CN106646515A - Method and device for measuring obstacle avoidance distance in obstacle avoidance process - Google Patents
Method and device for measuring obstacle avoidance distance in obstacle avoidance process Download PDFInfo
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- CN106646515A CN106646515A CN201611264675.2A CN201611264675A CN106646515A CN 106646515 A CN106646515 A CN 106646515A CN 201611264675 A CN201611264675 A CN 201611264675A CN 106646515 A CN106646515 A CN 106646515A
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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 invention discloses a method and a device for measuring an obstacle avoidance distance in an obstacle avoidance process and belongs to the technical field of unmanned aerial vehicles. The method comprises the following steps: acquiring a basic distance x0 between the current unmanned aerial vehicle and an obstacle, wherein the unit of x0 is meter; judging whether x0 is a distance value in a range delta x1 and/or a distance value in a range delta x2; switching a binocular distance measurement module and an infrared distance measurement module according to the judgment result; and acquiring a standard obstacle avoidance distance Y0 between the current unmanned aerial vehicle and the obstacle according to the switched distance measurement modules. According to the method and device disclosed by the invention, the technical defect in the prior art that the measurement accuracy is low because measurement only can be performed by a single distance measurement module is overcome, and the technical effect that the obstacle avoidance distance is accurately measured by switching multiple distance measurement modules is achieved.
Description
Technical field
It is more particularly to a kind of avoidance distance is measured during avoidance the invention belongs to unmanned air vehicle technique field
Method and device.
Background technology
Unmanned plane (English:Aircraft), refer to and air force lift-off is obtained by the relative motion of fuselage and air
The machine of flight.Including gyroplane, helicopter, fixed-wing etc..
At present, 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 are measured in real time and fed back to the distance between unmanned plane and barrier.
Although however, binocular range finder module far measuring distance, its certainty of measurement is not high, although infrared distance measurement module
Certainty of measurement is high, but its measurement distance is not far.
It can be seen that, simple in prior art to be measured by single range finder module, certainty of measurement is not high.
The content of the invention
The present invention provides a kind of method and device measured to avoidance distance during avoidance, existing to solve
It is only capable of being measured and the not high technological deficiency of caused certainty of measurement by single range finder module in technology.
In a first aspect, embodiments provide that the side that range finder module switches selection is carried out during a kind of flight avoidance
Method, methods described is applied to unmanned plane, and the unmanned plane includes binocular range finder module and infrared distance measurement module, the binocular range finding
The finding range of module is Δ x1, the finding range of the infrared distance measurement module is Δ x2；Methods described includes：Obtain current institute
The basis between unmanned plane and barrier is stated apart from x0；The x0Unit be rice；To the x0Whether belong in the Δ x1Model
Distance values and/or the Δ x in enclosing2In the range of distance values judged；According to judged result, the binocular is surveyed
Switch over away from module and the infrared distance measurement module；According to the range finder module after switching, presently described unmanned plane is obtained with barrier
Hinder the standard avoidance between thing apart from Y0；Wherein, the standard avoidance is apart from Y0With the basis apart from x0It is unequal.
Optionally, the Δ x1With the Δ x2Without the finding range for overlapping；It is described according to comparative result, to described double
Mesh range finder module and the infrared distance measurement module switch over including：If the x0It is belonging in the Δ x1In the range of distance
Numerical value, then select the binocular range finder module to measure the distance between the unmanned plane and the barrier；If described
x0It is belonging in the Δ x2In the range of distance values, then select the infrared distance measurement module to the unmanned plane and the barrier
The distance between thing is hindered to measure.
Optionally, the Δ x1With the Δ x2There is the finding range of coincidence, the finding range of the coincidence is Δ x1-2；Institute
State according to comparative result, the binocular range finder module and the infrared distance measurement module are switched over including：If the x0It is category
In in the Δ x1In the range of, and be not belonging in the Δ x1-2In the range of distance values, then select the binocular range finder module
The distance between the unmanned plane and the barrier are measured；If the x0It is belonging in the Δ x2In the range of, and not
Belong in the Δ x1-2In the range of distance values, then select the infrared distance measurement module to the unmanned plane and the obstacle
The distance between thing is measured.
Optionally, it is described according to comparative result, the binocular range finder module and the infrared distance measurement module are switched over
Also include：If the x0It is belonging in the Δ x1-2In the range of distance values, then：Switch to the binocular range finder module pair
The distance between the unmanned plane and the barrier are measured, and obtain the first numerical value x01；Obtaining the first numerical value x01
Afterwards, switch to the infrared distance measurement module to measure the distance between the unmanned plane and the barrier, obtain second
Numerical value x02.The range finder module according to after switching, obtains the standard avoidance distance between presently described unmanned plane and barrier
Y0Also include：According to the first numerical value x01With the second value x02State between unmanned plane and the barrier described in obtaining
Standard avoidance is apart from Y0。
Optionally, it is described according to comparative result, the binocular range finder module and the infrared distance measurement module are switched over
Also include：If the x0It is belonging in the Δ x1-2In the range of distance values, then：Switch to the infrared distance measurement module pair
The distance between the unmanned plane and the barrier are measured, and obtain second value x02；Obtaining the second value x02
Afterwards, switch to the binocular range finder module to measure the distance between the unmanned plane and the barrier, obtain first
Numerical value x01。
Second aspect, embodiments providing carries out the dress that range finder module switches selection during a kind of flight avoidance
Put, described device is applied to unmanned plane, the unmanned plane includes binocular range finder module and infrared distance measurement module, the binocular range finding
The finding range of module is Δ x1, the finding range of the infrared distance measurement module is Δ x2；Described device includes：Acquisition module, uses
Basis between the presently described unmanned plane of acquisition and barrier is apart from x0；The x0Unit be rice；Judge module, for right
The x0Whether belong in the Δ x1In the range of distance values and/or the Δ x2In the range of distance values judged；
Handover module, for according to judged result, switching over to the binocular range finder module and the infrared distance measurement module.
Optionally, described device is additionally operable to：The Δ x1With the Δ x2Without the finding range for overlapping；The switching mould
Block is additionally operable to：If the x0It is belonging in the Δ x1In the range of distance values, then select the binocular range finder module to described
The distance between unmanned plane and the barrier are measured；If the x0It is belonging in the Δ x2In the range of distance values,
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 the standard avoidance between presently described unmanned plane and barrier away from
From Y0；Wherein, the standard avoidance is apart from Y0With the basis apart from x0It is unequal.
Optionally, described device is additionally operable to：The Δ x1With the Δ x2There are the finding range of coincidence, the survey of the coincidence
It is Δ x away from scope1-2；The handover module is additionally operable to：If the x0It is belonging in the Δ x1In the range of, and be not belonging to described
Δx1-2In the range of distance values, then select the binocular range finder module between the unmanned plane and the barrier away from
From measuring；If the x0It is belonging in the Δ x2In the range of, and be not belonging in the Δ x1-2In the range of distance values,
The infrared distance measurement module is then selected to measure the distance between the unmanned plane and the barrier.
Optionally, the handover module is additionally operable to：If the x0It is belonging in the Δ x1-2In the range of distance values,
Then：Switch 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.The standard avoidance distance-measurement module is additionally operable to：According to described first
Numerical value x01With the second value x02The standard avoidance between unmanned plane and the barrier is stated described in obtaining apart from Y0。
Optionally, the handover module is additionally operable to：If the x0It is belonging in the Δ x1-2In the range of distance values,
Then：Switch to the infrared distance measurement module to measure the distance between the unmanned plane and the barrier, 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。
One or more technical schemes provided in the embodiment of the present invention, at least have the following technical effect that or advantage：
When the present invention is applied to unmanned plane, by arranging binocular range finder module and infrared distance measurement mould simultaneously in unmanned plane
Block, and the basis between current unmanned plane and barrier is obtained first in actual ranging process apart from x0；Then to the x0It is
Still judged in the finding range of infrared distance measurement module in the finding range of binocular range finder module, and cut according to judged result
Change suitable range finder module to measure, can be carried out accurately for different finding ranges by two range finder modules simultaneously with this
Measurement, is solved and is only capable of being measured and the not high skill of caused certainty of measurement by single range finder module in prior art
Art defect.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the specific embodiment of the present invention.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is that the method flow measured to avoidance distance during avoidance provided in an embodiment of the present invention is illustrated
Figure；And
Fig. 2 is range finder module is carried out during flight avoidance provided in an embodiment of the present invention to switch the principle of device of selection showing
It is intended to.
Specific embodiment
The present invention provides a kind of method and device measured to avoidance distance during avoidance, solves existing skill
It is only capable of being measured and the not high technological deficiency of caused certainty of measurement by single range finder module in art, has reached and passed through
The technique effect for carrying out accurate measurement avoidance distance is switched between multiple range finder modules.
Technical scheme in the embodiment of the present invention, general thought is as follows：
When unmanned plane is applied to, by arranging binocular range finder module and infrared distance measurement module, institute in the unmanned plane
The finding range for stating binocular range finder module is Δ x1, the finding range of the infrared distance measurement module is Δ x2；Then by such as lower section
Method：The basis between presently described unmanned plane and barrier is obtained apart from x0；The x0Unit be rice；To the x0Whether belong to
In in the Δ x1In the range of distance values and/or the Δ x2In the range of distance values judged；According to judgement knot
Really, the binocular range finder module and the infrared distance measurement module are switched over.
Said method is provided with binocular range finder module and infrared distance measurement module simultaneously in unmanned plane, and binocular is found range mould
The finding range Δ x of block1With the finding range Δ x of infrared distance measurement module2As term of reference, to current unmanned plane and obstacle
Basis between thing is apart from x0Judged to recognize 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 judged result, then so that caning in each range finder module accurate
The measurement of avoidance distance is completed in the range of measurement, with the high technique effect of certainty of measurement.
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The terms "and/or", only a kind of incidence relation of description affiliated partner, represents there may be three kinds of passes
System, for example, A and/or B can be represented：Individualism A, while there is A and B, individualism B these three situations.In addition, herein
Middle character "/", typicallys represent forward-backward correlation pair as if a kind of relation of "or".
Embodiment one
The present embodiment provides a kind of method measured to avoidance distance during avoidance, is applied to unmanned plane, institute
Unmanned plane is stated including binocular range finder module and infrared distance measurement module, the finding range of the binocular range finder module is Δ x1, it is described
The finding range of infrared distance measurement module is Δ x2。
Fig. 1 is refer to, methods described includes：
Step S110：The basis between presently described unmanned plane and barrier is obtained apart from x0；The x0Unit be rice；
Step S120：To the x0Whether belong in the Δ x1In the range of distance values and/or the Δ x2In the range of
Distance values judged；
Step S130：According to judged result, the binocular range finder module and the infrared distance measurement module are switched over.
It is well known that unmanned plane includes the polytypes such as multi-rotor unmanned aerial vehicle, depopulated helicopter, fixed-wing unmanned plane, this
Inventive embodiments are not limited to this.That is, the method for being provided is applicable to nobody of any one type in unmanned plane
Machine.
Specifically, there is barrier due to being frequently encountered in flight course in front of the flight of unmanned plane in unmanned plane
Situation, therefore the infrared distance measurement module that generally requires to be installed by fuselage interior or binocular range finder module to unmanned plane with
The distance between barrier is measured in real time and fed back, so as to unmanned plane get in time its between barrier it is real-time away from
From, and respond in time.And unmanned plane response can be guaranteed in time to avoid the generation of security incident, allow for measured
The accuracy of the real-time range between unmanned plane and barrier is particularly important.Find according to inventor's research, binocular range finding mould
Although block far measuring distance, its certainty of measurement is not high, although infrared distance measurement module certainty of measurement is high, its measurement distance
It is not far.
In other words, when unmanned plane is only measured using binocular range finder module, 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 nearer between unmanned plane and barrier, and the measure error of binocular range finder module is also increasing, when surveying more than binocular
During certainty of measurement scope away from module, then easily cause the generation of security incident because measurement distance is inaccurate.Likewise, nothing
It is man-machine when only being measured using infrared distance measurement module, then between unmanned plane and barrier distance also in farther out when, it is infrared
Range finder module cannot measure now distance between unmanned plane and barrier, and only when unmanned plane and obstacle distance are to nearer
And during finding range in infrared distance measurement module, can accurately measure.And now due to unmanned plane apart from barrier
It is relatively near, now unmanned plane by measured distance make shut down response when often due to having little time dead halt and causing to pacify
The generation of full accident.
Based on this, a kind of method measured to avoidance distance during avoidance is embodiments provided.
It should be noted that the finding range Δ x of described binocular range finder module1, and the range finding model of infrared distance measurement module
Enclose Δ x2Unit is m.
Below, to what the present invention was provided the method that avoidance distance is measured is carried out in detail during avoidance with reference to Fig. 1
It is thin to introduce：
First, execution step S110, obtains the basis between presently described unmanned plane and barrier apart from x0；The x0's
Unit is rice；
Wherein, the basis is apart from x0Can be understood as the basis 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
Accurate distance between both reactions.
Then, execution step S120：To the x0Whether belong in the Δ x1In the range of distance values and/or described
Δx2In the range of distance values judged；
Specifically, in step S110 basis is obtained apart from x0, now can be by basis apart from x0Respectively with binocular range finding mould
The finding range Δ x of block1, and the finding range Δ x of infrared distance measurement module2Contrasted, to judge the x0Whether belong in institute
State Δ x1In the range of distance values and/or the Δ x2In the range of distance values.
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 little than binocular range finder module, therefore, at this
There can be following several situations in inventive embodiments：
The first situation
As the Δ x1With the Δ x2Finding range without coincidence, for example：The finding range Δ x of binocular range finder module1
It is 12m-20m (not comprising end points), the finding range Δ x of infrared distance measurement module2It is 0.1m-12m (comprising end points), now at this
According to comparative result described in inventive embodiments, the binocular range finder module and the infrared distance measurement module are switched over can be with
Including：
If the x0It is belonging in the Δ x1In the range of distance values, namely the x0It is one in 12m-20m
Distance values, now then select the binocular range finder module to survey the distance between the unmanned plane and the barrier
Amount；And then the standard avoidance between unmanned plane and barrier is obtained apart from Y0.The standard avoidance is apart from Y0Unit be m, but
It is appreciated that standard avoidance apart from Y0The degree of accuracy/precision higher than basis apart from x0.Certainly, during actual job, also having can
Energy standard avoidance is apart from Y0With basis apart from x0There is equal situation, now represent measured basis apart from x0Through checking
As standard avoidance is apart from Y0。
If the x0It is belonging in the Δ x2In the range of distance values, namely the x0It is in 0.1m-12m
Individual distance values, now then select the infrared distance measurement module to survey the distance between the unmanned plane and the barrier
Amount；And then the standard avoidance between unmanned plane and barrier is obtained apart from Y0.Likewise, the standard avoidance is apart from Y0Unit
It is m, but it is understood that standard avoidance is apart from Y0The degree of accuracy/precision higher than basis apart from x0.Certainly, in actual job process
In, it is also possible to standard avoidance is apart from Y0With basis apart from x0There is equal situation, now represent measured basis apart from x0
Through checking standard avoidance is apart from Y0。
Second situation
The Δ x1With the Δ x2There is the finding range of coincidence, the finding range of the coincidence is Δ x1-2；For example：Binocular
The finding range Δ x of range finder module1It is 8m-20m, the finding range Δ x of infrared distance measurement module2It is 0.1m-12m, now at this
According to comparative result described in bright embodiment, the binocular range finder module and the infrared distance measurement module are switched over including：
If the x0It is belonging in the Δ x1In the range of, and be not belonging in the Δ x1-2In the range of distance values, then
The binocular range finder module is selected to measure the distance between the unmanned plane and the barrier；And then acquisition unmanned plane
Standard avoidance between barrier is apart from Y0.Likewise, the standard avoidance is apart from Y0Unit be m, but it is understood that mark
Quasi- avoidance is apart from Y0The degree of accuracy/precision higher than basis apart from x0.Certainly, during actual job, it is also possible to standard avoidance
Apart from Y0With basis apart from x0There is equal situation, now represent measured basis apart from x0Standard is through checking to keep away
Barrier is apart from Y0。
If the x0It is belonging in the Δ x2In the range of, and be not belonging in the Δ x1-2In the range of distance values, then
The infrared distance measurement module is selected to measure the distance between the unmanned plane and the barrier；And then acquisition unmanned plane
Standard avoidance between barrier is apart from Y0.Likewise, the standard avoidance is apart from Y0Unit be m, but it is understood that mark
Quasi- avoidance is apart from Y0The degree of accuracy/precision higher than basis apart from x0.Certainly, during actual job, it is also possible to standard avoidance
Apart from Y0With basis apart from x0There is equal situation, now represent measured basis apart from x0Standard is through checking to keep away
Barrier is apart from Y0。
It is significant to note that, in second situation, can also there is the x0It is belonging in the Δ x1-2In the range of
Distance values situation, if the x0It is belonging in the Δ x1-2In the range of distance values, such as x0=10m；Then：Now
There is also two kinds of modes of operation：
The first mode of operation
First by for the module of range finding 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 thing to measure, obtain second value x02。
Finally according to the first numerical value x01With the second value x02Unmanned plane and the barrier are stated described in obtaining
Between standard avoidance apart from 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 x02Obtain
Taking the standard avoidance distance stated between unmanned plane and the barrier can pass through formula Y0=k1*x01+k2*x02, obtain.
Wherein, k1And k2Can be understood as being weight coefficient, and k11, k is less than more than 021 is less than more than 0；k1+k2=1.
Second mode of operation
First by for the module of range finding 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 thing to measure, obtain 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 obtaining
Between standard avoidance apart from Y0；The Y0Unit be rice.
Need also exist for, it is emphasized that here according to the first numerical value x01With the second value x02Nothing is stated described in obtaining
Standard avoidance distance between man-machine and described barrier can pass through formula Y0=k1*x01+k2*x02, obtain.Wherein, k1And k2
Can be understood as being weight coefficient, and k11, k is less than more than 021 is less than more than 0；k1+k2=1.
Here, although measured basis is apart from x0Both the Δ x had been belonged to1In the range of, fall within the Δ x2.But it is logical
Cross the mode of operation of weight coefficient, it is to avoid the measurement for singly taking the numerical value measured by some range finder module and bringing is inaccurate
Technological deficiency.
Based on same inventive concept, the embodiment of the present invention additionally provides device corresponding with method in embodiment one, sees reality
Apply example two.
Embodiment two
Present embodiments providing carries out the device that range finder module switches selection during a kind of flight avoidance, refer 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 range finding mould
The finding range of block is Δ x1, the finding range of the infrared distance measurement module is Δ x2；Described device includes：
Acquisition module 210, for obtaining the basis between presently described unmanned plane and barrier apart from x0；The x0List
Position is rice；
Judge module 220, for the x0Whether belong in the Δ x1In the range of distance values and/or the Δ
x2In the range of distance values judged；
Handover module 230, for according to judged result, carrying out to the binocular range finder module and the infrared distance measurement module
Switching.
In embodiments of the present invention, described device is additionally operable to：
The Δ x1With the Δ x2Without the finding range for overlapping；
The handover module is additionally operable to：
If the x0It is belonging in the Δ x1In the range of distance values, then select the binocular range finder module to described
The distance between unmanned plane and the barrier are measured；
If the x0It is belonging in the Δ x2In the range of distance values, then select the infrared distance measurement module to described
The distance between unmanned plane and the barrier are measured.
In embodiments of the present invention, described device is additionally operable to：
The Δ x1With the Δ x2There is the finding range of coincidence, the finding range of the coincidence is Δ x1-2；
The handover module is additionally operable to：
If the x0It is belonging in the Δ x1In the range of, and be not belonging in the Δ x1-2In the range of distance values, then
The binocular range finder module is selected to measure the distance between the unmanned plane and the barrier；
If the x0It is belonging in the Δ x2In the range of, and be not belonging in the Δ x1-2In the range of distance values, 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 handover module is additionally operable to：
If the x0It is belonging in the Δ x1-2In the range of distance values, then：
Switch 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 handover module is additionally operable to：
If the x0It is belonging in the Δ x1-2In the range of distance values, then：
Switch 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。
Due to the device that the embodiment of the present invention two is introduced, be implement the embodiment of the present invention one during avoidance to keeping away
The device that the method that barrier distance is measured is adopted, so the method introduced based on the embodiment of the present invention one, this area institute
Category personnel will appreciate that the concrete structure of the device and deformation, so will not be described here.The side of every embodiment of the present invention one
The device that method is adopted belongs to the scope to be protected of the invention.
The technical scheme provided in the embodiment of the present invention, at least has the following technical effect that or advantage：
When the present invention is applied to unmanned plane, by arranging binocular range finder module and infrared distance measurement mould simultaneously in unmanned plane
Block, and the basis between current unmanned plane and barrier is obtained first in actual ranging process apart from x0；Then to the x0It is
Still judged in the finding range of infrared distance measurement module in the finding range of binocular range finder module, and cut according to judged result
Change suitable range finder module to measure, can be carried out accurately for different finding ranges by two range finder modules simultaneously with this
Measurement, is solved and is only capable of being measured and the not high skill of caused certainty of measurement by single range finder module in prior art
Art defect.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be adopted and wherein include the computer of computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to magnetic disc store, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention is the flow process with reference to method according to embodiments of the present invention, equipment (system) and computer program
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from this to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications of the embodiment of the present invention and modification belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising these changes and modification.
Claims (10)
1. a kind of avoidance distance is measured method during avoidance, it is characterised in that methods described is applied to nobody
Machine, the unmanned plane includes binocular range finder module and infrared distance measurement module, and the finding range of the binocular range finder module is Δ x1,
The finding range of the infrared distance measurement module is Δ x2；Methods described includes：
The basis between presently described unmanned plane and barrier is obtained apart from x0；
To the x0Whether belong in the Δ x1In the range of distance values and/or the Δ x2In the range of distance values enter
Row judges；
According to judged 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 between presently described unmanned plane and barrier is obtained apart from Y0；Wherein,
The standard avoidance is apart from Y0With the basis apart from x0It is unequal.
2. the method for claim 1, it is characterised in that：
The Δ x1With the Δ x2Without the finding range for overlapping；
It is described according to comparative result, the binocular range finder module and the infrared distance measurement module are switched over including：
If the x0It is belonging in the Δ x1In the range of distance values, then select the binocular range finder module to it is described nobody
The distance between machine and the barrier are measured；
If the x0It is belonging in the Δ x2In the range of distance values, then select the infrared distance measurement module to it is described nobody
The distance between machine and the barrier are measured.
3. the method for claim 1, it is characterised in that
The Δ x1With the Δ x2There is the finding range of coincidence, the finding range of the coincidence is Δ x1-2；
It is described according to comparative result, the binocular range finder module and the infrared distance measurement module are switched over including：
If the x0It is belonging in the Δ x1In the range of, and be not belonging in the Δ x1-2In the range of distance values, then select
The binocular range finder module is measured to the distance between the unmanned plane and the barrier；
If the x0It is belonging in the Δ x2In the range of, and be not belonging in the Δ x1-2In the range of distance values, then select
The infrared distance measurement module is measured to the distance between the unmanned plane and the barrier.
4. method as claimed in claim 3, it is characterised in that described according to comparative result, to the binocular range finder module and
The infrared distance measurement module is switched over and also included：
If the x0It is belonging in the Δ x1-2In the range of distance values, then：
Switch 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 between the unmanned plane and the barrier
Distance measure, obtain second value x02；
The range finder module according to after switching, obtains the standard avoidance between presently described unmanned plane and barrier apart from Y0Also
Including：
According to the first numerical value x01With the second value x02The standard between unmanned plane and the barrier is stated described in obtaining
Avoidance is apart from Y0。
5. method as claimed in claim 3, it is characterised in that described according to comparative result, to the binocular range finder module and
The infrared distance measurement module is switched over and also included：
If the x0It is belonging in the Δ x1-2In the range of distance values, then：
Switch to the infrared distance measurement module to measure the distance between the unmanned plane and the barrier, obtain second
Numerical value x02；
Obtaining the second value x02Afterwards, the binocular range finder module is switched to between the unmanned plane and the barrier
Distance measure, obtain the first numerical value x01。
6. the device that range finder module switches selection is carried out during a kind of flight avoidance, it is characterised in that described device is applied to
Unmanned plane, the unmanned plane includes binocular range finder module and infrared distance measurement module, and the finding range of the binocular range finder module is
Δx1, the finding range of the infrared distance measurement module is Δ x2；Described device includes：
Acquisition module, for obtaining the basis between presently described unmanned plane and barrier apart from x0；The x0Unit be rice；
Judge module, for the x0Whether belong in the Δ x1In the range of distance values and/or the Δ x2In the range of
Distance values judged；
Handover module, for according to judged result, switching over to the binocular range finder module and the infrared distance measurement module；
Standard avoidance distance-measurement module, for according to the range finder module after switching, obtaining presently described unmanned plane and barrier
Between standard avoidance apart from Y0；Wherein, the standard avoidance is apart from Y0With the basis apart from x0It is unequal.
7. device as claimed in claim 6, it is characterised in that described device is additionally operable to：
The Δ x1With the Δ x2Without the finding range for overlapping；
The handover module is additionally operable to：
If the x0It is belonging in the Δ x1In the range of distance values, then select the binocular range finder module to it is described nobody
The distance between machine and the barrier are measured；
If the x0It is belonging in the Δ x2In the range of distance values, then select the infrared distance measurement module to it is described nobody
The distance between machine and the barrier are measured.
8. device as claimed in claim 6, it is characterised in that described device is additionally operable to：
The Δ x1With the Δ x2There is the finding range of coincidence, the finding range of the coincidence is Δ x1-2；
The handover module is additionally operable to：
If the x0It is belonging in the Δ x1In the range of, and be not belonging in the Δ x1-2In the range of distance values, then select
The binocular range finder module is measured to the distance between the unmanned plane and the barrier；
If the x0It is belonging in the Δ x2In the range of, and be not belonging in the Δ x1-2In the range of distance values, then select
The infrared distance measurement module is measured to the distance between the unmanned plane and the barrier.
9. device as claimed in claim 8, it is characterised in that the handover module is additionally operable to：
If the x0It is belonging in the Δ x1-2In the range of distance values, then：
Switch 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 between the unmanned plane and the barrier
Distance measure, obtain second value x02；
The standard avoidance distance-measurement module is additionally operable to：
According to the first numerical value x01With the second value x02The standard between unmanned plane and the barrier is stated described in obtaining
Avoidance is apart from Y0。
10. device as claimed in claim 8, it is characterised in that the handover module is additionally operable to：
If the x0It is belonging in the Δ x1-2In the range of distance values, then：
Switch to the infrared distance measurement module to measure the distance between the unmanned plane and the barrier, obtain second
Numerical value x02；
Obtaining the second value x02Afterwards, the binocular range finder module is switched to between the unmanned plane and the barrier
Distance measure, obtain the first numerical value x01。
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| CN105787447A (en) * | 2016-02-26 | 2016-07-20 | 深圳市道通智能航空技术有限公司 | Method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision |
| CN105955298A (en) * | 2016-06-03 | 2016-09-21 | 腾讯科技（深圳）有限公司 | Automatic obstacle avoidance method and apparatus for aircraft |
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| CN205644275U (en) * | 2016-05-17 | 2016-10-12 | 中外合资沃得重工（中国）有限公司 | Unmanned intelligent vehicle |
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