CN106772396A - A kind of automatic obstacle-avoiding unmanned plane - Google Patents
A kind of automatic obstacle-avoiding unmanned plane Download PDFInfo
- Publication number
- CN106772396A CN106772396A CN201611138157.6A CN201611138157A CN106772396A CN 106772396 A CN106772396 A CN 106772396A CN 201611138157 A CN201611138157 A CN 201611138157A CN 106772396 A CN106772396 A CN 106772396A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- protecting crust
- obstacle avoidance
- avoidance apparatus
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52079—Constructional features
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention relates to a kind of automatic obstacle-avoiding unmanned plane, including body and obstacle avoidance apparatus, obstacle avoidance apparatus are not more than two, on body outer surface, obstacle avoidance apparatus include base, carrier block, drive mechanism, protecting crust, monitoring camera, laser ranging system, ultrasonic radar, GNSS satellite guider and control circuit, base is hinged by governor motion with body outer surface, carrier block is hinged by governor motion with base upper surface, protecting crust is arranged on carrier block, drive mechanism is arranged on base, monitoring camera, laser ranging system, ultrasonic radar is embedded in protecting crust outer surface, GNSS satellite guider and control circuit are embedded in protecting crust.This new unmanned plane that can effectively mitigate is loaded, and according to unmanned plane self structure and use environment the need for, for unmanned plane auxiliary provides stability and security that unmanned plane operation is improved not less than detection of obstacles and Emergency avoidance control signal in the range of 120 ° of spheres.
Description
Technical field
It is exactly a kind of automatic obstacle-avoiding unmanned plane the present invention relates to a kind of unmanned plane structure.
Background technology
Obtain extremely wide application in the fields such as current unmanned plane is taking photo by plane, geological exploration, daily amusement, but with
And unmanned plane application is goed deep into, find in use, current unmanned plane in the process of running, often lacks the obstacle of active
Thing dodging ability, mainly carries out barrier and evades, so as to cause current unmanned plane in fortune by ground handling operator's operation
To barriers such as aerial flying birds high and because the larger solid obstacle that strong air draught is promoted lacks effective reply during row
Ability, therefore seriously constrain the safety and reliability of unmanned machine equipment operation, for this problem, currently also have by
Increase the equipment such as range unit on unmanned plane and obstacle detection ability is gone forward side by side the practice that professional etiquette keeps away strengthening unmanned plane, but it is this kind of
On the one hand detecting devices is often embedded on unmanned plane, and structure is relatively fixed, and investigative range is limited, if desired carries out 360 ° of detections
When, then detecting devices quantity is more, so as to increased deadweight and the energy consumption of unmanned plane, using flexibility it is poor and to unmanned plane from
Body performance causes large effect, and on the other hand the current this kind of unmanned plane for having clamped obstacle detection equipment is in operation
When, often it is only capable of by single approach detection obstacle signal, but the specifying information of barrier cannot be effectively obtained, therefore easily
Cause because to barrier judge by accident cause unmanned plane misoperation phenomenon occur, cause to evade barrier when serious unsuccessfully, because
This is directed to this present situation, in the urgent need to developing a kind of new unmanned plane structure, to overcome current unmanned plane to exist in use
More than it is not enough.
The content of the invention
For a kind of not enough present on prior art, automatic obstacle-avoiding unmanned plane of present invention offer, new structure composition
Simply, flexible and convenient to use, small, simple structure of conducting oneself with dignity can effectively mitigate unmanned plane load, and according to unmanned plane self structure and
The need for use environment, the need for various unmanned planes operations are flexibly met, can be provided not less than 120 ° of spheres for unmanned plane auxiliary
In the range of detection of obstacles and Emergency avoidance control signal, improve unmanned plane operation stability and security.
To achieve these goals, the present invention is to realize by the following technical solutions：
A kind of automatic obstacle-avoiding unmanned plane, including body and obstacle avoidance apparatus, obstacle avoidance apparatus are not more than two, installed in body outer surface
On, obstacle avoidance apparatus include base, carrier block, drive mechanism, protecting crust, monitoring camera, laser ranging system, ultrasonic wave thunder
Up to, GNSS satellite guider and control circuit, base is hinged by governor motion with body outer surface, and can surround jointed shaft
Carry out 0 ° of -360 ° of rotation, carrier block is hinged by governor motion with base upper surface, and can around jointed shaft carry out 0 ° -
180 ° of rotations, and the rotary shaft of base and carrier block is mutually perpendicular to distribution, protecting crust is arranged on carrier block, and same with carrier block
Axle is distributed, and drive mechanism is arranged on base, and be connected with each governor motion respectively, monitoring camera, laser ranging system, is surpassed
Sound radar is embedded in protecting crust outer surface, and wherein monitoring camera, laser ranging system is distributed on protecting crust front end face,
And monitoring camera, laser ranging system axis are parallel to each other distribution with organism level axis, and positioned at protecting crust front end face
On midline position, ultrasonic radar is some, and wherein protecting crust front end face at least sets two, and symmetrical with protecting crust front end face center line
Distribution, protecting crust rear end face sets at least one simultaneously, and is distributed on protecting crust rear end face, GNSS satellite guider and control
Circuit is embedded in protecting crust, control circuit respectively with drive mechanism, protecting crust, monitoring camera, laser ranging system, ultrasound
The electrical connection of ripple radar, GNSS satellite guider and body circuit system.
Further, when described obstacle avoidance apparatus are one, then the obstacle avoidance apparatus are arranged on the lower surface of body, avoidance
When device is two, then two obstacle avoidance apparatus are distributed in the upper and lower surface of body respectively, and two obstacle avoidance apparatus point
Cloth is in same rectilinear direction.
Further, described ultrasonic radar investigative range is distributed in fan-shaped, and adjacent two ultrasonic radars
Search coverage 3% -10% is overlapped.
This new structure constitutes simple, flexible and convenient to use, small, simple structure of conducting oneself with dignity, and can effectively mitigate unmanned plane load,
And according to unmanned plane self structure and use environment the need for, be flexibly met the need for various unmanned planes run, can be unmanned plane
Auxiliary provides the stabilization that unmanned plane operation is improved not less than detection of obstacles and Emergency avoidance control signal in the range of 120 ° of spheres
Property and security.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description；
Fig. 1 is this new structure schematic diagram.
Specific embodiment
For technological means, creation characteristic, reached purpose and effect for making present invention realization are easy to understand, with reference to specific
Implementation method, is expanded on further the present invention.
A kind of automatic obstacle-avoiding unmanned plane as described in Figure 1, including body 1 and obstacle avoidance apparatus 2, obstacle avoidance apparatus 2 are not more than two
Individual, on the outer surface of body 1, obstacle avoidance apparatus 2 include base 21, carrier block 22, drive mechanism 23, protecting crust 24, monitoring
Camera 25, laser ranging system 26, ultrasonic radar 27, GNSS satellite guider 28 and control circuit 29, base 21 lead to
Overregulate mechanism 3 to be hinged with the outer surface of body 1, and 0 ° of -360 ° of rotation can be carried out around jointed shaft, carrier block 22 is by regulation
Mechanism 3 is hinged with the upper surface of base 21, and can around jointed shaft carry out 0 ° -180 ° rotation, and base 21 and carrier block 22 rotation
Rotating shaft is mutually perpendicular to distribution, and protecting crust 24 is arranged on carrier block 22, and with the coaxial distribution of carrier block 22, drive mechanism 23 installs
On base 21, and it is connected with each governor motion 3 respectively, monitoring camera 25, laser ranging system 26, ultrasonic radar 27 are equal
The outer surface of protecting crust 24 is embedded in, wherein monitoring camera 25, laser ranging system 26 is distributed on the front end face of protecting crust 24, and
Monitoring camera 25, the axis of laser ranging system 26 are parallel to each other distribution with the horizontal axis of body 1, and before protecting crust 24
On end face midline position, ultrasonic radar 27 is some, and wherein the front end face of protecting crust 24 at least sets two, and with the front end of protecting crust 24
Face center line is symmetrical, and the rear end face of protecting crust 24 sets at least one simultaneously, and is distributed on the rear end face of protecting crust 24, GNSS satellite
Guider 28 and control circuit 29 be embedded in protecting crust 24, control circuit 29 respectively with drive mechanism 23, protecting crust 24, prison
Control camera 25, laser ranging system 26, ultrasonic radar 27, GNSS satellite guider 28 and the circuit system of body 1 are electric
Connection.
In the present embodiment, when described obstacle avoidance apparatus 2 are one, then the obstacle avoidance apparatus are arranged on 1 lower surface of body,
When obstacle avoidance apparatus 2 are two, then two obstacle avoidance apparatus 2 are distributed in the upper and lower surface of body 1 respectively, and two avoidances
Device 2 is distributed in same rectilinear direction.
In the present embodiment, the described investigative range of ultrasonic radar 27 is distributed in fan-shaped, and two adjacent ultrasonic wave thunders
Search coverage 3% -10% up to 27 is overlapped.
This is new in the specific implementation, the operation needs first according to unmanned plane, selects the quantity of obstacle avoidance apparatus, then will
Obstacle avoidance apparatus are arranged on unmanned plane, when unmanned plane runs, the front end face of obstacle avoidance apparatus all the time with unmanned plane traffic direction one
Cause, and by obstacle avoidance apparatus front end face, monitoring camera, laser ranging system, ultrasonic radar in unmanned plane just before
Situation in front of side and side carries out visual signal feedbacks, while barrier is detected with the distance of unmanned plane, simultaneously,
To there is friendship in unmanned plane dead astern and side rear and with unmanned plane running orbit in the ultrasonic radar of obstacle avoidance apparatus rear end face
The barrier of point is detected, so as to reach the ability of the comprehensive effectively avoiding barrier of raising unmanned plane.
This new structure constitutes simple, flexible and convenient to use, small, simple structure of conducting oneself with dignity, and can effectively mitigate unmanned plane load,
And according to unmanned plane self structure and use environment the need for, be flexibly met the need for various unmanned planes run, can be unmanned plane
Auxiliary provides the stabilization that unmanned plane operation is improved not less than detection of obstacles and Emergency avoidance control signal in the range of 120 ° of spheres
Property and security.General principle of the invention and principal character and advantages of the present invention has been shown and described above.The industry
Technical staff it should be appreciated that the present invention is not limited to the above embodiments, simply saying described in above-described embodiment and specification
Bright principle of the invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, this
A little changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims
And its equivalent thereof.
Claims (4)
1. a kind of automatic obstacle-avoiding unmanned plane, it is characterised in that：The automatic obstacle-avoiding unmanned plane includes body and obstacle avoidance apparatus, described
Obstacle avoidance apparatus be not more than two, on body outer surface, described obstacle avoidance apparatus include base, carrier block, driving machine
Structure, protecting crust, monitoring camera, laser ranging system, ultrasonic radar, GNSS satellite guider and control circuit, it is described
Base be hinged with body outer surface by governor motion, and can around jointed shaft carry out 0 ° -360 ° rotation, described carrying
Block is hinged by governor motion with base upper surface, and can carry out 0 ° of -180 ° of rotation around jointed shaft, and described base and
The rotary shaft of carrier block is mutually perpendicular to distribution, and described protecting crust is arranged on carrier block, and is coaxially distributed with carrier block, described
Drive mechanism be arranged on base, and be connected with each governor motion respectively, described monitoring camera, laser ranging system,
Ultrasonic radar is embedded in protecting crust outer surface, wherein described monitoring camera, laser ranging system are distributed in protecting crust
On front end face, and monitoring camera, laser ranging system axis are parallel to each other distribution with organism level axis, and positioned at protection
On shell front end face midline position, described ultrasonic radar is some, and wherein protecting crust front end face at least sets two, and with protecting crust
Front end face center line is symmetrical, and protecting crust rear end face sets at least one, and described GNSS satellite guider and control circuit is equal
Be embedded in protecting crust, described control circuit respectively with drive mechanism, protecting crust, monitoring camera, laser ranging system, ultrasound
The electrical connection of ripple radar, GNSS satellite guider and body circuit system.
2. a kind of automatic obstacle-avoiding unmanned plane according to claim 1, it is characterised in that described obstacle avoidance apparatus are
When, then the obstacle avoidance apparatus are arranged on the lower surface of body, and when obstacle avoidance apparatus are two, then two obstacle avoidance apparatus are distributed on respectively
In the upper and lower surface of body, and two obstacle avoidance apparatus are distributed in same rectilinear direction.
3. a kind of automatic obstacle-avoiding unmanned plane according to claim 1, it is characterised in that described ultrasonic radar detection model
Enclose and be distributed in fan-shaped, and the search coverage 3% -10% of two adjacent ultrasonic radars is overlapped.
4. a kind of automatic obstacle-avoiding unmanned plane according to claim 1, it is characterised in that the ultrasonic radar is distributed on anti-
On protective case rear end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138157.6A CN106772396A (en) | 2016-12-12 | 2016-12-12 | A kind of automatic obstacle-avoiding unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138157.6A CN106772396A (en) | 2016-12-12 | 2016-12-12 | A kind of automatic obstacle-avoiding unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106772396A true CN106772396A (en) | 2017-05-31 |
Family
ID=58875453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611138157.6A Pending CN106772396A (en) | 2016-12-12 | 2016-12-12 | A kind of automatic obstacle-avoiding unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106772396A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108021066A (en) * | 2017-12-12 | 2018-05-11 | 成都育芽科技有限公司 | A kind of unmanned vehicle engine start/stop self-control system and application method |
| CN108860635A (en) * | 2018-08-14 | 2018-11-23 | 鄂州职业大学 | A kind of winged control automatic fault avoidnig device of the unmanned plane facilitating adjusting |
| CN109765563A (en) * | 2019-01-15 | 2019-05-17 | 北京百度网讯科技有限公司 | A kind of ultrasonic radar array, obstacle detection method and system |
| CN109801484A (en) * | 2019-01-19 | 2019-05-24 | 国网吉林省电力有限公司信息通信公司 | A kind of emergency communication UAV system and emergency communication system |
| CN110123211A (en) * | 2019-05-15 | 2019-08-16 | 湖南格兰博智能科技有限责任公司 | A kind of distance measuring structure of intelligent sweeping machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898698A (en) * | 2015-05-22 | 2015-09-09 | 中国科学院长春光学精密机械与物理研究所 | Rotor-wing-type unmanned aerial vehicle automatic obstacle-avoiding device |
| CN205203413U (en) * | 2015-12-10 | 2016-05-04 | 天津艾思科尔科技有限公司 | Unmanned aerial vehicle with keep away obstacle function by oneself |
| CN105807786A (en) * | 2016-03-04 | 2016-07-27 | 深圳市道通智能航空技术有限公司 | UAV automatic obstacle avoidance method and system |
| CN105911561A (en) * | 2016-06-30 | 2016-08-31 | 西安交通大学 | Unmanned aerial vehicle obstacle avoiding device and method based on laser radar |
| CN105955303A (en) * | 2016-07-05 | 2016-09-21 | 北京奇虎科技有限公司 | UAV autonomous obstacle avoidance method and device |
-
2016
- 2016-12-12 CN CN201611138157.6A patent/CN106772396A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898698A (en) * | 2015-05-22 | 2015-09-09 | 中国科学院长春光学精密机械与物理研究所 | Rotor-wing-type unmanned aerial vehicle automatic obstacle-avoiding device |
| CN205203413U (en) * | 2015-12-10 | 2016-05-04 | 天津艾思科尔科技有限公司 | Unmanned aerial vehicle with keep away obstacle function by oneself |
| CN105807786A (en) * | 2016-03-04 | 2016-07-27 | 深圳市道通智能航空技术有限公司 | UAV automatic obstacle avoidance method and system |
| CN105911561A (en) * | 2016-06-30 | 2016-08-31 | 西安交通大学 | Unmanned aerial vehicle obstacle avoiding device and method based on laser radar |
| CN105955303A (en) * | 2016-07-05 | 2016-09-21 | 北京奇虎科技有限公司 | UAV autonomous obstacle avoidance method and device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108021066A (en) * | 2017-12-12 | 2018-05-11 | 成都育芽科技有限公司 | A kind of unmanned vehicle engine start/stop self-control system and application method |
| CN108021066B (en) * | 2017-12-12 | 2021-07-02 | 临沂边锋自动化设备有限公司 | Unmanned vehicle engine start-stop autonomous control system and use method |
| CN108860635A (en) * | 2018-08-14 | 2018-11-23 | 鄂州职业大学 | A kind of winged control automatic fault avoidnig device of the unmanned plane facilitating adjusting |
| CN109765563A (en) * | 2019-01-15 | 2019-05-17 | 北京百度网讯科技有限公司 | A kind of ultrasonic radar array, obstacle detection method and system |
| CN109765563B (en) * | 2019-01-15 | 2021-06-11 | 北京百度网讯科技有限公司 | Ultrasonic radar array, obstacle detection method and system |
| US11933893B2 (en) | 2019-01-15 | 2024-03-19 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Ultrasonic radar array, and obstacle detection method and system |
| CN109801484A (en) * | 2019-01-19 | 2019-05-24 | 国网吉林省电力有限公司信息通信公司 | A kind of emergency communication UAV system and emergency communication system |
| CN110123211A (en) * | 2019-05-15 | 2019-08-16 | 湖南格兰博智能科技有限责任公司 | A kind of distance measuring structure of intelligent sweeping machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106772396A (en) | A kind of automatic obstacle-avoiding unmanned plane | |
| CN108279702A (en) | A kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell | |
| CN204515537U (en) | A kind of radar observation system of leaving a blank based on unmanned vehicle | |
| CN106324651B (en) | A kind of radiation-resource intelligent search engine and its working method | |
| CN110390847B (en) | Safety retraction lanyard for remote learning | |
| CN106980319A (en) | Unmanned boat based on nobody machine integrated obstacle avoidance system | |
| JP2017210156A (en) | Unmanned aircraft | |
| CN107797561A (en) | A kind of explosion prevention robot cruising inspection system and method | |
| CN205028162U (en) | Unmanned aerial vehicle initiative safety device | |
| CN205203413U (en) | Unmanned aerial vehicle with keep away obstacle function by oneself | |
| CN111494847B (en) | Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot | |
| CN109292091A (en) | A kind of explosion-proof unmanned aerial vehicle that underground coal mine uses | |
| CN105480417A (en) | Intelligent unmanned aerial vehicle | |
| EP3683780A1 (en) | Obstacle detection using camera mounted on protrusion of vehicle | |
| CN212302292U (en) | Intelligence fire control dolly based on STM32 | |
| CN108762298A (en) | A kind of aquatic unmanned aerial vehicle landing self-control system | |
| CN109162879A (en) | Unmanned plane, which is controlled, by multisensor carries out fan blade detection method and system | |
| CN205912187U (en) | Visual identification device | |
| CN208602704U (en) | A kind of construction quality evidence obtaining photo taking type unmanned plane | |
| CN107247120A (en) | A kind of environment exploring robot | |
| CN212540695U (en) | Unmanned aerial vehicle carries laser rangefinder | |
| CN207473409U (en) | A kind of intelligent inspection robot | |
| CN205910595U (en) | Unmanned aerial vehicle keeps away barrier system based on machine vision | |
| CN208126591U (en) | A kind of building monitoring and warning device based on wireless location | |
| CN207367327U (en) | A kind of Internet of Things safety-protection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |