CN106646514B - The method and device that avoidance distance obtains is carried out applied to unmanned plane - Google Patents
The method and device that avoidance distance obtains is carried out applied to unmanned plane Download PDFInfo
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- CN106646514B CN106646514B CN201611258350.3A CN201611258350A CN106646514B CN 106646514 B CN106646514 B CN 106646514B CN 201611258350 A CN201611258350 A CN 201611258350A CN 106646514 B CN106646514 B CN 106646514B
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- 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
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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Abstract
The present invention discloses a kind of method and device that avoidance distance acquisition is carried out applied to unmanned plane, belongs to air vehicle technique field, which comprises obtains the basic distance x between current unmanned plane and barrier0；The x0Unit be rice；To the x0Whether belong in Δ x1Distance values and/or Δ x in range2Distance values in range are judged；According to judging result, binocular range finder module and infrared distance measurement module are switched over；According to the range finder module after switching, the standard avoidance distance Y between presently described unmanned plane and barrier is obtained0.The present invention solves be only capable of measuring by single range finder module in the prior art caused by the not high technological deficiency of measurement accuracy, reached by switching between multiple range finder modules come the technical effect of precise measurement avoidance distance.
Description
Technical field
It is the invention belongs to air vehicle technique field, in particular to a kind of that the side that avoidance distance obtains is carried out applied to unmanned plane
Method and device.
Background technique
Unmanned plane (English: aircraft) refers to and obtains air force lift-off by the relative motion of fuselage and air
The machine of flight.Including gyroplane, helicopter, fixed-wing etc..
Currently, when carrying out avoidance during unmanned plane during flying, the infrared distance measurement mould installed often by fuselage interior
Block or binocular range finder module carry out real-time measurement to the distance between unmanned plane and barrier and feed back.
Although however, binocular range finder module far measuring distance, its measurement accuracy is not high, although infrared distance measurement module
Measurement accuracy is high, but its measurement is apart from not far.
As it can be seen that simple in the prior art measured by single range finder module, measurement accuracy is not high.
Summary of the invention
The present invention provides a kind of method and device that avoidance distance acquisition is carried out applied to unmanned plane, to solve existing skill
The technological deficiency that measurement accuracy is not high caused by measuring by single range finder module is only capable of in art.
In a first aspect, the embodiment of the invention provides the sides that progress range finder module during a kind of flight avoidance switches selection
Method, the method are applied to unmanned plane, and the unmanned plane includes binocular range finder module and infrared distance measurement module, the binocular ranging
The ranging range of module is Δ x1, the ranging range of the infrared distance measurement module is Δ x2；The described method includes: obtaining current institute
State the basic distance x between unmanned plane and barrier0；The basis distance x0It is three groups of bases by least presently described unmanned plane
Plinth is obtained apart from averaged；To the x0Whether belong in the Δ x1Distance values and/or the Δ x in range2
Distance values in range are judged；According to judging result, to the binocular range finder module and the infrared distance measurement module into
Row switching；According to the range finder module after switching, the standard avoidance distance Y between presently described unmanned plane and barrier is obtained0；Institute
State Y0Unit be rice.
Optionally, the Δ x1With the Δ x2The ranging range not being overlapped；It is described according to comparison result, to described double
If it includes: the x that mesh range finder module and the infrared distance measurement module, which switch over,0It is to belong in the Δ x1Distance in range
Numerical value then selects the binocular range finder module to measure the distance between the unmanned plane and the barrier；If described
x0It is to belong in the Δ x2Distance values in range then select the infrared distance measurement module to the unmanned plane and the barrier
The distance between object is hindered to measure.
Optionally, the Δ x1With the Δ x2There is the ranging range of coincidence, the ranging range of the coincidence is Δ x1-2；Institute
It states according to comparison result, if switching over to the binocular range finder module and the infrared distance measurement module includes: the x0It is to belong to
In in the Δ x1In range, and it is not belonging in the Δ x1-2Distance values in range then select the binocular range finder module
The distance between the unmanned plane and the barrier are measured；If the x0It is to belong in the Δ x2In range, and not
Belong in the Δ x1-2Distance values in range then select the infrared distance measurement module to the unmanned plane and the obstacle
The distance between object measures.
Optionally, described according to comparison result, the binocular range finder module and the infrared distance measurement module are switched over
If further include: the x0It is to belong in the Δ x1-2Distance values in range, then: switching to the binocular range finder module pair
The distance between the unmanned plane and the barrier measure, and obtain the first numerical value x01；Obtaining the first numerical value x01
Afterwards, it switches to the infrared distance measurement module to measure the distance between the unmanned plane and the barrier, obtains second
Numerical value x02.The range finder module according to after switching, obtains the standard avoidance distance between presently described unmanned plane and barrier
Y0Further include: according to the first numerical value x01With the second value x02It is stated described in acquisition between unmanned plane and the barrier
Standard avoidance distance Y0。
Optionally, described according to comparison result, the binocular range finder module and the infrared distance measurement module are switched over
If further include: the x0It is to belong in the Δ x1-2Distance values in range, then: switching to the infrared distance measurement module pair
The distance between the unmanned plane and the barrier measure, and obtain second value x02；Obtaining the second value x02
Afterwards, it switches to the binocular range finder module to measure the distance between the unmanned plane and the barrier, obtains first
Numerical value x01。
Second aspect, the embodiment of the invention provides the dresses that progress range finder module during a kind of flight avoidance switches selection
It sets, described device is applied to unmanned plane, and the unmanned plane includes binocular range finder module and infrared distance measurement module, the binocular ranging
The ranging range of module is Δ x1, the ranging range of the infrared distance measurement module is Δ x2；Described device includes: acquisition module, is used
Basic distance x between the presently described unmanned plane of acquisition and barrier0；The basis distance x0It is by least presently described nothing
Three groups of man-machine bases are obtained apart from averaged；Judgment module, for the x0Whether belong in the Δ x1Range
Interior distance values and/or the Δ x2Distance values in range are judged；Switching module is used for according to judging result,
The binocular range finder module and the infrared distance measurement module are switched over.
Optionally, described device is also used to: the Δ x1With the Δ x2The ranging range not being overlapped；The switching mould
Block is also used to: if the x0It is to belong in the Δ x1Distance values in range then select the binocular range finder module to described
The distance between unmanned plane and the barrier measure；If the x0It is to belong in the Δ x2Distance values in range,
The infrared distance measurement module is then selected to measure the distance between the unmanned plane and the barrier.Standard avoidance distance
Measurement module, for according to the range finder module after switching, obtain standard avoidance between presently described unmanned plane and barrier away from
From Y0；The Y0Unit be rice.
Optionally, described device is also used to: the Δ x1With the Δ x2There are the ranging range of coincidence, the survey of the coincidence
It is Δ x away from range1-2；The switching module is also used to: if the x0It is to belong in the Δ x1In range, and it is not belonging to described
Δx1-2Distance values in range, then select the binocular range finder module between the unmanned plane and the barrier away from
From measuring；If the x0It is to belong in the Δ x2In range, and it is not belonging in the Δ x1-2Distance values in range,
The infrared distance measurement module is then selected to measure the distance between the unmanned plane and the barrier.
Optionally, the switching module is also used to: if the x0It is to belong in the Δ x1-2Distance values in range,
Then: switching to the binocular range finder module and the distance between the unmanned plane and the barrier are measured, obtain first
Numerical value x01；Obtaining the first numerical value x01Afterwards, the infrared distance measurement module is switched to the unmanned plane and the barrier
The distance between measure, obtain second value x02.The standard avoidance distance-measurement module is also used to: according to described first
Numerical value x01With the second value x02The standard avoidance distance Y between unmanned plane and the barrier is stated described in acquisition0。
Optionally, the switching module is also used to: if the x0It is to belong in the Δ x1-2Distance values in range,
Then: switching to the infrared distance measurement module and the distance between the unmanned plane and the barrier are measured, obtain second
Numerical value x02；Obtaining the second value x02Afterwards, the binocular range finder module is switched to the unmanned plane and the barrier
The distance between measure, obtain the first numerical value x01。
The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages:
When the present invention is applied to unmanned plane, by the way that binocular range finder module and infrared distance measurement mould is arranged simultaneously in unmanned plane
Block, and the basic distance x between current unmanned plane and barrier is being obtained in practical ranging process first0；Then to the x0It is
Still judged in the ranging range of infrared distance measurement module in the ranging range of binocular range finder module, and is cut according to judging result
It changes suitable range finder module to measure, it is accurate to carry out by two range finder modules for different ranging ranges simultaneously with this
Measurement, solves the skill that measurement accuracy is not high caused by being only capable of measuring by single range finder module in the prior art
Art defect.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the method flow schematic diagram provided in an embodiment of the present invention that avoidance distance acquisition is carried out applied to unmanned plane；
And
Fig. 2 is that the flight avoidance provided in an embodiment of the present invention principle of device that progress range finder module switches selection in the process shows
It is intended to.
Specific embodiment
The present invention provides a kind of method and device that avoidance distance acquisition is carried out applied to unmanned plane, solves the prior art
In be only capable of the technological deficiency that measurement accuracy is not high caused by measuring by single range finder module, reached by more
The technical effect for carrying out precise measurement avoidance distance is switched between a range finder module.
Technical solution in the embodiment of the present invention, general thought are as follows:
When being applied to unmanned plane, by the way that binocular range finder module and infrared distance measurement module, institute are arranged in the unmanned plane
The ranging range for stating binocular range finder module is Δ x1, the ranging range of the infrared distance measurement module is Δ x2；Then by such as lower section
Method: the basic distance x between presently described unmanned plane and barrier is obtained0；The x0Unit be rice；To the x0Whether belong to
In in the Δ x1Distance values and/or the Δ x in range2Distance values in range are judged；It is tied according to judgement
Fruit switches over the binocular range finder module and the infrared distance measurement module.
The above method is provided with binocular range finder module and infrared distance measurement module simultaneously in unmanned plane, and by binocular ranging mould
The ranging range Δ x of block1With the ranging range Δ x of infrared distance measurement module2As term of reference, to current unmanned plane and obstacle
Basic distance x between object0Judged, to identify that it is measurable apart from model which range finder module current unmanned plane is in
In enclosing, then two range finder modules are switched over according to judging result, then making can be accurate in each range finder module
The measurement of avoidance distance is completed in the range of measurement, with the high technical effect of measurement accuracy.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Embodiment one
The method that avoidance distance obtains is carried out applied to unmanned plane the present embodiment provides a kind of, is applied to unmanned plane, it is described
Unmanned plane includes binocular range finder module and infrared distance measurement module, and the ranging range of the binocular range finder module is Δ x1, described red
The ranging range of outer range finder module is Δ x2。
Referring to FIG. 1, the described method includes:
Step S110: the basic distance x between presently described unmanned plane and barrier is obtained0；The x0Unit be rice；
Step S120: to the x0Whether belong in the Δ x1Distance values and/or the Δ x in range2In range
Distance values judged；
Step S130: according to judging result, the binocular range finder module and the infrared distance measurement module are switched over.
It is well known that unmanned plane includes the multiple types such as multi-rotor unmanned aerial vehicle, unmanned helicopter, fixed-wing unmanned plane, this
Inventive embodiments do not limit to this.That is, provided method is applicable to nobody of any one type in unmanned plane
Machine.
Specifically, there is barrier in front of the flight of unmanned plane due to being frequently encountered in flight course in unmanned plane
The case where, thus generally require the infrared distance measurement module installed by fuselage interior or binocular range finder module to unmanned plane with
The distance between barrier carry out real-time measurement simultaneously feed back, so as to unmanned plane get in time its between barrier it is real-time away from
From, and promptly respond.And can ensure unmanned plane response in time to avoid the generation of safety accident, it allows for measured
The accuracy of real-time range between unmanned plane and barrier is particularly important.According to inventor the study found that binocular ranging mould
Although block far measuring distance, its measurement accuracy is not high, although infrared distance measurement module measurement accuracy is high, it measures distance
It is not far.
In other words, when binocular range finder module, which is used only, in unmanned plane measures, then between unmanned plane and barrier
Distance also in farther out when, binocular range finder module is able to detect that the distance between unmanned plane and barrier really.And when with
Distance is more and more closer between unmanned plane and barrier, and the measurement error of binocular range finder module is also increasing, surveys when more than binocular
When measurement accuracy range away from module, then easily lead to the generation of safety accident due to measuring distance inaccuracy.Likewise, nothing
It is man-machine when being measured using only infrared distance measurement module, then between unmanned plane and barrier distance also in farther out when, it is infrared
Range finder module is unable to measure distance between unmanned plane and barrier at this time, and only when unmanned plane and obstacle distance are to relatively closely
And when being in the ranging range of infrared distance measurement module, can accurately it measure.And at this time due to unmanned plane apart from barrier
It is relatively close, at this time unmanned plane by measured distance make shut down response when often due to having little time dead halt causes to pacify
The generation of full accident.
Based on this, the method that avoidance distance obtains is carried out applied to unmanned plane the embodiment of the invention provides a kind of.
It should be noted that the ranging range Δ x of the binocular range finder module1And the ranging model of infrared distance measurement module
Enclose Δ x2Unit is m.
In the following, being carried out in conjunction with Fig. 1 to the method provided by the invention for carrying out avoidance distance acquisition applied to unmanned plane detailed
It introduces:
Firstly, executing step S110, the basic distance x between presently described unmanned plane and barrier is obtained0；The x0's
Unit is rice；
Wherein, the basic distance x0It can be understood as the basic distance between the unmanned plane of Preliminary detection and barrier
Numerical value, the distance values may be only accurate to rice, can substantially react the distance between unmanned plane and barrier, but can not be accurate
React the accurate distance between the two.
However, it is desirable to explanation, in order to further increase measurement progress, basis distance x0It is by least presently described
Three groups of bases of unmanned plane are obtained apart from averaged；For example, three groups of bases of acquired current unmanned plane are apart from number
Value is respectively x ', x ", x " '；Then x0=(x '+x "+x " ')/3；Wherein, x ', x ", x " ' unit be rice.
Then, step S120 is executed: to the x0Whether belong in the Δ x1Distance values in range and/or described
Δx2Distance values in range are judged；
Specifically, obtaining basic distance x in step S1100, at this time can be by basis distance x0Respectively with binocular ranging mould
The ranging range Δ x of block1And the ranging range Δ x of infrared distance measurement module2It compares, to judge the x0Whether belong in institute
State Δ x1Distance values and/or the Δ x in range2Distance values in range.
In embodiments of the present invention, farthest measurement of the farthest measurement distance of binocular range finder module than infrared distance measurement module
Distance is big, and the recently measured distance of infrared distance measurement module is more the recently measured apart from small than binocular range finder module, therefore, at this
It can there are several types of situations in inventive embodiments:
The first situation
As the Δ x1With the Δ x2The ranging range not being overlapped, such as: the ranging range Δ x of binocular range finder module1
It is 12m-20m (not including endpoint), the ranging range Δ x of infrared distance measurement module2It is 0.1m-12m (comprising endpoint), at this time at this
According to comparison result described in inventive embodiments, switching over to the binocular range finder module and the infrared distance measurement module can be with
Include:
If the x0It is to belong in the Δ x1Distance values namely the x in range0It is one in 12m-20m
Distance values then select the binocular range finder module to survey the distance between the unmanned plane and the barrier at this time
Amount；And then obtain the standard avoidance distance Y between unmanned plane and barrier0.The standard avoidance distance Y0Unit be m, still
It is understood that standard avoidance distance Y0Accuracy/precision be higher than basic distance x0。
If the x0It is to belong in the Δ x2Distance values namely the x in range0It is one in 0.1m-12m
A distance values then select the infrared distance measurement module to survey the distance between the unmanned plane and the barrier at this time
Amount；And then obtain the standard avoidance distance Y between unmanned plane and barrier0.Likewise, the standard avoidance distance Y0Unit
It is m, but it is understood that standard avoidance distance Y0Accuracy/precision be higher than basic distance x0。
Second situation
The Δ x1With the Δ x2There is the ranging range of coincidence, the ranging range of the coincidence is Δ x1-2；Such as: binocular
The ranging range Δ x of range finder module1It is 8m-20m, the ranging range Δ x of infrared distance measurement module2It is 0.1m-12m, at this time in this hair
According to comparison result described in bright embodiment, the binocular range finder module and the infrared distance measurement module are switched over and include:
If the x0It is to belong in the Δ x1In range, and it is not belonging in the Δ x1-2Distance values in range, then
The binocular range finder module is selected to measure the distance between the unmanned plane and the barrier；And then obtain unmanned plane
Standard avoidance distance Y between barrier0.Likewise, the standard avoidance distance Y0Unit be m, but it is understood that mark
Quasi- avoidance distance Y0Accuracy/precision be higher than basic distance x0。
If the x0It is to belong in the Δ x2In range, and it is not belonging in the Δ x1-2Distance values in range, then
The infrared distance measurement module is selected to measure the distance between the unmanned plane and the barrier；And then obtain unmanned plane
Standard avoidance distance Y between barrier0.Likewise, the standard avoidance distance Y0Unit be m, but it is understood that mark
Quasi- avoidance distance Y0Accuracy/precision be higher than basic distance x0。
It is significant to note that can also have the x in second situation0It is to belong in the Δ x1-2In range
Distance values the case where, if the x0It is to belong in the Δ x1-2Distance values in range, such as x0=10m；Then: at this time
There is also two kinds of modes of operation:
The first mode of operation
First by the module for being used for ranging switch to the binocular range finder module to the unmanned plane and the barrier it
Between distance measure, obtain the first numerical value x01；
Then the first numerical value x is being obtained01Afterwards, the infrared distance measurement module is switched to the unmanned plane and the barrier
Hinder the distance between object to measure, obtains second value x02。
Finally according to the first numerical value x01With the second value x02Unmanned plane and the barrier are stated described in acquisition
Between standard avoidance distance Y0；The Y0Unit be rice.
It is emphasized that according to the first numerical value x in the first mode of operation01With the second value x02It obtains
Take the standard avoidance distance stated between unmanned plane and the barrier can be by formula Y0=k1*x01+k2*x02, obtain.
Wherein, k1And k2It can be understood as being weight coefficient, and k1Greater than 0 less than 1, k2Greater than 0 less than 1；k1+k2=1.
Second of mode of operation
First by the module for being used for ranging switch to the infrared distance measurement module to the unmanned plane and the barrier it
Between distance measure, obtain second value x02；
Then the second value x is being obtained02Afterwards, the binocular range finder module is switched to the unmanned plane and the barrier
Hinder the distance between object to measure, obtains the first numerical value x01。
Finally according to the first numerical value x01With the second value x02Unmanned plane and the barrier are stated described in acquisition
Between standard avoidance distance Y0；The Y0Unit be rice.
It also needs, it is emphasized that here according to the first numerical value x01With the second value x02Nothing is stated described in acquisition
Standard avoidance distance between the man-machine and described barrier can pass through formula Y0=k1*x01+k2*x02, obtain.Wherein, k1And k2
It can be understood as being weight coefficient, and k1Greater than 0 less than 1, k2Greater than 0 less than 1；k1+k2=1.
Herein, although measured basic distance x0Both the Δ x had been belonged to1In range, the Δ x is also belonged to2.But it is logical
The mode of operation for crossing weight coefficient avoids and singly takes numerical value measured by some range finder module and bring measures inaccuracy
Technological deficiency.
Based on the same inventive concept, the embodiment of the invention also provides device corresponding with method in embodiment one, see reality
Apply example two.
Embodiment two
It present embodiments provides and carries out the device that range finder module switches selection during a kind of flight avoidance, referring to FIG. 2,
Described device is applied to unmanned plane, and the unmanned plane includes binocular range finder module and infrared distance measurement module, the binocular ranging mould
The ranging range of block is Δ x1, the ranging range of the infrared distance measurement module is Δ x2；Described device includes:
Module 210 is obtained, for obtaining the basic distance x between presently described unmanned plane and barrier0；The x0List
Position is rice；
Judgment module 220, for the x0Whether belong in the Δ x1Distance values and/or the Δ in range
x2Distance values in range are judged；
Switching module 230, for being carried out to the binocular range finder module and the infrared distance measurement module according to judging result
Switching.
In embodiments of the present invention, described device is also used to:
The Δ x1With the Δ x2The ranging range not being overlapped；
The switching module is also used to:
If the x0It is to belong in the Δ x1Distance values in range then select the binocular range finder module to described
The distance between unmanned plane and the barrier measure；
If the x0It is to belong in the Δ x2Distance values in range then select the infrared distance measurement module to described
The distance between unmanned plane and the barrier measure.
In embodiments of the present invention, described device is also used to:
The Δ x1With the Δ x2There is the ranging range of coincidence, the ranging range of the coincidence is Δ x1-2；
The switching module is also used to:
If the x0It is to belong in the Δ x1In range, and it is not belonging in the Δ x1-2Distance values in range, then
The binocular range finder module is selected to measure the distance between the unmanned plane and the barrier；
If the x0It is to belong in the Δ x2In range, and it is not belonging in the Δ x1-2Distance values in range, then
The infrared distance measurement module is selected to measure the distance between the unmanned plane and the barrier.
In embodiments of the present invention, the switching module is also used to:
If the x0It is to belong in the Δ x1-2Distance values in range, then:
It switches to the binocular range finder module to measure the distance between the unmanned plane and the barrier, obtain
First numerical value x01；
Obtaining the first numerical value x01Afterwards, the infrared distance measurement module is switched to the unmanned plane and the barrier
The distance between measure, obtain second value x02。
In embodiments of the present invention, the switching module is also used to:
If the x0It is to belong in the Δ x1-2Distance values in range, then:
It switches to the infrared distance measurement module to measure the distance between the unmanned plane and the barrier, obtain
Second value x02；
Obtaining the second value x02Afterwards, the binocular range finder module is switched to the unmanned plane and the barrier
The distance between measure, obtain the first numerical value x01。
By the device that the embodiment of the present invention two is introduced, carried out to implement the unmanned plane that is applied to of the embodiment of the present invention one
Device used by the method that avoidance distance obtains, so based on the method that the embodiment of the present invention one is introduced, belonging to this field
Personnel can understand specific structure and the deformation of the device, so details are not described herein.The method of all embodiment of the present invention one
Used device belongs to the range of the invention to be protected.
The technical solution provided in the embodiment of the present invention, has at least the following technical effects or advantages:
When the present invention is applied to unmanned plane, by the way that binocular range finder module and infrared distance measurement mould is arranged simultaneously in unmanned plane
Block, and the basic distance x between current unmanned plane and barrier is being obtained in practical ranging process first0；Then to the x0It is
Still judged in the ranging range of infrared distance measurement module in the ranging range of binocular range finder module, and is cut according to judging result
It changes suitable range finder module to measure, it is accurate to carry out by two range finder modules for different ranging ranges simultaneously with this
Measurement, solves the skill that measurement accuracy is not high caused by being only capable of measuring by single range finder module in the prior art
Art defect.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (2)
1. a kind of carry out the method that avoidance distance obtains applied to unmanned plane, which is characterized in that the method is applied to unmanned plane,
The unmanned plane includes binocular range finder module and infrared distance measurement module, and the ranging range of the binocular range finder module is Δ x1, institute
The ranging range for stating infrared distance measurement module is Δ x2；The described method includes:
Obtain the basic distance x between presently described unmanned plane and barrier0；The basis distance x0It is by least presently described
Three groups of bases of unmanned plane are obtained apart from averaged；
To the x0Whether belong in the Δ x1Distance values and/or the Δ x in range2Distance values in range into
Row judgement；
According to judging result, the binocular range finder module and the infrared distance measurement module are switched over；
According to the range finder module after switching, the standard avoidance distance Y between presently described unmanned plane and barrier is obtained0；The Y0
Unit be rice；
As the Δ x1With the Δ x2The ranging range not being overlapped；It is described according to comparison result, to the binocular range finder module
If switching over the infrared distance measurement module includes: the x0It is to belong in the Δ x1Distance values in range, then select
The binocular range finder module measures the distance between the unmanned plane and the barrier；If the x0It is to belong in institute
State Δ x2Distance values in range, then select the infrared distance measurement module between the unmanned plane and the barrier away from
From measuring；
As the Δ x1With the Δ x2There is the ranging range of coincidence, the ranging range of the coincidence is Δ x1-2；It is described according to than
If compared with as a result, switching over to the binocular range finder module and the infrared distance measurement module includes: the x0It is to belong to described
Δx1In range, and it is not belonging in the Δ x1-2Distance values in range then select the binocular range finder module to the nothing
The distance between man-machine and described barrier measures；If the x0It is to belong in the Δ x2In range, and it is not belonging in institute
State Δ x1-2Distance values in range then select the infrared distance measurement module between the unmanned plane and the barrier
Distance measures；If the x0It is to belong in the Δ x1-2Distance values in range, then: switching to the binocular ranging
Module measures the distance between the unmanned plane and the barrier, obtains the first numerical value x01；Obtaining described first
Numerical value x01Afterwards, it switches to the infrared distance measurement module to measure the distance between the unmanned plane and the barrier, obtain
Take second value x02；The range finder module according to after switching, the standard obtained between presently described unmanned plane and barrier are kept away
Hinder distance Y0Further include: according to the first numerical value x01With the second value x02Unmanned plane and the barrier are stated described in acquisition
Between standard avoidance distance Y0。
2. carrying out the device that range finder module switches selection during a kind of flight avoidance, which is characterized in that described device is applied to
Unmanned plane, the unmanned plane include binocular range finder module and infrared distance measurement module, and the ranging range of the binocular range finder module is
Δx1, the ranging range of the infrared distance measurement module is Δ x2；Described device includes:
Module is obtained, for obtaining the basic distance x between presently described unmanned plane and barrier0；The basis distance x0Be by
Three groups of bases of at least presently described unmanned plane are obtained apart from averaged；
Judgment module, for the x0Whether belong in the Δ x1Distance values and/or the Δ x in range2In range
Distance values judged；
Switching module, for being switched over to the binocular range finder module and the infrared distance measurement module according to judging result；
Standard avoidance distance-measurement module, for obtaining presently described unmanned plane and barrier according to the range finder module after switching
Between standard avoidance distance Y0；The Y0Unit be rice；
Described device is also used to:
The Δ x1With the Δ x2The ranging range not being overlapped；
The switching module is also used to:
If the x0It is to belong in the Δ x1Distance values in range, then select the binocular range finder module to it is described nobody
The distance between machine and the barrier measure；
If the x0It is to belong in the Δ x2Distance values in range, then select the infrared distance measurement module to it is described nobody
The distance between machine and the barrier measure；
Described device is also used to:
The Δ x1With the Δ x2There is the ranging range of coincidence, the ranging range of the coincidence is Δ x1-2；
The switching module is also used to:
If the x0It is to belong in the Δ x1In range, and it is not belonging in the Δ x1-2Distance values in range, then select
The binocular range finder module measures the distance between the unmanned plane and the barrier；
If the x0It is to belong in the Δ x2In range, and it is not belonging in the Δ x1-2Distance values in range, then select
The infrared distance measurement module measures the distance between the unmanned plane and the barrier；
The switching module is also used to:
If the x0It is to belong in the Δ x1-2Distance values in range, then:
It switches to the binocular range finder module to measure the distance between the unmanned plane and the barrier, obtains first
Numerical value x01；
Obtaining the first numerical value x01Afterwards, the infrared distance measurement module is switched to between the unmanned plane and the barrier
Distance measure, obtain second value x02；
The standard avoidance distance-measurement module is also used to:
According to the first numerical value x01With the second value x02The standard between unmanned plane and the barrier is stated described in acquisition
Avoidance distance Y0。
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104932515A (en) * | 2015-04-24 | 2015-09-23 | 深圳市大疆创新科技有限公司 | Automatic cruising method and cruising device |
| CN204791493U (en) * | 2015-07-15 | 2015-11-18 | 合肥佳讯科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN106054737A (en) * | 2016-07-19 | 2016-10-26 | 陈昊 | Photosensitive sensor-based unmanned aerial vehicle visual recognition device and using method thereof |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104932515A (en) * | 2015-04-24 | 2015-09-23 | 深圳市大疆创新科技有限公司 | Automatic cruising method and cruising device |
| CN204791493U (en) * | 2015-07-15 | 2015-11-18 | 合肥佳讯科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN106054737A (en) * | 2016-07-19 | 2016-10-26 | 陈昊 | Photosensitive sensor-based unmanned aerial vehicle visual recognition device and using method thereof |
Non-Patent Citations (1)
| Title |
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| 《基于立体视觉的移动机器人路径规划与避障技术的研究》;赵静;《万方数据库》;20090831;正文第3.4节 * |
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