CN108700646A - Method for detecting position, device, rotating radar system and unmanned plane - Google Patents
Method for detecting position, device, rotating radar system and unmanned plane Download PDFInfo
- Publication number
- CN108700646A CN108700646A CN201780011452.1A CN201780011452A CN108700646A CN 108700646 A CN108700646 A CN 108700646A CN 201780011452 A CN201780011452 A CN 201780011452A CN 108700646 A CN108700646 A CN 108700646A
- Authority
- CN
- China
- Prior art keywords
- rotating radar
- grid
- pulse signal
- rotating
- radar
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
Abstract
The invention discloses a kind of method for detecting position, device, rotating radar system and unmanned plane, which is applied to rotating radar, and the method for detecting position includes:The initial position of S101, the calibration rotating radar;S103, on the basis of the initial position, pulse signal that device for recording and detecting is exported;S105, according to the quantity of the pulse signal, determine the current location of the rotating radar.The present invention devises a kind of method for detecting position, device, rotating radar system and the unmanned plane of the rotation position that can precisely detect rotating radar, by being calculated in initial position and the quantity of pulse signal that is exported in conjunction with detection device in rotating radar, it can determine the current location of rotating radar, so as to not interfered by extraneous factor, position that is accurate, steadily detecting rotating radar.
Description
Technical field
The present invention relates to location detecting technology field more particularly to a kind of method for detecting position, device, rotating radar systems
And unmanned plane.
Background technology
With the continuous development of each technical field such as electronic technology, airmanship, charging technique, engine technology, nothing
Man-machine application is more and more extensive.Unmanned plane plant protection application in, often using to airborne radar come sensorcraft with
The height on ground, and terrain following function of the unmanned plane in plant protection operation is realized by result of detection.In addition, at nobody
When machine realizes the functions such as avoidance, height-lock control, it also can all use and arrive airborne radar.Unmanned plane would generally be come real using several radars
The detection of existing different directions, can also realize the detection of wide scope using rotating radar.And it is detected using rotating radar
When, since it is ceaselessly rotated, detection direction can be caused also ceaselessly to change.
Therefore, in the application of rotating radar, it is necessary to know the specific rotation position of rotating radar is so that it is determined that rotation
The detection direction of radar.In existing technical solution, the position detection of rotating radar is typically all to use linearly suddenly in unmanned plane
Your sensor realizes, however, that there are errors is larger for the detection method of linear hall sensor, precision is not high, is easily lost position
The problems such as setting, and being easy by magnetic interference.
Invention content
In view of this, the present invention provides a kind of method for detecting position, device, rotating radar system and unmanned plane, it can
Efficiently solve above-mentioned technical problem.
According to a first aspect of the embodiments of the present invention, a kind of method for detecting position is provided, rotating radar is applied to, it is described
Method for detecting position includes:
Calibrate the initial position of the rotating radar;
On the basis of the initial position, pulse signal that device for recording and detecting is exported;
According to the quantity of the pulse signal, the current location of the rotating radar is determined.
According to a second aspect of the embodiments of the present invention, a kind of position detecting device is provided, rotating radar is applied to, it is described
Position detecting device includes:
Photoelectric sensor is connected with the rotating body of the rotating radar, and for generating pulse signal;
Grating disc is connected with the fixed pedestal of the rotating radar;
Processor, the current location for handling the pulse signal and the determining rotating radar.
According to a third aspect of the embodiments of the present invention, a kind of rotating radar system, including rotating radar and position are provided
Detection device, the position detecting device include:
Photoelectric sensor is connected with the rotating body of the rotating radar, and the rotating radar is followed to rotate and rotate,
And for generating pulse signal;
Grating disc is connected with the fixed pedestal of the rotating radar;
Processor, the current location for handling the pulse signal and the determining rotating radar.
According to a fourth aspect of the embodiments of the present invention, a kind of unmanned plane, including body and tripod, the unmanned plane are provided
Further include rotating radar and applied to the rotating radar such as above-mentioned position detecting device.
The present invention devises a kind of method for detecting position and device of the rotation position that can precisely detect rotating radar, leads to
It crosses in rotating radar in initial position and is calculated in conjunction with the quantity for the pulse signal that detection device is exported, it may be determined that rotation
The current location for turning radar, so as to not interfered by extraneous factor, position that is accurate, steadily detecting rotating radar.
A kind of rotating radar system has also been devised in the present invention, the rotating radar system by processor rotating radar according to
The quantity for the pulse signal that initial position and combination detection device are exported, handles pulse signal and simultaneously determines the current of rotating radar
Position, so as to not interfered by extraneous factor, position that is accurate, steadily detecting rotating radar.
A kind of unmanned plane has also been devised in the present invention, which includes rotating radar and the position applied to the rotating radar
Set detection device.
The present invention is by demarcating rotating radar in initial position, and the pulse signal exported in conjunction with detection device
Quantity calculated, it may be determined that the current location of rotating radar, it is accurate, steady so as to not interfered by extraneous factor
Surely the position of rotating radar is detected.
Description of the drawings
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of flow chart of method for detecting position shown in an exemplary embodiment of the invention;
Fig. 2 is a kind of flow chart of method for detecting position shown in another exemplary embodiment of the present invention;
Fig. 3 is a kind of flow chart of method for detecting position shown in another exemplary embodiment of the present invention;
Fig. 4 is a kind of flow chart of method for detecting position shown in another exemplary embodiment of the present invention;
Fig. 5 is the cut-away section signal of a kind of rotating radar and detection device shown in an exemplary embodiment of the invention
Figure;
Fig. 6 is the structural schematic diagram of a kind of rotating radar and detection device shown in an exemplary embodiment of the invention;
Fig. 7 is the side view of a kind of rotating radar and detection device shown in an exemplary embodiment of the invention;
Fig. 8 is a kind of overall structure diagram of unmanned plane shown in an exemplary embodiment of the invention.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
It is the purpose only merely for description specific embodiment in terminology used in the present invention, is not intended to limit the invention.
It is also intended to including majority in the present invention and "an" of singulative used in the attached claims, " described " and "the"
Form, unless context clearly shows that other meanings.It is also understood that term "and/or" used herein refers to and wraps
Containing one or more associated list items purposes, any or all may be combined.
Below in conjunction with the accompanying drawings, the method for detecting position of the present invention, device, rotating radar system and unmanned plane are carried out detailed
Explanation.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.
As shown in Figure 1, Fig. 1 is a kind of flow chart of method for detecting position shown in an exemplary embodiment of the invention.This
The method for detecting position of inventive embodiments, is applied to rotating radar, and the method for detecting position includes:
The initial position of S101, the calibration rotating radar.
In the present embodiment, method for detecting position of the invention is completed by rotating radar and detection device cooperation.Wherein,
The rotating radar includes fixed pedestal and the rotating body that is assemblied on the fixed pedestal, which can be relatively fixed
Pedestal rotates.Detection device includes photoelectric sensor and grating disc, which is fixed on fixed pedestal, and photoelectric sensor is fixed
In rotating body, which is circular disk body structure, and rotating body is dynamic by shaft rotation of the center of grating disc.
The grating disc is equipped with reference grid, which is the initial position of rotating radar, in one embodiment,
It is more than the width of the pulse signal by other grids by the width of the pulse signal of the reference grid.In another reality
It applies in example, the width of the pulse signal by other grids is less than by the width of the pulse signal of the reference grid.
In the present invention, which passes through the pulse signal of initial position and the signal width of other grids
Difference, to determine the initial position of rotating radar by the pulse signal of the different in width detected.
In one embodiment, step S101 is specifically included:When receiving the pulse signal by the reference grid for the first time
When, determine that the position of the reference grid is initial position.
S103, on the basis of the initial position, pulse signal that device for recording and detecting is exported.
In the present embodiment, the edge of grating disc is additionally provided with multiple grids equidistantly arranged, and reference grid is located at multiple grid
Between lattice, the spacing in the grating disc between two neighboring grid is equal.The pulse signal passes through for the photoelectric sensor
The grid of the grating disc and export.Wherein, the photoelectric sensor often passes through a grid of the grating disc, then exports one
A pulse signal.
In another embodiment, detection device of the invention can also include electric transducer and contact plate.Wherein, the fax
It is circular disk body structure that sensor, which has conductive haptic element, the contact plate, and the edge of the contact plate is arranged at intervals with conductive grid, those
Conductive grid spaced set in order to the position to rotating radar accurate detection.Pulse signal is contacted with tactile for conductive haptic element
It puts the conductive grid on disk and exports.When rotating radar rotates, the conductive haptic element of electric transducer sequentially passes through on contact plate
Conductive grid, wherein conductive haptic element often electrically contacts to a conductive grid on the contact plate, then exports an arteries and veins
Rush information number.
Certainly, detection device of the present invention is not limited to above two embodiment, meets and coordinates with rotating radar, can export
The embodiment of pulse signal is suitable for the invention method for detecting position.
After having calibrated the initial position of rotating radar, i.e., on the basis of the initial position, since initial position remember
The pulse signal that record detection device is exported.
S105, according to the quantity of the pulse signal, determine the current location of the rotating radar.
In the present embodiment, after rotating radar opens work, rotating radar starts to rotate, by detecting rotating radar rotation
Unlike signal when to initial position, may be implemented at this time calibration rotating radar initial position, that is, determine the rotating radar from
Initial position starts to rotate.And on the basis of the initial position, the pulse signal that the detection device is exported, i.e. photoelectric transfer are recorded
The pulse signal of sensor output.Finally, according to pulse signal quantity, and the pass by calculating number of pulses and rotating radar rotation
System, may thereby determine that the current location of rotating radar.
In one embodiment, of the invention as shown in Fig. 2, above-mentioned steps S105 can be further embodied as step
Method for detecting position can also include:
S201, according to the quantity of the grid in the quantity and the grating disc of the pulse signal, calculate the rotation
The rotational angle of radar.
In the present embodiment, the grid quantity on the grating disc can be by passing through initial position to second by just for the first time
The quantity of received pulse signal obtains during beginning position.Certainly, the grid quantity on the grating disc can also pass through
It is pre-stored within the memory of unmanned plane and obtains.
Wherein, the central angle between two neighboring grid can be calculated by the grid quantity of the grating disc of acquisition, such as
This can calculate the rotating radar according to the product of the central angle of the quantity and two neighboring grid of the pulse signal of record
Rotational angle.
S203, according to the rotational angle and the initial position, determine the current location of the rotating radar.
In the present embodiment, according to the coordinate data of pre-stored initial position, so that it is determined that the rotating radar is current
Position.Wherein, the current location of rotating radar is specifically presently in the position of grid including the photoelectric sensor on rotating radar
It sets.After determining the information of initial position, according to the angle that rotating radar relative initial position rotates, so as to calculate this
The current location of rotating radar.Certainly, the angle rotated according to rotating radar relative initial position, can also calculate the rotation
The number of turns of radar rotation.In addition, the number of turns of rotating radar rotation can also be by record by the pulse signal of reference grid
Quantity determines.
In the present embodiment, after rotating radar opens work, rotating radar starts to rotate, by detecting rotating radar rotation
The initial position of calibration rotating radar may be implemented in different data when to initial position or signal at this time, that is, determines the rotation
Radar is rotated since initial position.Further, when receiving the pulse signal by the reference grid for the first time, confirm
The position of the reference grid is initial position.And on the basis of the initial position, the pulse that the detection device is exported is recorded
The pulse signal of signal, i.e. photoelectric sensor output.Finally, according to the grid in the quantity of the pulse signal and the grating disc
The quantity of lattice calculates the rotational angle of the rotating radar, according to the rotational angle and the initial position, determine described in
The current location of rotating radar.
In another embodiment, as shown in figure 3, above-mentioned steps S105 can be further embodied as step, the present invention
Method for detecting position can also include:
S301, according to the quantity of the grid in the quantity and the grating disc of the pulse signal, calculate and the rotation
Turn the corresponding current grid in current location of radar.
Grid quantity on the grating disc can pass through initial position process by passing through initial position for the first time to second
In the quantity of received pulse signal obtain.Certainly, the grid quantity on the grating disc can also by using it is specific
Grating disc is preset.
Wherein, it according to the grid quantity of the grating disc by acquisition, and according to the information of initial position, can calculate every
The location information of a grid.It is of course also possible to by unmanned plane memory prestore the location information of each grid.Into one
Step ground, according to the grid quantity of the grating disc by acquisition, which can calculate between two neighboring grid
Central angle, can so be calculated according to the product of the central angle of the quantity and two neighboring grid of the pulse signal of record
Current grid corresponding with the current location of the rotating radar.
S303, the current location that the rotating radar is determined according to the current grid.
In the present embodiment, the quantity of the pulse signal quantity of above-mentioned record and the grid on the grating disc of acquisition can deposit
In memory, and the location information of each grid can be calculated in storage by processor, and can work as front gate according to described
Lattice determine the current location of the rotating radar.
In the present embodiment, after rotating radar opens work, rotating radar starts to rotate, by detecting rotating radar rotation
The initial position of calibration rotating radar may be implemented in different data when to initial position or signal at this time, that is, determines the rotation
Radar is rotated since initial position.Further, when receiving the pulse signal by the reference grid for the first time, confirm
The position of the reference grid is initial position.And on the basis of the initial position, the pulse that the detection device is exported is recorded
The pulse signal of signal, i.e. photoelectric sensor output.Finally, according to the grid in the quantity of the pulse signal and the grating disc
The quantity of lattice calculates current grid corresponding with the current location of the rotating radar;And it is true according to the current grid
The current location of the fixed rotating radar.
It in a further alternative embodiment, should as shown in figure 4, above-mentioned steps S303 can be further embodied as step
Method for detecting position further includes:
S401, according to the quantity of the grid in the quantity and the grating disc of the pulse signal, calculate and the rotation
Turn the corresponding current grid in current location of radar.
Grid quantity on the grating disc can pass through initial position process by passing through initial position for the first time to second
In the quantity of received pulse signal obtain.Certainly, the grid quantity on the grating disc can also be by being pre-stored within
The memory of unmanned plane and obtain.
Wherein, it according to the grid quantity of the grating disc by acquisition, and according to the information of initial position, can calculate every
The location information of a grid.It is of course also possible to by unmanned plane memory prestore the location information of each grid.Into one
Step ground, according to the grid quantity of the grating disc by acquisition, which can calculate between two neighboring grid
Central angle, can so be calculated according to the product of the central angle of the quantity and two neighboring grid of the pulse signal of record
Current grid corresponding with the current location of the rotating radar.
S403, the correspondence and current grid with the rotating radar position are numbered according to scheduled grid, determines institute
State the current location of rotating radar.
In the present embodiment, the method for detecting position can by memory prestore each grid grid number and
The corresponding location information of each grid, and by obtaining the current grid on rotating radar where photoelectric sensor, so as to
Determine the current location of rotating radar, the i.e. location information of photoelectric sensor.
In the embodiment, after rotating radar opens work, rotating radar starts to rotate, by detecting rotating radar rotation
The initial position of calibration rotating radar may be implemented in different data when to initial position or signal at this time, that is, determines the rotation
Radar is rotated since initial position.Further, when receiving the pulse signal by the reference grid for the first time, confirm
The position of the reference grid is initial position.And on the basis of the initial position, the pulse that the detection device is exported is recorded
The pulse signal of signal, i.e. photoelectric sensor output.Finally, according to the grid in the quantity of the pulse signal and the grating disc
The quantity of lattice calculates current grid corresponding with the current location of the rotating radar;According to scheduled grid number with
The correspondence and current grid of the rotating radar position, determine the current location of the rotating radar.
Further, method for detecting position of the invention further includes:According to the current location of the rotating radar, control
It makes the rotating radar and turns to target location, so as to realize the control of remote signal and navigation signal to unmanned plane.
In an alternative embodiment, the method for detecting position is according to the position between the current location and the target location
Relationship is set, the rotating radar rotation corresponding angle is controlled.In the embodiment, target location is preset, it is current by calculating
The angle between rotational angle and two neighboring grid needed between position and target location, to according to rotating radar
The rotational angle needed for target location is turned to, the rotational angle of the rotating radar is controlled.
In a further alternative embodiment, the method for detecting position is according to target grid corresponding with the target location,
It controls the rotating radar and turns to the target grid.In the embodiment, the corresponding target grid in target location is obtained, and
By calculating current location to pulse signal quantity required between target grid, finally by the recorded pulse signal of control
Quantity turns to target location to control rotating radar.
Further, method for detecting position of the invention further includes:On the basis of the initial position of calibration, rotation thunder is obtained
Up to the rotation time turned to from initial position needed for current location;And according to the rotational angle of the rotating radar, calculate institute
State the angular speed of rotating radar.
The present invention devises a kind of method for detecting position for the rotation position that can precisely detect rotating radar, by revolving
Turn radar to be calculated in initial position and in conjunction with the quantity for the pulse signal that detection device is exported, it may be determined that rotating radar
Current location, so as to not interfered by extraneous factor, position that is accurate, steadily detecting rotating radar.
As shown in Figures 5 to 7, another aspect according to the ... of the embodiment of the present invention, additionally provides a kind of position detecting device, should
Position detecting device is applied to rotating radar 10, which includes:Photoelectric sensor 30, grating disc 20 and processing
Device.Rotating radar 10 includes fixed pedestal 11 and the rotating body 12 being assemblied on the fixed pedestal 11.
Wherein, photoelectric sensor 30 is connected with the rotating body 12 of the rotating radar 10, and for generating pulse letter
Number.Grating disc 20 is connected with the fixed pedestal 11 of the rotating radar 10, which is circular disk body structure, and rotation is originally
Body 12 is dynamic by shaft rotation of the center of grating disc 20.Processor is used to handle the pulse signal and determines the rotating radar 10
Current location.
The edge of the grating disc 20 of the present invention is equipped with multiple grids 21 equidistantly arranged, which is the photoelectricity
Sensor 30 is exported by the grid 21 of the grating disc 20.Wherein, the photoelectric sensor 30 often passes through the grating disc
20 grid 21 then exports a pulse signal.
The grating disc 20 is equipped with reference grid 22, which is the initial position of rotating radar 10, one
In embodiment, the pulse signal for passing through other grids 21 is more than by the width of the pulse signal of the reference grid 22
Width.In another embodiment, it is less than by the width of the pulse signal of the reference grid 22 and passes through other described grids 21
Pulse signal width.In the present invention, the signal which passes through the pulse signal and other grids 21 of initial position
The difference of width, to determine the initial position of rotating radar 10 by the pulse signal of the different in width detected.
After rotating radar 10 opens work, rotating radar 10 starts to rotate, and processor is by detecting 10 turns of rotating radar
The initial position of calibration rotating radar 10 may be implemented in different data when moving to initial position or signal at this time, that is, determining should
Rotating radar 10 is rotated since initial position.Further, which is additionally operable to receive for the first time by the benchmark
When the pulse signal of grid 22, confirm that the position of the reference grid 22 is initial position.
And on the basis of the initial position, processor records the pulse signal that the detection device is exported, i.e. photoelectric sensing
The pulse signal that device 30 exports.Finally, processor determines the current location of rotating radar 10 according to pulse signal quantity.
In one embodiment, processor of the invention is according to the grid in the quantity and the grating disc 20 of the pulse signal
The quantity of lattice 21 calculates the rotational angle of the rotating radar 10;And according to the rotational angle and the initial position, really
The current location of the fixed rotating radar 10.In the present embodiment, 21 quantity of grid on the grating disc 20 can be by passing through for the first time
Initial position is crossed to second of the quantity by received pulse signal during initial position to obtain.Certainly, the grating
21 quantity of grid on disk 20 can also be obtained by being pre-stored within the memory of unmanned plane.
Wherein, processor can be calculated by 21 quantity of grid of the grating disc 20 of acquisition between two neighboring grid 21
Central angle, so can according to the product of the central angle of the quantity and two neighboring grid 21 of the pulse signal of record, calculate
Go out the rotational angle of the rotating radar 10.Finally, processor is according to the coordinate data of pre-stored initial position, so that it is determined that
The current location of the rotating radar 10.The current location of rotating radar 10 may include specifically the photoelectric transfer on rotating radar 10
The angle etc. that sensor 30 is presently in the position of grid 21,10 relative initial position of rotating radar rotates.
In another embodiment, processor of the invention is used for quantity and the grating disc 20 according to the pulse signal
On grid 21 quantity, calculate current grid corresponding with the current location of the rotating radar 10 21;And processor
It is additionally operable to determine the current location of the rotating radar 10 according to the current grid 21.In the present embodiment, on the grating disc 20
21 quantity of grid can be believed to second by received pulse during initial position by passing through initial position for the first time
Number quantity obtain.Certainly, 21 quantity of grid on the grating disc 20 can also in advance be set by specific grating disc
It is fixed.
Further, processor is additionally operable to 21 quantity of grid according to the grating disc 20 by acquisition, and according to initial bit
The information set can calculate the location information of each grid 21;It is of course also possible to by prestoring each grid in memory
21 location information.Processor is additionally operable to 21 quantity of grid according to the grating disc 20 by acquisition, which can
To calculate the central angle between two neighboring grid 21, so can according to the quantity of the pulse signal of record with it is two neighboring
The product of the central angle of grid 21 calculates current grid corresponding with the current location of the rotating radar 10 21;And root
The current location of the rotating radar 10 is determined according to the current grid 21.
In a further alternative embodiment, which is additionally operable to according to the number of scheduled grid 21 and the rotating radar 10
The correspondence and current grid 21 of position, determine the current location of the rotating radar 10.In the embodiment, it can pass through
Memory prestore each grid 21 the number of grid 21 and each 21 corresponding location information of grid, and by being rotated
Current grid 21 on radar 10 where photoelectric sensor 30, may thereby determine that the current location of rotating radar 10, i.e. photoelectricity
The location information of sensor 30.
Further, processor of the invention is additionally operable to the current location according to the rotating radar 10, controls institute
It states rotating radar 10 and turns to target location, so as to realize the control of remote signal and navigation signal to unmanned plane.
In an alternative embodiment, which is additionally operable to according to the position between the current location and the target location
Relationship is set, the rotating radar 10 is controlled and rotates corresponding angle.In the embodiment, which presets target location, leads to
The angle between rotational angle and two neighboring grid 21 needed for calculating between current location and target location is crossed, to
The rotational angle needed for target location is turned to according to rotating radar 10, controls the rotational angle of the rotating radar 10.
In a further alternative embodiment, which is used for according to target grid 21 corresponding with the target location,
It controls the rotating radar 10 and turns to the target grid 21.In the embodiment, it is corresponding that processor obtains target location
Target grid 21, and by calculating current location to pulse signal quantity required between target grid 21, finally by control
The pulse signal quantity recorded turns to target location to control rotating radar 10.
Further, processor of the invention is additionally operable on the basis of the initial position of calibration, obtain rotating radar 10 from
Initial position turns to the rotation time needed for current location;And according to the rotational angle of the rotating radar 10, described in calculating
The angular speed of rotating radar 10.
The present invention devises a kind of position detecting device for the rotation position that can precisely detect rotating radar, by revolving
Turn radar to be calculated in initial position and in conjunction with the quantity for the pulse signal that detection device is exported, it may be determined that rotating radar
Current location, so as to not interfered by extraneous factor, position that is accurate, steadily detecting rotating radar.
Another aspect according to an embodiment of the invention additionally provides a kind of rotating radar system, the rotating radar system
Including rotating radar and position detecting device.Wherein, the specific technical solution of the position detecting device of the rotating radar system is such as
Shown in each embodiment in above-mentioned position detecting device, details are not described herein again.
A kind of rotating radar system has also been devised in the present invention, the rotating radar system by processor rotating radar according to
The quantity for the pulse signal that initial position and combination detection device are exported, handles pulse signal and simultaneously determines the current of rotating radar
Position, so as to not interfered by extraneous factor, position that is accurate, steadily detecting rotating radar.
As shown in figure 8, another aspect according to an embodiment of the invention, additionally provides a kind of unmanned plane, the unmanned plane 100
Including body 101 and tripod 102.Further, the unmanned plane 100 further include rotating radar 10 and be applied to the rotating radar
10 position detecting device, the rotating radar 10 are set on the tripod 102.Wherein, the position detection dress of the unmanned plane 100
The specific technical solution set as above is stated shown in each embodiment in position detecting device, and details are not described herein again.
The unmanned plane 100 further includes the horn 103 being set on the body 101 and moving on the horn 103
Power component 104, the Power Component 104 are used to provide flying power for unmanned plane 100.Certainly, in the unmanned plane 100 of the present invention
In, which is not limited to be set on tripod 102, can also be set to the body 101 or horn of unmanned plane 100
103 equal any positions.
A kind of unmanned plane has also been devised in the present invention, which includes rotating radar and the position applied to the rotating radar
Detection device is set, by being counted in initial position and the quantity of pulse signal that is exported in conjunction with detection device in rotating radar
It calculates, it may be determined that the current location of rotating radar, so as to not interfered by extraneous factor, accurate, steadily detection rotation
The position of radar.
Another aspect according to the ... of the embodiment of the present invention, provides a kind of computer readable storage medium, is stored thereon with calculating
The step of machine program, which realizes above-mentioned method for detecting position when being executed by processor.
For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case of making the creative labor, you can to understand and implement.
The description of " specific example " or " some examples " etc. means the specific spy described in conjunction with the embodiment or example
Sign, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned
The schematic representation of term may not refer to the same embodiment or example.Moreover, the specific features of description, structure, material
Or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein sequence that is shown or discussing can not be pressed,
Include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be by the present invention's
Embodiment person of ordinary skill in the field is understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use., " for the purpose of this specification;Ji Suanjikedujiezhi "Can any can include, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following:Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage or
Firmware is realized.For example, if realized with hardware, in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized:With for data-signal realize logic function logic gates from
Logic circuit is dissipated, the application-specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-mentioned implementation carries
It is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer readable storage medium
In, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the present invention
System, those skilled in the art can be changed above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (36)
1. a kind of method for detecting position, it is applied to rotating radar, which is characterized in that the method for detecting position includes:
Calibrate the initial position of the rotating radar;
On the basis of the initial position, pulse signal that device for recording and detecting is exported;
According to the quantity of the pulse signal, the current location of the rotating radar is determined.
2. method for detecting position according to claim 1, which is characterized in that the detection device include photoelectric sensor and
Grating disc;
The pulse signal exports for the photoelectric sensor by the grid of the grating disc;Wherein, the photoelectric sensing
Device often passes through a grid of the grating disc, then exports a pulse signal.
3. method for detecting position according to claim 2, which is characterized in that the grating disc is equipped with reference grid,
In, the width of the pulse signal by other grids is more than by the width of the pulse signal of the reference grid.
4. method for detecting position according to claim 2, which is characterized in that the grating disc is equipped with reference grid,
In, the width of the pulse signal by other grids is less than by the width of the pulse signal of the reference grid.
5. method for detecting position according to claim 3 or 4, which is characterized in that described to calibrate the first of the rotating radar
Beginning position, including:
When receiving the pulse signal by the reference grid for the first time, confirm that the position of the reference grid is initial bit
It sets.
6. method for detecting position according to claim 2, which is characterized in that the quantity according to the pulse signal,
Determine the current location of the rotating radar, including:
According to the quantity of the grid in the quantity of the pulse signal and the grating disc, the rotation of the rotating radar is calculated
Angle;
According to the rotational angle and the initial position, the current location of the rotating radar is determined.
7. method for detecting position according to claim 2, which is characterized in that the quantity according to the pulse signal,
Determine the current location of the rotating radar, including:
According to the quantity of the grid in the quantity of the pulse signal and the grating disc, calculates and work as with the rotating radar
The corresponding current grid in front position;
The current location of the rotating radar is determined according to the current grid.
8. method for detecting position according to claim 7, which is characterized in that the grating disc is arranged on fixed pedestal,
The current location that the rotating radar is determined according to current grid, including:
According to the correspondence and current grid of scheduled grid number and the rotating radar position, the rotating radar is determined
Current location.
9. according to claim 1 to 8 any one of them method for detecting position, which is characterized in that further include:
According to the current location of the rotating radar, controls the rotating radar and turn to target location.
10. method for detecting position according to claim 9, the control rotating radar turns to target location and also wraps
It includes:
According to the position relationship between the current location and the target location, the rotating radar rotation corresponding angles are controlled
Degree.
11. method for detecting position according to claim 9, the control rotating radar turns to target location and also wraps
It includes:
According to target grid corresponding with the target location, controls the rotating radar and turn to the target grid.
12. a kind of position detecting device, it is applied to rotating radar, which is characterized in that the position detecting device includes:
Photoelectric sensor is connected with the rotating body of the rotating radar, and for generating pulse signal;
Grating disc is connected with the fixed pedestal of the rotating radar;
Processor, the current location for handling the pulse signal and the determining rotating radar.
13. position detecting device according to claim 12, which is characterized in that the pulse signal is the photoelectric sensing
Device is exported by the grid of the grating disc;Wherein, the photoelectric sensor often passes through a grid of the grating disc, then
Export a pulse signal.
14. position detecting device according to claim 13, which is characterized in that the grating disc is equipped with reference grid,
Wherein, the width of the pulse signal by other grids is more than by the width of the pulse signal of the reference grid.
15. position detecting device according to claim 13, which is characterized in that the grating disc is equipped with reference grid,
Wherein, the width of the pulse signal by other grids is less than by the width of the pulse signal of the reference grid.
16. the position detecting device according to claims 14 or 15, which is characterized in that the processor is additionally operable to ought be for the first time
When receiving the pulse signal by the reference grid, confirm that the position of the reference grid is initial position.
17. position detecting device according to claim 13, which is characterized in that the processor is additionally operable to according to the arteries and veins
The quantity for rushing the quantity and the grid on the grating disc of signal, calculates the rotational angle of the rotating radar;And according to institute
It states rotational angle and the initial position determines the current location of the rotating radar.
18. position detecting device according to claim 13, which is characterized in that the processor is additionally operable to according to the arteries and veins
The quantity for rushing the quantity and the grid on the grating disc of signal calculates corresponding with the current location of the rotating radar
Current grid;And the current location of the rotating radar is determined according to the current grid.
19. position detecting device according to claim 18, which is characterized in that the processor is additionally operable to according to scheduled
Grid numbers the correspondence and current grid with the rotating radar position, determines the current location of the rotating radar.
20. the position detecting device according to any one of claim 12 to 19, which is characterized in that the processor is also used
In the current location according to the rotating radar, controls the rotating radar and turn to target location.
21. position detecting device according to claim 20, which is characterized in that the processor is additionally operable to work as according to
Position relationship between front position and the target location controls the rotating radar rotation corresponding angle.
22. position detecting device according to claim 20, which is characterized in that the processor be additionally operable to according to it is described
The corresponding target grid in target location controls the rotating radar and turns to the target grid.
23. a kind of rotating radar system, which is characterized in that including rotating radar and position detecting device, the position detection dress
Set including:
Photoelectric sensor is connected with the rotating body of the rotating radar, follows the rotating radar to rotate and rotate, is used in combination
In generation pulse signal;
Grating disc is connected with the fixed pedestal of the rotating radar;
Processor, the current location for handling the pulse signal and the determining rotating radar.
24. rotating radar system according to claim 23, which is characterized in that the pulse signal is the photoelectric sensing
Device is exported by the grid of the grating disc;Wherein, the photoelectric sensor often passes through a grid of the grating disc, then
Export a pulse signal.
25. rotating radar system according to claim 24, which is characterized in that the grating disc is equipped with reference grid,
Wherein, the width of the pulse signal by other grids is more than by the width of the pulse signal of the reference grid.
26. rotating radar system according to claim 24, which is characterized in that the grating disc is equipped with reference grid,
Wherein, the width of the pulse signal by other grids is less than by the width of the pulse signal of the reference grid.
27. the rotating radar system according to claim 25 or 26, which is characterized in that the processor is additionally operable to ought be for the first time
When receiving the pulse signal by the reference grid, confirm that the position of the reference grid is initial position.
28. rotating radar system according to claim 24, which is characterized in that the processor is additionally operable to according to the arteries and veins
The quantity for rushing the quantity and the grid on the grating disc of signal, calculates the rotational angle of the rotating radar;And according to institute
It states rotational angle and the initial position determines the current location of the rotating radar.
29. rotating radar system according to claim 24, which is characterized in that the processor is additionally operable to according to the arteries and veins
The quantity for rushing the quantity and the grid on the grating disc of signal calculates corresponding with the current location of the rotating radar
Current grid;And the current location of the rotating radar is determined according to the current grid.
30. rotating radar system according to claim 29, which is characterized in that the processor is additionally operable to according to scheduled
Grid numbers the correspondence and current grid with the rotating radar position, determines the current location of the rotating radar.
31. the rotating radar system according to any one of claim 23 to 30, which is characterized in that the processor is also used
In the current location according to the rotating radar, controls the rotating radar and turn to target location.
32. rotating radar system according to claim 31, which is characterized in that the processor is additionally operable to work as according to
Position relationship between front position and the target location controls the rotating radar rotation corresponding angle.
33. rotating radar system according to claim 31, which is characterized in that the processor be additionally operable to according to it is described
The corresponding target grid in target location controls the rotating radar and turns to the target grid.
34. a kind of unmanned plane, including body and tripod, which is characterized in that the unmanned plane further includes rotating radar and is applied to
The position detecting device as described in claim 12 to 22 of the rotating radar.
35. unmanned plane according to claim 34, which is characterized in that the rotating radar is set on the tripod.
36. a kind of computer readable storage medium, is stored thereon with computer program, power is realized when which is executed by processor
Profit requires the step of detection method of 1 to 11 any one of them rotating radar.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/117007 WO2019119227A1 (en) | 2017-12-18 | 2017-12-18 | Position detection method and device, rotary radar system, and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108700646A true CN108700646A (en) | 2018-10-23 |
Family
ID=63843846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780011452.1A Pending CN108700646A (en) | 2017-12-18 | 2017-12-18 | Method for detecting position, device, rotating radar system and unmanned plane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108700646A (en) |
| WO (1) | WO2019119227A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111486811A (en) * | 2019-01-25 | 2020-08-04 | 科沃斯机器人股份有限公司 | Distance measurement module, distance measurement method thereof and cleaning robot |
| CN112313538A (en) * | 2019-11-05 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Target detection method, radar, device and storage medium |
| WO2021092722A1 (en) * | 2019-11-11 | 2021-05-20 | 深圳市大疆创新科技有限公司 | Radar assembly, unmanned aerial vehicle, obstacle detection method, device, and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111044982B (en) * | 2019-12-23 | 2021-09-28 | 广东纳睿雷达科技股份有限公司 | Radar azimuth positioning method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103339797A (en) * | 2010-09-13 | 2013-10-02 | 无线电物理解决方案有限公司 | Improvements in or relating to millimeter and sub-millimeter wave radar-radiometric imaging |
| CN103837095A (en) * | 2014-03-18 | 2014-06-04 | 华中科技大学 | Three-dimensional laser scanning method and device |
| CN104965099A (en) * | 2015-06-30 | 2015-10-07 | 深圳乐行天下科技有限公司 | Velocity measurement method and device |
| US20160103205A1 (en) * | 2014-10-14 | 2016-04-14 | Furuno Electric Co., Ltd. | Radar device, radar transmission method, and transmission timing control method |
| CN106524944A (en) * | 2015-09-10 | 2017-03-22 | 河北太行计量检测有限公司 | Non-coaxial circular grating angle measurement device and angle measurement method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912027A (en) * | 2016-06-30 | 2016-08-31 | 西安交通大学 | Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle |
-
2017
- 2017-12-18 CN CN201780011452.1A patent/CN108700646A/en active Pending
- 2017-12-18 WO PCT/CN2017/117007 patent/WO2019119227A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103339797A (en) * | 2010-09-13 | 2013-10-02 | 无线电物理解决方案有限公司 | Improvements in or relating to millimeter and sub-millimeter wave radar-radiometric imaging |
| CN103837095A (en) * | 2014-03-18 | 2014-06-04 | 华中科技大学 | Three-dimensional laser scanning method and device |
| US20160103205A1 (en) * | 2014-10-14 | 2016-04-14 | Furuno Electric Co., Ltd. | Radar device, radar transmission method, and transmission timing control method |
| CN104965099A (en) * | 2015-06-30 | 2015-10-07 | 深圳乐行天下科技有限公司 | Velocity measurement method and device |
| CN106524944A (en) * | 2015-09-10 | 2017-03-22 | 河北太行计量检测有限公司 | Non-coaxial circular grating angle measurement device and angle measurement method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111486811A (en) * | 2019-01-25 | 2020-08-04 | 科沃斯机器人股份有限公司 | Distance measurement module, distance measurement method thereof and cleaning robot |
| CN111486811B (en) * | 2019-01-25 | 2022-01-18 | 科沃斯机器人股份有限公司 | Distance measurement module, distance measurement method thereof and cleaning robot |
| CN112313538A (en) * | 2019-11-05 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Target detection method, radar, device and storage medium |
| WO2021092722A1 (en) * | 2019-11-11 | 2021-05-20 | 深圳市大疆创新科技有限公司 | Radar assembly, unmanned aerial vehicle, obstacle detection method, device, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019119227A1 (en) | 2019-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108700646A (en) | Method for detecting position, device, rotating radar system and unmanned plane | |
| CN109211298A (en) | A kind of transducer calibration method and device | |
| CN110470333B (en) | Calibration method and device of sensor parameters, storage medium and electronic device | |
| CN107788915A (en) | The collision processing method of robot and robot, electronic equipment | |
| CN108332750A (en) | Robot localization method and terminal device | |
| JP6977921B2 (en) | Mapping method, image collection processing system and positioning method | |
| CN111197954B (en) | Absolute position measuring method and device of machine, storage medium and machine | |
| US10718617B2 (en) | Method and apparatus for measuring posture angle of object | |
| CN106956282B (en) | Angular acceleration determines method, apparatus, robot and storage medium | |
| CN116736266B (en) | Code wheel angle method for scanning laser radar | |
| US20190035148A1 (en) | Resolution adaptive mesh that is generated using an intermediate implicit representation of a point cloud | |
| CN110114193A (en) | Robot sensing device and Sensor planning method | |
| CN113703476A (en) | Control method and device for unmanned aerial vehicle air route stress obstacle avoidance | |
| CN107430193A (en) | Distance measuring instrument | |
| CN102466489A (en) | Dot matrix system of multiple piezoelectric sensors and array system of multiple piezoelectric sensors | |
| GB923232A (en) | Parallax interval sensing device | |
| CN110471075A (en) | Radar range finding method, apparatus and terminal device | |
| CN104965099A (en) | Velocity measurement method and device | |
| CN109416251A (en) | Virtual wall construction method and device, map constructing method, mobile electronic equipment based on color lump label | |
| CN108089590A (en) | A kind of unmanned aerial vehicle remote sensing sensor automatic control system and method | |
| CN111136689B (en) | Self-checking method and device | |
| CN110412632B (en) | Method, device and system for determining course of unmanned equipment | |
| CN113156988B (en) | Steering engine angle adjusting method and device, processor and storage medium | |
| CN105093985B (en) | A kind of control sensor powering method | |
| CN108548536A (en) | The dead reckoning method of unmanned intelligent robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181023 |
|
| RJ01 | Rejection of invention patent application after publication |