CN110389360B - 360-Degree looking-around imaging and laser warning device for small unmanned aerial vehicle - Google Patents
360-Degree looking-around imaging and laser warning device for small unmanned aerial vehicle Download PDFInfo
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- CN110389360B CN110389360B CN201910691772.7A CN201910691772A CN110389360B CN 110389360 B CN110389360 B CN 110389360B CN 201910691772 A CN201910691772 A CN 201910691772A CN 110389360 B CN110389360 B CN 110389360B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 230000003287 optical effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000005357 flat glass Substances 0.000 claims description 3
- 239000010453 quartz Substances 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000002131 composite material Substances 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a 360-degree all-round imaging and laser warning device for a small unmanned aerial vehicle, which comprises a conical reflector, a cylindrical tube lens, a common-path lens barrel, a 45-degree dichroic mirror, a common-aperture laser detection assembly, a CMOS imaging assembly, an on-chip signal processing system and a wireless transmitting terminal, wherein the conical reflector is combined with the 45-degree dichroic mirror, so that the common-path and 360-degree all-round dual-mode composite warning of laser detection and video imaging is realized, and target information and all-round images of laser detection are provided for safe flight of the unmanned aerial vehicle. The invention has the outstanding advantages of long acting distance, high reliability, simple structure, small volume, low cost and the like, and has important application prospect in the field of small unmanned aerial vehicles.
Description
Technical Field
The invention belongs to the field of looking-around imaging and laser warning technology, and particularly relates to a 360-degree looking-around imaging and laser warning device for a small unmanned aerial vehicle.
Background
The unmanned aerial vehicle has demonstrated huge application value in fields such as city management, agriculture, geology, meteorology, electric power, rescue and relief work, video shooting, etc. The low-altitude environment faced by unmanned aerial vehicle operation is more and more complex, static targets such as houses, trees, wires and the like exist, dynamic targets such as flyers, kites, aircrafts and the like exist, great difficulty is brought to the safe flight of the unmanned aerial vehicle, the unmanned aerial vehicle is easy to crash due to improper operation. At present, methods for anti-collision warning on a small unmanned aerial vehicle mainly comprise an ultrasonic radar, a millimeter wave radar, a laser radar and the like. The ultrasonic radar has the limitations of short acting distance, easiness in influence of atmospheric turbulence and gas vortex and the like. The millimeter wave radar has the advantages that the spatial resolution is low, the 360-degree looking-around is difficult to achieve, the power consumption is high and the like, while the laser radar is mainly a multi-line laser radar represented by Velodyne company, and the millimeter wave radar has the outstanding advantages that the working distance is long, the 360-degree high-resolution looking-around can be achieved, but the mechanical balance stability of the system is poor due to the rotary scanning working mode, and the unmanned flying gesture can be possibly interfered. In addition, the laser radar system has the limitations of large volume, high price, poor reliability and the like, and is difficult to popularize and apply on a large scale on a small unmanned plane.
Disclosure of Invention
The invention aims to provide a 360-degree looking-around imaging and laser warning device for a small unmanned aerial vehicle.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a 360 formation of image and laser warning device all around for small-size unmanned aerial vehicle, includes conical mirror, cylindrical tube lens, 45 degree dichroic mirror, common aperture laser detection subassembly, CMOS imaging module, on-chip signal processing system and wireless emission terminal, the conical mirror is supported by cylindrical tube lens and is fixed on unmanned aerial vehicle, 45 degree dichroic mirror sets up on the conical mirror axis and forms 45 degrees angles with the axis of conical mirror, common aperture laser detection subassembly sets up on 45 degree dichroic mirror's reflection axis, and the detection axis of common aperture laser detection subassembly coincides with the axis of conical mirror, CMOS imaging module sets up on 45 degree dichroic mirror's transmission axis, and CMOS imaging module's optical axis coincides with the axis of conical mirror, common aperture laser detection subassembly and CMOS imaging module are connected with on-chip signal processing system, on-chip signal processing system is used for transmitting the range finding data, the all around view image that common aperture laser detection subassembly, CMOS imaging module obtained to unmanned aerial vehicle central control system, simultaneously transmits to ground control station through wireless emission terminal.
Preferably, the angle between the edge of the conical reflector and the axis is 45 °.
Preferably, the conical reflector is coated with a total reflection film in the 905nm band and the visible light band.
Preferably, the cylindrical tube lens is a quartz tube lens, and the inner surface and the outer surface of the cylindrical tube lens are plated with antireflection films in 905nm wave bands and visible light wave bands.
Preferably, the 45 ° dichroic mirror is disposed in a common optical path barrel, and the common optical path barrel is provided with three ports, one port faces the conical reflecting mirror and is coaxial with the conical reflecting mirror, the second port faces the 45 ° dichroic mirror in the reflecting direction and is coaxial with the common aperture laser detection assembly, and the third port faces the 45 ° dichroic mirror in the transmitting direction and is coaxial with the CMOS imaging assembly.
Preferably, the 45 DEG dichroic mirror is a plate glass plated with a 905nm wave band 45 DEG total reflection film and a visible light wave 45 DEG antireflection film.
Preferably, the working wavelength of the common-aperture laser detection component is 905nm, and a 3-port circulator is adopted to realize a common-aperture optical path in combination with a large D/F objective lens.
Compared with the prior art, the invention has the remarkable advantages that: 1) The invention introduces a conical reflector looking-around method, skillfully solves the 360-degree looking-around problem of laser warning on the premise of not adopting a rotary scanning component, and overcomes the limitations of poor mechanical balance stability, large system volume, high price, poor reliability and the like of the traditional multi-line scanning laser radar; 2) The invention combines the conical reflector and the 45-degree dichroic mirror to realize the common light path of laser detection and video imaging and 360-degree circular double-mode composite alarm, thus not only being capable of obtaining the target distance, but also giving 360-degree circular alarm images, and having the outstanding advantages of long acting distance, high reliability, strong complex environment adaptability and the like; 3) The invention arranges the common aperture laser detection component on the reflection axis of the 45-degree dichroic mirror, and the narrow-band total reflection film and the visible light antireflection film of 905nm wave band are plated on the 45-degree dichroic mirror to realize the 90-degree optical path turning of detection laser and laser echo, thereby inhibiting the background light noise, improving the signal to noise ratio of the common aperture laser detection component and improving the laser warning distance.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Detailed Description
As shown in fig. 1, the 360-degree look-around imaging and laser warning device for a small unmanned aerial vehicle comprises a conical reflector 1, a cylindrical tube lens 2, a 45-degree dichroic mirror 4, a common-aperture laser detection assembly 5, a CMOS imaging assembly 6, an on-chip signal processing system 7 and a wireless transmitting terminal 8, wherein the conical reflector 1 is supported and fixed on the unmanned aerial vehicle by the cylindrical tube lens 2, the 45-degree dichroic mirror 4 is arranged on the axis of the conical reflector 1 and forms a 45-degree angle with the axis of the conical reflector 1, the common-aperture laser detection assembly 5 is arranged on the reflection axis of the 45-degree dichroic mirror 4, the detection axis of the common-aperture laser detection assembly 5 coincides with the axis of the conical reflector 1, the CMOS imaging assembly 6 is arranged on the transmission axis of the 45-degree dichroic mirror 4, the optical axis of the CMOS imaging assembly 6 coincides with the axis of the conical reflector 1, the common-aperture laser detection assembly 5 and the CMOS imaging assembly 6 are connected with the on-chip signal processing system 7, and the on-chip signal processing system 7 is used for transmitting the common-aperture laser detection assembly 5, the distance measurement assembly 6 and the obtained image data to the unmanned aerial vehicle to the wireless transmitting terminal through the wireless transmitting terminal to the ground control station.
In a further embodiment, the angle between the edge of the conical reflector 1 and the axis is 45 °.
In a further embodiment, the conical reflector 1 is coated with a total reflection film in the 905nm band and in the visible band. In some embodiments, the conical mirror 1 is about 2cm in diameter, 1cm in height, and 99.5% in transmittance.
In a further embodiment, the cylindrical tube lens 2 is a quartz tube lens, and the inner surface and the outer surface of the cylindrical tube lens are plated with antireflection films in 905nm wave bands and visible light wave bands. The antireflection film protects the conical reflector 1 from being polluted by external dust on the one hand, and plays a role in supporting and mounting the conical reflector 1 on the other hand. In some embodiments, the cylindrical tube 2 is about 2cm in diameter and 1.5cm in height.
In a further embodiment, the 45 ° dichroic mirror 4 is disposed in the common optical path barrel 3, and the common optical path barrel 3 is provided with three ports, one port faces the conical mirror 1 and is coaxial with the conical mirror 1, the second port faces the 45 ° dichroic mirror 4 in the reflecting direction and is coaxial with the common aperture laser detection assembly 5, and the third port faces the 45 ° dichroic mirror 4 in the transmitting direction and is coaxial with the CMOS imaging assembly 6.
In a further embodiment, the 45 ° dichroic mirror 4 is a K9 plate glass coated with a 905nm band 45 ° total reflection film and a visible light wave 45 ° antireflection film, and the size is 30mm x 20mm x 2mm.
In a further embodiment, the operating wavelength of the common-aperture laser detection component 5 is 905nm, and a 3-port circulator is used in combination with a large D/F objective lens to realize a common-aperture optical path. In some embodiments, the effective optical aperture of the common aperture laser detection component 5 is 20mm, the emission field of view is 10mrad, the reception field of view is 15mrad, the emission power is 75W, and the distance resolution is 0.3 m.
In a further embodiment, the CMOS imaging assembly 6 is an MV-2000UC industrial camera.
The working principle of the invention is as follows:
Natural light is reflected by a target and then passes through the cylindrical tube lens 2 to reach the conical reflector 1, the natural light is reflected and sequentially passes through the ports of the cylindrical tube lens and the common-path lens barrel, the natural light irradiates the 45-degree dichroic mirror 4, the light beam passes through the 45-degree dichroic mirror 4 and is received by the CMOS imaging assembly 6, and after video imaging of the CMOS imaging assembly 6, the looking-around image is transmitted to the on-chip signal processing system 7.
The 905nm wave band pulse laser diode of the common aperture laser detection component 5 emits laser beams, the laser beams are reflected by the 45-degree dichroic mirror 4 and the conical reflecting mirror 1, then the laser beams pass through the cylindrical tube lens 2 and are emitted to the periphery in 360-degree directions, if a target appears in a measuring range in a certain direction, the emitted light beams in the direction are reflected after encountering the target, a part of the light beams are received by the common aperture laser detection component 5 against the light path, the common aperture laser detection component 5 realizes the distance measurement of the target through laser echo identification and flight time measurement, and a distance signal is fed back to the on-chip signal processing system 7.
The on-chip signal processing system 7 controls the laser detection of the common aperture laser detection assembly 5, the target ranging and the CMOS imaging assembly 6 to shoot 360-degree looking-around images, ranging data of the common aperture laser detection assembly 5 and the looking-around images of the CMOS imaging assembly 6 are transmitted to the unmanned aerial vehicle central control system, and meanwhile, the wireless transmitting terminal 8 is utilized to transmit data back to the ground control station.
The invention introduces a conical reflector looking-around method, and overcomes the limitations of poor mechanical balance stability, large system volume, high price, poor reliability and the like of the traditional multi-line scanning laser radar. The invention combines the conical reflecting mirror and the 45-degree dichroic mirror to realize the common light path of laser detection and video imaging and 360-degree circular double-mode composite alarm, thereby not only being capable of providing a 360-degree circular alarm image, but also being capable of providing whether a target exists or not and the target distance. Therefore, the product has the advantages of high ranging precision, wide range of action, high ranging speed, small volume, light weight, low cost, convenient use and the like, and also has the outstanding advantages of high reliability, strong complex environment adaptability and the like.
Claims (5)
1. The 360-degree all-round imaging and laser warning device for the small unmanned aerial vehicle is characterized by comprising a conical reflector (1), a cylindrical tube lens (2), a 45-degree dichroic mirror (4), a common-aperture laser detection component (5), a CMOS imaging component (6), an on-chip signal processing system (7) and a wireless transmitting terminal (8), wherein the conical reflector (1) is supported and fixed on the unmanned aerial vehicle by the cylindrical tube lens (2), the 45-degree dichroic mirror (4) is arranged on the axis of the conical reflector (1) and forms an angle of 45 degrees with the axis of the conical reflector (1), the common-aperture laser detection component (5) is arranged on the reflection axis of the 45-degree dichroic mirror (4), the detection axis of the common-aperture laser detection component (5) coincides with the axis of the conical reflector (1), the CMOS imaging component (6) is arranged on the transmission axis of the 45-degree dichroic mirror (4), the optical axis of the CMOS imaging component (6) coincides with the axis of the conical reflector (1), the common-aperture laser detection component (5) and the imaging component (6) are connected with the CMOS imaging component (7) for processing image data in the ranging system (7) to obtain the image signal processing system, simultaneously, the data are transmitted to a ground control station through a wireless transmitting terminal (8); the 45-degree dichroic mirror (4) is arranged in the common-path lens barrel (3), the common-path lens barrel (3) is provided with three ports, one port faces the conical reflecting mirror (1) and is coaxial with the conical reflecting mirror (1), the second port faces the 45-degree dichroic mirror (4) in the reflecting direction and is coaxial with the common-aperture laser detection component (5), and the third port faces the 45-degree dichroic mirror (4) in the transmitting direction and is coaxial with the CMOS imaging component (6); the 45-degree dichroic mirror (4) is plate glass plated with a 905-nm wave band 45-degree total reflection film and a visible light wave 45-degree antireflection film.
2. 360 ° Looking around imaging and laser warning device for a small unmanned aerial vehicle according to claim 1, wherein the angle of the edge of the conical mirror (1) to the axis is 45 °.
3. The 360 ° looking around imaging and laser warning device for a small unmanned aerial vehicle according to claim 1, wherein the conical reflecting mirror (1) is plated with a total reflection film in 905nm band and visible light band.
4. The 360-degree all-round imaging and laser warning device for a small unmanned aerial vehicle according to claim 1, wherein the cylindrical tube lens (2) is a quartz tube mirror and is coated with an antireflection film in 905nm wave band and visible light wave band.
5. The 360-degree look-around imaging and laser warning device for a small unmanned aerial vehicle according to claim 1, wherein the operating wavelength of the common aperture laser detection assembly (5) is 905nm, and a common aperture optical path is realized by adopting a 3-port circulator in combination with a large D/F objective lens.
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| CN201910691772.7A CN110389360B (en) | 2019-07-30 | 2019-07-30 | 360-Degree looking-around imaging and laser warning device for small unmanned aerial vehicle |
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| CN201910691772.7A CN110389360B (en) | 2019-07-30 | 2019-07-30 | 360-Degree looking-around imaging and laser warning device for small unmanned aerial vehicle |
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| CN111156862B (en) * | 2020-01-10 | 2022-09-23 | 中北大学 | Broadband laser warning structure based on dichroic mirror and grating diffraction |
| CN111856428A (en) * | 2020-07-01 | 2020-10-30 | 南京理工大学 | 360-degree all-around low-cost three-dimensional imaging sensor |
| CN111722256A (en) * | 2020-07-01 | 2020-09-29 | 南京理工大学 | Ultra-high precision positioning sensor combining GPS positioning with panoramic imaging map matching |
| CN111854698A (en) * | 2020-07-01 | 2020-10-30 | 南京理工大学 | Miniaturized low-cost road surface obstacle warning visual positioning sensor and warning method |
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| CN210954348U (en) * | 2019-07-30 | 2020-07-07 | 南京理工大学 | 360-degree all-round imaging and laser warning device for small unmanned aerial vehicle |
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| ITFI20030099A1 (en) * | 2003-04-08 | 2004-10-09 | Elettromeccanica Cm S R L | LIGHT SIGNALING EQUIPMENT |
| US9239389B2 (en) * | 2011-09-28 | 2016-01-19 | Samsung Electronics Co., Ltd. | Obstacle sensor and robot cleaner having the same |
| CN105403731B (en) * | 2015-11-27 | 2018-04-06 | 天津大学 | A kind of femtosecond laser Doppler's three-dimensional flow method for sensing of high-accuracy wide-range |
| WO2017183530A1 (en) * | 2016-04-21 | 2017-10-26 | コニカミノルタ株式会社 | Object detection device |
| CN108008411A (en) * | 2016-10-31 | 2018-05-08 | 张舒怡 | A kind of sensor for automatic Pilot |
| CN107643525A (en) * | 2017-08-24 | 2018-01-30 | 南京理工大学 | Linear array laser radar based on 45 ° of tilting mirrors is circumferential without as revolving imaging system |
| CN109471126B (en) * | 2017-09-07 | 2022-12-02 | 南京理工大学 | Vibration-rotation combined circumferential scanning device for linear array laser radar |
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