the two display screens.
The MARKXXII system is a ground proximity warning system developed for a helicopter, and software and hardware interfaces of the system need to interact with special equipment of the Honewell company, so that improvement and system integration cannot be performed according to the characteristics of power line patrol.
According to the statement, in the field of research of helicopter anti-collision radar obstacle avoidance systems, the traditional optical imaging mode is influenced by the optical environment and weather conditions, cannot work all day long and all day long, cannot well provide visual geographic environment information for pilots, and influences the pilots to judge the terrain and obstacle conditions around the helicopter.
Disclosure of Invention
In order to overcome the technical defects in the aspect of obstacle avoidance of the helicopter, the invention provides a system which integrates an infrared sensor and a millimeter wave radar, obtains the distance between an obstacle and the helicopter through a ranging radar, fuses with field of view information obtained by the infrared sensor, and provides video obstacle avoidance information and sound light obstacle avoidance early warning display for a pilot.
In order to achieve the above object, the present invention provides a helicopter obstacle avoidance system, including: the device comprises a millimeter wave radar, an industrial personal computer and an infrared sensor which are arranged on a helicopter; the millimeter wave radar is used for scanning in a set scanning area to acquire ranging information of ground objects and sending the ranging information to the industrial personal computer; the industrial personal computer is used for calculating the azimuth angle of the ground object according to the motor position code of the helicopter and controlling the infrared sensor to rotate according to the azimuth angle; the infrared sensor is used for acquiring infrared image information of the ground object and uploading the infrared image information to the industrial personal computer; and in the operation process of the helicopter, the industrial personal computer writes the distance measurement information of the ground object into the infrared image information of the ground object, performs fusion of the distance of the ground object and the infrared image, and generates obstacle identification information for avoiding obstacles by the helicopter.
The helicopter obstacle avoidance system provided by the invention well realizes the distance detection of the obstacle by using the low-cost tracking millimeter wave radar, is fused with the obstacle outline information obtained by the infrared video, realizes the identification and distance measurement of the airspace obstacle, and is beneficial to the large-scale popularization of the helicopter obstacle avoidance system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a helicopter obstacle avoidance system according to an embodiment of the present invention.
Fig. 2A and 2B are schematic structural diagrams of a millimeter wave radar according to an embodiment.
FIG. 3 is a schematic view of the scanning range during helicopter operation in flight.
FIG. 4 is a schematic view of the important areas of interest of the sensors during operational flight of the helicopter.
Fig. 5 is a schematic view showing a relationship between the fields of view of the millimeter wave radar and the infrared sensor.
Fig. 6 is a schematic diagram showing a comparison relationship between a narrow field of view and a wide field of view of an infrared sensor.
Detailed Description
The technical means adopted by the invention to achieve the preset object are further described below by combining the drawings and the preferred embodiments of the invention.
Fig. 1 is a schematic structural diagram of a helicopter obstacle avoidance system according to an embodiment of the present invention. As shown in fig. 1, the system includes: a millimeter wave radar 101, an industrial personal computer 102 and an infrared sensor 103 which are installed on the helicopter; wherein,
the millimeter wave radar 101 is used for scanning a set scanning area to acquire ranging information of a ground object and sending the ranging information to the industrial personal computer 102;
the industrial personal computer 102 is used for calculating the azimuth angle of the ground object according to the motor position code of the helicopter and controlling the infrared sensor 103 to rotate according to the azimuth angle;
the infrared sensor 103 is used for acquiring infrared image information of ground objects and uploading the infrared image information to the industrial personal computer 102;
in the operation process of the helicopter, the industrial personal computer 102 writes the distance measurement information of the ground object into the infrared image information of the ground object, performs fusion of the distance of the ground object and the infrared image, and generates obstacle identification information for avoiding obstacles of the helicopter.
In this embodiment, the parameters for setting the millimeter wave radar 101 may include, according to the characteristics of the helicopter electric power patrol work: transmitting and receiving frequency bands, receiving sensitivity, antenna isolation, intermediate frequency amplifier gain, dynamic range estimation and SAFC control quantity estimation.
In the present embodiment, the millimeter wave radar 101 may include: the millimeter wave radar 101 adopts a low-frequency cable for power supply and data transmission; wherein,
the measurement and control host is used for setting the working mode of the millimeter wave radar and processing radar wave signals;
fig. 2A and 2B are schematic structural diagrams of a millimeter wave radar according to an embodiment. As shown in fig. 2A, the transceiver 201 of the millimeter wave radar is disposed on a turntable 202, the diameter of the turntable 202 is about 3000mm, the height of the turntable 202 is about 120mm, the center of gravity is located at the center of the circle, a trim installation position and a threaded hole are left, a supporting plate 203 is disposed below the turntable 202, a supporting base 204 is disposed below the supporting plate 203, and the supporting base 204 is provided with a motor 205, an angle sensor (not shown in the figure), and the like. As shown in fig. 2B, the transceiver 201 is fixedly mounted on the turntable 202 via a transceiver support 206, and a motor driver 207 is further disposed on the support base 204. The millimeter wave radar scans 360 degrees under the drive of a motor, a detection beam selects a narrow beam (3-6 degrees), and the maximum correction angle of an antenna beam is +/-20 degrees;
the millimeter wave radar 101 is used for scanning in a set scanning area to obtain ranging information of the ground object, filtering the received ranging information, selecting three closest ranging information as the ground object with the largest threat to the helicopter, and uploading the three ranging information to the industrial personal computer 102.
Generally, the effective working range of the millimeter wave radar is 10-1000m, a frequency modulation continuous wave working mechanism is adopted, and the frequency modulation bandwidth is adaptively adjusted according to the target distance. According to the characteristics of the distribution of obstacles in the electric operation of the helicopter, the detection of the target obstacle can be divided into two areas: 10m-125m, 100m-1250 m;
when a millimeter wave radar is used for detecting an obstacle within the range of 10m-125m, a signal with the transmission frequency modulation bandwidth of 300MHz is adopted;
when an obstacle in the range of 100m-1250m is detected by a millimeter wave radar, a signal with a transmission frequency of 30MHz is used.
The generation of the linear frequency modulation signal is realized by the DDS, and the receiving frequency range of the receiver is 10K-250 KHz. When the receiver bandwidth is 250KHz, the receiver's ultimate sensitivity Prmin ═ 115 dBm. When spurious signals such as reception noise and amplitude modulation are taken into consideration, the signal-to-noise ratio is selected to be 10dB, and the acquisition sensitivity is-105 dBm (S/N is 10 dB). The millimeter wave radar measures a high-voltage line at 100m and needs the receiving sensitivity of-86 dBm; similarly, the receive sensitivity for a 10m high voltage line should be-46 dBm. Measuring a mountain at 1000m requires a receive sensitivity of-98 dBm. The reception sensitivity of the millimeter wave radar is set to-105 dBm.
The antenna isolation is about 60 dB. Thus, the received direct wave power is-37 dBm. Considering that the total gain of the receiving front end of the TR component microwave channel before mixing is 30dB, the power output by the direct wave to the mixer is-10 dBm, and the intermediate frequency power of the output direct wave is-17 dBm when the mixing loss meter is-7 dB. So that the reception gain of the entire millimeter wave reception front end is 23 dB. Design P-1Should be greater than-20 dBm (measured at the millimeter wave receiving port), 20dB margin higher than the direct wave, ensure the front end is not saturated.
The gain of the intermediate amplifier is designed to be about 77dB, and the signal processing needs to process echo signals lower than 0.2V.
The detection range of the millimeter wave radar is 10-1000m, the dynamic range caused by the distance is 80dB, and the total dynamic range of the receiver designed by the scheme is designed to be 20-27 dB.
As the transmitting power is 23dBm, the isolation between the transmitting and receiving antennas is set to be 60dB, and the received direct wave signal reaches-37 dBm and is far higher than the capture sensitivity Prmin-105 dBm. To prevent the direct wave from being captured, the SAFC control amount needs 68dB at minimum.
For the detection of the small RCS target of the high-voltage wire, a mode of frequency modulation sensitivity is adopted, so that the receiving bandwidth works in a narrow band of 250kHz, the noise is reduced, the signal-to-noise ratio of a system is improved, and the high-voltage wire of the small RCS can be detected.
The signal processing flow of the millimeter wave radar is as follows: firstly, carrying out filtering operation to eliminate signals except 10k-250 k; identifying a target, namely determining that the target exists at the position when the energy spectrum of the existing spectral line is larger than a threshold, and setting the target position as a frequency point corresponding to the spectral line; and taking the first three targets with spectral lines higher than the threshold, and discarding the other targets.
During the operation of the helicopter, the working phase of the helicopter comprises: taking off, flying, operating and landing stages; wherein,
in the takeoff stage and the landing stage, the scanning range is 360-degree panoramic scanning;
in the flight stage, the scanning range is a front 180-degree range taking the flight direction as a normal line;
in the operation stage, the scanning range is 180 degrees close to one side of the power line with the helicopter and the vertical line of the power line as normal lines. Wherein, fig. 3 is a schematic view of the scanning range in the flight of helicopter operation. As shown in FIG. 3, helicopter H is oriented parallel to power line C and scans over a range R1The range is 180 degrees close to one side of the power line C by taking a vertical line N between the helicopter and the power line as a normal line.
In the present embodiment, fig. 4 is a schematic diagram of an important focus area of a sensor in helicopter operation flight. As shown in FIG. 4, the key area of interest in the helicopter H during operation and flight is an area R of 80 degrees, which is centered on the normal N, and faces 30 degrees to the tail, 50 degrees to the head and2。
fig. 5 is a schematic view showing a relationship between the fields of view of the millimeter wave radar and the infrared sensor. As shown in fig. 5, where R3 is 20 °, and 20 ° on both sides of the normal N are the instantaneous field angles of the millimeter-wave radar; r418 degrees on both sides of the normal N, and the wide angle of view of the infrared sensor is respectively 18 degrees on both sides of the normal N. When major danger early warning occurs or a pilot needs more delicate infrared early warning information, the infrared sensor needs to be switched from a large view field to a narrow view field, and the application mainly plays a role in identifying a remote obstacle in a cruising flight scene.
In this embodiment, the cooperation of the millimeter-wave radar 101 and the infrared sensor 103 is realized by one industrial personal computer 102 and software running on the industrial personal computer 102. The millimeter-wave radar 101 and the industrial personal computer 102 transmit motor position coding information and distance information through an RS422 bus, the infrared sensor 103 and the industrial personal computer 102 are connected through an RS232 bus and a video bus, wherein the RS232 bus is responsible for control information transmission, and the video bus is responsible for image information transmission.
The industrial personal computer 102 is used for writing the distance measurement information into the infrared image information by using a video capture card after receiving the distance measurement information of the millimeter wave radar 101 and the infrared image information of the infrared sensor 103, fusing the contour of the ground object and the distance measurement information of the ground object, and generating obstacle identification information;
this barrier system is kept away to helicopter provides barrier identification information to flight display screen through VGA, when the distance of barrier exceeded alarm threshold value, provides alarm information through RS232 serial ports line to the audible-visual annunciator of pilot cockpit.
The helicopter obstacle avoidance system provided by the scheme discovers the target obstacle by using the millimeter wave radar, acquires the outline information of the obstacle through the infrared sensor, and realizes accurate distance measurement between the helicopter and the obstacle, thereby realizing effective identification of the obstacle.
For a clearer explanation of the above helicopter obstacle avoidance system, a specific embodiment is described below, however, it should be noted that the embodiment is only for better illustration of the present invention and should not be construed as an undue limitation on the present invention.
In this embodiment, the operation modes of the infrared sensor are divided into three types: specific direction scanning, specific area scanning and 360-degree panoramic scanning, and the millimeter wave radar is also attached with the three scanning modes. Fig. 6 is a schematic diagram showing a comparison relationship between a narrow field of view and a wide field of view of an infrared sensor. As shown in fig. 6, in which the near view field range of the infrared sensor is 4 ° × 3 ° (narrow view field), the far view field range is 18 ° × 12 ° (wide view field), and the field range of the millimeter wave radar antenna is ± 20 °, matching can be performed using the far view fields of the millimeter wave radar and the infrared sensor.
The scanning frequency of the millimeter wave radar for realizing 360-degree scanning is 2s, the maximum scanning frequency of the infrared sensor is 4s, therefore, when the helicopter obstacle avoidance system is in a 360-degree panoramic working mode, the millimeter wave radar is adopted as a main sensor of the helicopter obstacle avoidance system, when dangerous obstacles are found, the infrared sensor is moved to detect a target area, the measurement information of the millimeter wave radar and the video information of the infrared sensor are fused, and obstacle avoidance information is provided for flight activities.
In the electric operation process of the helicopter, the working phase of the helicopter comprises a take-off phase, a flight phase, an operation phase and a landing phase. In the taking-off and landing stages, a helicopter obstacle avoidance system is required to monitor the ground feature distribution within 360 degrees around; when the helicopter flies between a take-off and landing point and an operation area, the key monitoring range of the helicopter obstacle avoidance system is the front of the flying direction, the flying direction is taken as a central line, and the area within the range of 90 degrees from left to right is taken as an auxiliary; when the helicopter enters the operation area to perform electric power operation, the key monitoring area of the helicopter obstacle avoidance system is the current area where the power line runs, and the flight direction of the helicopter is approximately parallel to the running direction of the power line, so the central line of the monitoring area is the perpendicular line from the helicopter to the power line and the range is in the range of 90 degrees from left to right.
The linkage mechanism of the millimeter wave radar and the infrared sensor is expressed as follows: the initial state of the infrared pod faces to the front of the aircraft nose, so that a pilot can conveniently acquire image information of the front of the helicopter, when the millimeter wave radar starts to work, the millimeter wave radar selects a detection area (direction) according to the state (take-off, flight, operation and landing) of the helicopter, selects three target ground objects closest to the helicopter as attention ground objects through scanning the set area, and transmits distance information of the three target ground objects and the current motor position codes to the industrial personal computer through an RS422 bus; the industrial personal computer settles the azimuth angle of the target ground object according to the motor position code, and controls the rotation of the infrared sensor by utilizing the azimuth angle of the target ground object through the RS232 bus, and the infrared sensor transmits the infrared image of the target ground object to the industrial personal computer through the video bus. When the three target ground objects cannot be simultaneously present in the field of view of the infrared sensor, the infrared sensor is sequentially rotated according to the distance sequence (from small to large) of the target obstacles to acquire the infrared image information of the target ground objects. When the target barrier is observed, if clearer image information is needed, switching of the far and near view fields of the infrared sensor can be controlled through the RS232 bus. When the far-field vision is switched to the near-field vision, the infrared sensor dynamically scans the area in the far-field vision range according to the set rotating speed and returns image information through the video bus.
The fusion of the distance measurement information acquired by the millimeter wave radar and the image information acquired by the infrared sensor is realized on the industrial personal computer. After acquiring the distance measurement information of the millimeter-wave radar and the image information of the infrared sensor, the industrial personal computer writes the distance measurement information into the video information by using the SDK of the video acquisition card, so that the combination of the outline of the obstacle and the distance information of the obstacle is realized.
The helicopter obstacle avoidance system provides fused obstacle outline and distance information for the flight display screen through the VGA, and when the obstacle distance information exceeds an alarm threshold value, alarm information is provided for an audible and visual alarm of a pilot cockpit through an RS232 serial port line. When the pilot receives the audible and visual alarm information, the pilot presses a button of the audible and visual alarm to indicate that the early warning is received, and the pilot operation information is returned to the master control computer through the RS232 serial port line and is recorded.
In the system, a linkage mechanism of the millimeter wave radar and the infrared sensor is set for the service requirement and the operation process of the helicopter power inspection, and corresponding key scanning area setting is provided according to the operation state of the helicopter, so that the defect of slow scanning period of the two sensors is overcome to a certain extent. When the distance is displayed, the obstacle avoidance information provided by the system for the pilot is displayed in the distance based on the infrared video image, is similar to the surrounding environment seen by eyes, and is simple and easy to interpret.
According to the line patrol requirement of the helicopter, the invention designs a set of obstacle avoidance system suitable for detecting and identifying line patrol obstacles, and can determine the working mode of the millimeter wave radar according to the characteristics of the helicopter electric power patrol operation, including the determination of the coordination and coordination of a preferential scanning area and different scanning areas and the coordination among the scanning frequency, the scanning angle and the scanning distance of the millimeter wave radar, so that the matching and identification of the scanning field of view of the millimeter wave radar and the scanning field of view of the infrared sensor are realized.
The helicopter obstacle avoidance system provided by the invention well realizes the distance detection of the obstacle by using the low-cost tracking millimeter wave radar, is fused with the obstacle outline information obtained by the infrared video, realizes the identification and distance measurement of the airspace obstacle, and is beneficial to the large-scale popularization of the helicopter obstacle avoidance system.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A helicopter obstacle avoidance system, comprising: the device comprises a millimeter wave radar, an industrial personal computer and an infrared sensor which are arranged on a helicopter; wherein,
the millimeter wave radar is used for scanning in a set scanning area to acquire ranging information of ground objects and sending the ranging information to the industrial personal computer;
the industrial personal computer is used for calculating the azimuth angle of the ground object according to the motor position code of the helicopter and controlling the infrared sensor to rotate according to the azimuth angle;
the infrared sensor is used for acquiring infrared image information of the ground object and uploading the infrared image information to the industrial personal computer;
and in the operation process of the helicopter, the industrial personal computer writes the distance measurement information of the ground object into the infrared image information of the ground object, performs fusion of the distance of the ground object and the infrared image, and generates obstacle identification information for avoiding obstacles by the helicopter.
2. A helicopter obstacle avoidance system according to claim 1, wherein setting parameters of said millimeter wave radar according to characteristics of helicopter electric power patrol operations comprises: transmitting and receiving frequency bands, receiving sensitivity, antenna isolation, intermediate frequency amplifier gain, dynamic range estimation and SAFC control quantity estimation.
3. A helicopter obstacle avoidance system according to claim 2, wherein the detection of a target obstacle is divided into two regions according to the characteristics of the obstacle distribution in helicopter electrical operation: 10m-125m, 100m-1250 m;
when the millimeter wave radar is used for detecting obstacles in the range of 10m-125m, signals with the transmission frequency modulation bandwidth of 300MHz are adopted;
when the millimeter wave radar is used for detecting obstacles in the range of 100m-1250m, a signal with the transmitting frequency of 30MHz is adopted.
4. A helicopter obstacle avoidance system according to claim 1, wherein said millimeter wave radar comprises: the millimeter wave radar adopts a low-frequency cable for power supply and data transmission;
the measurement and control host is used for setting the working mode of the millimeter wave radar and processing radar wave signals;
the millimeter wave radar comprises a turntable with the diameter of 3000mm and the height of 120mm, the center of gravity is located at the center of a circle, a trim mounting position and a threaded hole are reserved, the millimeter wave radar performs 360-degree scanning under the driving of a motor, a narrow beam is selected as a detection beam, and the maximum correction angle of an antenna beam is +/-20 degrees;
the millimeter wave radar is used for scanning in a set scanning area to obtain ranging information of ground objects, filtering the received ranging information, selecting three closest ranging information as the ground objects with the greatest threat to the helicopter, and uploading the three ranging information to the industrial personal computer.
5. A helicopter obstacle avoidance system according to claim 1, wherein during operation of said helicopter, the operational phase of the helicopter comprises: taking off, flying, operating and landing stages; wherein,
in the takeoff stage and the landing stage, the scanning range is 360-degree panoramic scanning;
in the flight stage, the scanning range is a front 180-degree range taking the flight direction as a normal line;
in the working stage, the scanning range is 180 degrees close to one side of the power line with the vertical line of the helicopter and the power line as a normal.
6. The helicopter obstacle avoidance system of claim 1, wherein the industrial personal computer is configured to write ranging information into infrared image information using a video capture card after receiving the ranging information of the millimeter wave radar and the infrared image information of the infrared sensor, perform fusion of the contour of the ground object and the ranging information of the ground object, and generate obstacle identification information;
the obstacle avoidance system of the helicopter provides obstacle identification information for a flight display screen through a VGA, and when the distance of an obstacle exceeds an alarm threshold value, alarm information is provided for an audible and visual alarm of a pilot cockpit through an RS232 serial port line.
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| CN106197474A (en) * | 2016-08-26 | 2016-12-07 | 云南电网有限责任公司 | A kind of high altitude localities helicopter flight condition checkout gear |
| CN106774405A (en) * | 2016-12-30 | 2017-05-31 | 华南农业大学 | Orchard plant protection unmanned plane obstacle avoidance apparatus and method based on three-level avoidance mechanism |
| CN106802152A (en) * | 2017-03-23 | 2017-06-06 | 翼飞客（上海）智能科技有限公司 | Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system |
| WO2018187946A1 (en) * | 2017-04-11 | 2018-10-18 | 深圳市大疆创新科技有限公司 | Radar assembly and unmanned aerial vehicle |
| CN113253274A (en) * | 2021-04-30 | 2021-08-13 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Fusion processing method for helicopter anti-collision ground surface power line |
| CN115440094A (en) * | 2022-07-21 | 2022-12-06 | 南京航空航天大学 | Obstacle detection method, device and storage medium for helicopter ground proximity warning |
| WO2023082282A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Control method, control device, and unmanned aerial vehicle |
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