CN109839938A - A kind of unmanned plane ranging avoidance system based on laser radar - Google Patents
A kind of unmanned plane ranging avoidance system based on laser radar Download PDFInfo
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- CN109839938A CN109839938A CN201711201097.2A CN201711201097A CN109839938A CN 109839938 A CN109839938 A CN 109839938A CN 201711201097 A CN201711201097 A CN 201711201097A CN 109839938 A CN109839938 A CN 109839938A
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Abstract
The present invention relates to a kind of unmanned plane ranging avoidance system based on laser radar, module and control module are avoided including ranging, gesture recognition module, pose adjustment module, information acquisition module and the avoidance execution module that the unmanned plane ranging evacuation module includes message processing module, is connected respectively with the message processing module, the ranging evacuation module is mounted on the lateral wall of unmanned plane main body, and the ranging evacuation module connects the intracorporal control module of unmanned plane master.The present invention is directed to unmanned plane features of movement and environmental characteristic, only focus on 90 ° of sectors of horizontal plane immediately ahead of unmanned plane during flying direction, and there is the area of space of certain level angle, it realizes and effectively detects simultaneously avoiding obstacles under three-dimensional environment, meet the light-weighted demand of unmanned aerial vehicle onboard equipment simultaneously, structure is simple, cost economy.
Description
Technical field
The present invention relates to air vehicle technique fields more particularly to a kind of unmanned plane ranging based on laser radar to avoid system
System.
Background technique
In recent years, Development of UAV is swift and violent.In flight course, flight environment of vehicle information is difficult to predict completely unmanned plane,
It is frequently encountered pop-up threats or obstacle, the global track path at this moment planned in advance has been unable to satisfy requirement.It is expected to reach
Purpose, need to have the function of detecting real-time and avoiding obstacles, path and its surrounding enviroment and threat can be divided
Analysis assessment, plans a reasonable track path again, coordinates unmanned plane by this specified track path flight to avoid front
Obstacle continues to complete task.After 1970's, domestic and international researchers propose many unmanned plane Real Time Obstacle Avoidings successively
The unmanned plane avoidance technology of solution, two-dimensional surface has been achieved for great successes and widely applies, but in three-dimensional
Obstacle scanning and the also rarely seen document of avoiding obstacles in environment.
Summary of the invention
The purpose of the invention is to overcome the deficiencies of the prior art and provide a kind of unmanned plane survey based on laser radar
Away from avoidance system.
The present invention is achieved through the following technical solutions:
A kind of unmanned plane ranging avoidance system based on laser radar, including ranging evacuation module and control module, it is described
It includes message processing module, the gesture recognition mould being connected respectively with the message processing module that unmanned plane ranging, which avoids module,
Block, pose adjustment module, information acquisition module and avoidance execution module, the information acquisition module, for using laser ranging
Array carries out the information collection of stereo scene in multiaxis unmanned plane direction of advance, and the information of acquisition is then transmitted to the information
Processing module, the gesture recognition module, the flight attitude information of multiaxis unmanned plane for identification, and the information recognized is passed
Transport to the message processing module, the message processing module, for receiving and processing from gesture recognition module acquisition
Then information sends the instruction of adjustment obstacle avoidance system posture to pose adjustment module, is also used to receive and process from information collection
The information that module obtains sends avoidance instruction, the pose adjustment module, at according to the information to avoidance execution module
It manages the attitude regulating command that module is sent and pose adjustment, the avoidance execution module, for receiving and holding is carried out to obstacle avoidance system
The avoidance instruction that row is issued from message processing module；
The ranging evacuation module is mounted on the lateral wall of unmanned plane main body, and the ranging evacuation module connects unmanned owner
Intracorporal control module.
Further, the ranging evacuation module remains focused on the horizontal direction immediately ahead of unmanned plane during flying direction, and detects
Survey the area of space of certain angle in vertical direction.
Further, the information acquisition module includes multiple laser beam emitting heads and a reception head.
Further, in the information acquisition module, the reception head is placed in center position；The multiple Laser emission
Head is arranged to array, and each laser beam emitting head is equipped with cylindrical lens, can project straight line hot spot to pay close attention to optical path injection side
The sector of certain angle upwards；If including in horizontal laser beam emitting head and several vertical lasers in the multiple laser beam emitting head
Beam emitting head, wherein the quantity of horizontal laser beam emitting head is more than the quantity of vertical beam of light emitting head；
The cylindrical lens of each horizontal laser light emitting head be integrally in it is horizontally disposed, the horizontal laser light light beam issued is for closing
The sector in front horizontal face is infused, and the horizontal laser light light beam issued has overlapping between each other, more by intermediate more intensive；
Each vertical laser emitting head is for paying close attention to a certain range of barrier of front horizontal line or more, each laser
The whole perpendicular arrangement of the cylindrical lens of emitting head.
Further, the flight attitude information includes the pitch angle of multiaxis unmanned plane, roll angle.
Further, the ranging evacuation module and other unmanned aerial vehicle onboard module cooperative operations.
Compared with prior art, the beneficial effects of the present invention are: the present invention is directed to unmanned plane features of movement and environment
Feature, only focuses on 90 ° of sectors of horizontal plane immediately ahead of unmanned plane during flying direction, and has the area of space of certain level angle, real
Simultaneously avoiding obstacles are effectively detected under present three-dimensional environment, while meeting the light-weighted demand of unmanned aerial vehicle onboard equipment, structure
Simply, cost economy.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of information collection module in the present invention；
Fig. 3 is laser array coverage map in the present invention.
Fig. 4 is pose adjustment modular structure schematic diagram and laser beam lateral plan in the present invention；
Fig. 5 is the working principle of the invention figure.
In figure: 1, information acquisition module, 2, gesture recognition module, 3, pose adjustment module, 4, message processing module, 5, keep away
Hinder execution module, 11, the laser beam emitting head of transverse plane, 12, the laser beam emitting head of fore-and-aft plane, 13, receive head.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Please refer to a kind of Fig. 1-unmanned plane ranging avoidance system based on laser radar shown in Fig. 4, including ranging evacuation
Module and control module, ranging evacuation module include message processing module 4, are connected respectively with message processing module 4
Gesture recognition module 2, pose adjustment module 3, information acquisition module 1 and avoidance execution module 5, the ranging evacuation module installation
In the lateral wall of unmanned plane main body, the ranging evacuation module connects the intracorporal control module of unmanned plane master.
In the present embodiment, information acquisition module 1, for carrying out multiaxis unmanned plane direction of advance using laser ranging array
Then the information of acquisition is transmitted to message processing module 4 by the information collection of stereo scene.
In the present embodiment, gesture recognition module 2 can share the gesture recognition module of multiaxis unmanned plane autogamy, for knowing
The flight attitude information of other multiaxis unmanned plane, and the information recognized is transmitted to message processing module 4, specifically, can know
The information such as other multiaxis unmanned plane pitch angle, roll angle.
In the present embodiment, pose adjustment module 3, attitude regulating command for being sent according to message processing module 4 is to keeping away
Barrier system carries out pose adjustment, so that multiaxis unmanned plane obstacle avoidance system remains focused on the horizontal direction immediately ahead of its heading,
And the area of space of certain angle in vertical direction is detected, as shown in Figure 4.
In the present embodiment, message processing module 4 is obtained for receiving and processing from multiaxis UAV Attitude identification module 2
Information, to pose adjustment module 3 send attitude regulating command so that information acquisition module 1 remain focused on multiaxis unmanned plane fly
Horizontal direction immediately ahead of line direction；It is also used to receive and process the information obtained from information acquisition module 1, to multiaxis unmanned plane
Front carries out the judgement and extraction of barrier detection and aerial flight path, constructs barrier zone and orientation model, and design most
Then excellent avoidance path sends avoidance instruction to avoidance execution module 5, so that multiaxis unmanned plane is completed according to optimal avoidance path
The movement such as deceleration, emergency stop or detour.Avoidance execution module 5 refers to for receiving and executing from the avoidance that message processing module 4 issues
It enables, the movements such as deceleration, emergency stop or detour is completed according to optimal avoidance path.
Specifically, information acquisition module 1, realizes stereo scene information collection in direction of advance using laser ranging array.
The laser ranging array includes the staggered laser beam emitting head of multiple distributions and a reception head placed in the middle.It is filled using Laser emission
It sets from transmitting laser to laser because propagating the time difference encountered barrier on the way and be reflected into reception head, extrapolates front obstacle
Size and orientation.Information acquisition module 1 is by the form regulation system control in obstacle avoidance system, according to the flight of multiaxis unmanned plane
The posture of pose adjustment obstacle avoidance system, realize the detection to multiaxis unmanned plane advance horizontal direction always of information acquisition module 1 and
Information collection.
As shown in Fig. 2, information acquisition module 1 includes multiple laser beam emitting heads and a reception head, the Laser Measuring matrix
Column include the laser beam emitting head 11 of multiple concern transverse planes, the laser beam emitting head 12 and a reception head for paying close attention to fore-and-aft plane
13.Interlaced arrangement forms array to laser beam emitting head as shown in Figure 2, forms horizontal concern laser beam in the horizontal direction, pays close attention to more
Region in front of axis unmanned plane during flying in 90 degree of covering of the fans.Vertical histogram is upwardly formed vertical concern laser beam.Before laser beam emitting head
Equal device cylindrical lens are held, the light of transmitting forms straight line hot spot after superrefraction, and pays close attention to the sector of certain angle.Receive head
13 are placed in center, pay close attention to the laser beam emitting head 11 of horizontal plane, emit light beam interlaced arrangement in horizontal direction, pay close attention to front horizontal side
Into the covering of the fan of certain radius, the region at 90 ° of angles；The laser beam emitting head 12 of concern vertical plane, which is arranged in, receives head 13
Up and down, it and adjusts straight line hot spot in vertical direction, so that it is paid close attention to the Sector Range in vertical direction, as shown in Figure 3.
In the present embodiment, laser beam emitting head 11,12 equal device cylindrical lens project straight line hot spot.Laterally (level) plane
The upper multiple laser beam emitting heads 11 of arrangement, the 30 ° of fan-shaped range inner regions in each emitting head concern front, multiple emitting heads project straight
Linear light spot has different degrees of overlapping, more intensive closer to center, collectively constitutes on front horizontal face 90 ° of sectors in certain radius
Scout region.Less laser beam emitting head 12 is arranged in longitudinal (vertical) plane, in front of each emitting head concern in 15 ° of fan-shaped ranges
Region.Detailed, level concern laser beam is converged by the transmitting light of more laser beam emitting head to be formed, each laser beam emitting head
Cylindrical lens are horizontally disposed, have overlapping between each other, more by intermediate more intensive.To place a fixed number in limited geometric space
The laser beam emitting head of amount, level concern laser beam multiple laser beam emitting heads can not be arranged in same level, only need by
Its incident point is in distalmost end adjustment in same level.Vertical laser beam of paying close attention to is by the transmitting light of less laser beam emitting head
Converge to be formed, be primarily upon a certain range of region of front horizontal line or more, the cylindrical lens of each laser beam emitting head are hung down
Straight arrangement.
As shown in figure 4, the cylindrical lens of laser beam emitting head 111,112 are horizontally disposed, the cylindrical lens of laser beam emitting head 12
Vertical arrangement.
As shown in figure 5, the unmanned plane detects the fan-shaped region of its advance horizontal direction an angle of 90 degrees, according to what is detected
The distance of obstacle distance unmanned plane, by closely to being far respectively divided are as follows: emergency stop area, deceleration area, alert zone and safety zone.
In conclusion the present invention is directed to unmanned plane features of movement and environmental characteristic, unmanned plane during flying direction is being only focused on just
90 ° of sectors in front horizontal face, and have the area of space of certain level angle, realization is effectively detected and is kept away under three-dimensional environment
Barrier is opened, while meeting the light-weighted demand of unmanned aerial vehicle onboard equipment, structure is simple, cost economy.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of unmanned plane ranging avoidance system based on laser radar, it is characterised in that: avoid module and control including ranging
Module, the unmanned plane ranging avoid the appearance that module includes message processing module, is connected respectively with the message processing module
State identification module, pose adjustment module, information acquisition module and avoidance execution module, the information acquisition module, for using
Laser ranging array carries out the information collection of stereo scene in multiaxis unmanned plane direction of advance, is then transmitted to the information of acquisition
The message processing module, the gesture recognition module, the flight attitude information of multiaxis unmanned plane for identification, and will recognize
Information be transmitted to the message processing module, the message processing module, for receiving and processing from the gesture recognition mould
Block obtain information, then to pose adjustment module send adjustment obstacle avoidance system posture instruction, be also used to receive and process from
The information that information acquisition module obtains sends avoidance instruction, the pose adjustment module, for according to institute to avoidance execution module
The attitude regulating command for stating message processing module transmission carries out pose adjustment to obstacle avoidance system, and the avoidance execution module is used for
It receives and executes the avoidance instruction issued from message processing module；
The ranging evacuation module is mounted on the lateral wall of unmanned plane main body, and the ranging evacuation module connects in unmanned plane main body
Control module.
2. a kind of unmanned plane ranging avoidance system based on laser radar according to claim 1, it is characterised in that: described
Ranging evacuation module remains focused on the horizontal direction immediately ahead of unmanned plane during flying direction, and detects certain angle in vertical direction
Area of space.
3. a kind of unmanned plane ranging avoidance system based on laser radar according to claim 1, it is characterised in that: described
Information acquisition module includes multiple laser beam emitting heads and a reception head.
4. a kind of unmanned plane ranging avoidance system based on laser radar according to claim 3, it is characterised in that: in institute
It states in information acquisition module, the reception head is placed in center position；The multiple laser beam emitting head is arranged to array, each described
Laser beam emitting head is equipped with cylindrical lens, can project straight line hot spot to pay close attention to the sector that optical path projects certain angle on direction；Institute
State includes several horizontal laser beam emitting heads and several vertical beam of light emitting heads in multiple laser beam emitting heads, wherein level swashs
The quantity of beam emissions head is more than the quantity of vertical beam of light emitting head；
The cylindrical lens of each horizontal laser light emitting head be integrally in it is horizontally disposed, the horizontal laser light light beam issued for pay close attention to before
The sector of square horizontal plane, and the horizontal laser light light beam issued has overlapping between each other, more by intermediate more intensive；
Each vertical laser emitting head is for paying close attention to a certain range of barrier of front horizontal line or more, each Laser emission
The whole perpendicular arrangement of cylindrical lens of head.
5. a kind of unmanned plane ranging avoidance system based on laser radar according to claim 1, it is characterised in that: described
Flight attitude information includes the pitch angle of multiaxis unmanned plane, roll angle.
6. a kind of unmanned plane ranging avoidance system based on laser radar according to claim 1, it is characterised in that: described
Ranging avoids module and other unmanned aerial vehicle onboard module cooperative operations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711201097.2A CN109839938A (en) | 2017-11-27 | 2017-11-27 | A kind of unmanned plane ranging avoidance system based on laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711201097.2A CN109839938A (en) | 2017-11-27 | 2017-11-27 | A kind of unmanned plane ranging avoidance system based on laser radar |
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| Publication Number | Publication Date |
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| CN109839938A true CN109839938A (en) | 2019-06-04 |
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| CN201711201097.2A Withdrawn CN109839938A (en) | 2017-11-27 | 2017-11-27 | A kind of unmanned plane ranging avoidance system based on laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023025032A1 (en) * | 2021-08-26 | 2023-03-02 | 追觅创新科技(苏州)有限公司 | Data processing method and apparatus, storage medium, electronic apparatus and self-moving device |
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2017
- 2017-11-27 CN CN201711201097.2A patent/CN109839938A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023025032A1 (en) * | 2021-08-26 | 2023-03-02 | 追觅创新科技(苏州)有限公司 | Data processing method and apparatus, storage medium, electronic apparatus and self-moving device |
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Application publication date: 20190604 |
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