CN112105949A - Movable platform - Google Patents
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- CN112105949A CN112105949A CN201980030611.1A CN201980030611A CN112105949A CN 112105949 A CN112105949 A CN 112105949A CN 201980030611 A CN201980030611 A CN 201980030611A CN 112105949 A CN112105949 A CN 112105949A
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- movable platform
- distance sensor
- receive antenna
- data
- sensor
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
Abstract
A movable platform, comprising: a fuselage (110); the first distance sensor (120), the first distance sensor (120) is installed on the fuselage (110), is used for detecting the upper area of the fuselage (110); a status sensor (130) for acquiring status information of the movable platform (100); and a control module (140) communicatively coupled to the status sensor (130) and the first distance sensor (120); the first distance sensor (120) fuses detected detection data and state information and outputs a detection result, and the control module (140) controls the movable platform (100) to move according to the detection result. The movable platform is provided with a sensor for detecting the region above the machine body on the machine body, so that the problem of a detection blind region of the region above the movable platform can be solved.
Description
Technical Field
The present invention relates generally to the field of probing, and more particularly to a movable platform.
Background
At present, the movable platform is widely applied to the fields of aerial photography, agriculture, plant protection, transportation, surveying and mapping, disaster relief and the like. For some application fields, such as the field of agricultural plant protection, the operation scene is very complex, so if the perception of the surrounding environment is not comprehensive, accidents are easy to happen. For example, many current mobile platforms, such as agricultural plant protection machines, lack the ability to detect obstacles in the upper region, such that accidents that result in a fryer from touching trees, wires, etc. while flying upwards can occur. Therefore, there is a need to provide a solution to such problems.
Disclosure of Invention
The present invention has been made to solve the above problems. The invention provides a movable platform, which solves the problem of detection blind areas of an area above the movable platform by installing a sensor for detecting the area above a machine body on the machine body of the movable platform. The movable platform proposed by the present invention is briefly described below, and more details will be described later in the detailed description with reference to the accompanying drawings.
According to an embodiment of the present invention, there is provided a movable platform including: a body; the first distance sensor is arranged on the fuselage and used for detecting an area above the fuselage; the state sensor is used for acquiring state information of the movable platform; the control module is in communication connection with the state sensor and the first distance sensor; the first distance sensor fuses detected detection data and the state information and outputs a detection result, and the control module controls the movable platform to move according to the detection result.
In one embodiment of the invention, the first distance sensor is a radar sensor.
In one embodiment of the invention, the first distance sensor is a microwave radar.
In one embodiment of the invention, the first distance sensor is a frequency modulated continuous wave radar.
In one embodiment of the invention, the first distance sensor comprises a transmitting antenna and a receiving antenna, the polarization form of the transmitting antenna is a circular polarization form, and the polarization form of the receiving antenna comprises a horizontal polarization form and a vertical polarization form.
In one embodiment of the present invention, the receiving antenna includes a first receiving antenna, a second receiving antenna, a third receiving antenna, and a fourth receiving antenna, wherein the polarization form of the first receiving antenna and the fourth receiving antenna is a horizontal polarization form, and the polarization form of the second receiving antenna and the third receiving antenna is a vertical polarization form.
In one embodiment of the invention, the first distance sensor calculates an azimuth angle and/or a pitch angle of the detected target with respect to the movable platform based on phase goniometry.
In one embodiment of the present invention, the first distance sensor performs the phase angle measurement based on a virtual phase center composed of four of the first receiving antenna, the second receiving antenna, the third receiving antenna, and the fourth receiving antenna two by two.
In one embodiment of the invention, the first range sensor determines a first virtual phase center based on the first receiving antenna and the second receiving antenna, determines a second virtual phase center based on the third receiving antenna and the fourth receiving antenna, and calculates an azimuth angle of the detected target relative to the movable platform based on the first virtual phase center and the second virtual phase center.
In one embodiment of the invention, the first distance sensor determines a third virtual phase center based on the first receiving antenna and the fourth receiving antenna, determines a fourth virtual phase center based on the second receiving antenna and the third receiving antenna, and calculates a pitch angle of the detected target relative to the movable platform based on the third virtual phase center and the fourth virtual phase center.
In one embodiment of the invention, the first distance sensor is mounted on top of the fuselage.
In an embodiment of the present invention, the control module is a flight control module, and the control module is configured to control a flight state of the movable platform based on detection data of the first distance sensor.
In one embodiment of the present invention, the movable platform further comprises a second distance sensor installed at the bottom of the body for detecting a region other than the upper side of the body.
In an embodiment of the present invention, the control module is further configured to control a flight state of the movable platform based on detection data of each of the first distance sensor and the second distance sensor.
In an embodiment of the present invention, the control module is further configured to transmit the state data of the movable platform to the first distance sensor, and the first distance sensor is further configured to fuse the detection data of the first distance sensor with the state data to obtain first fused data, and transmit the first fused data to the control module.
In one embodiment of the invention, the first distance sensor transmits the first fused data to the control module via the second distance sensor.
In an embodiment of the present invention, the control module is further configured to transmit the state data of the movable platform to the second distance sensor, and the second distance sensor is further configured to fuse the detection data of the second distance sensor with the state data to obtain second fused data, fuse the second fused data with the first fused data to obtain third fused data, and transmit the third fused data to the control module.
In one embodiment of the invention, the status data comprises at least one of: takeoff data of the movable platform, global positioning system data and inertial measurement unit data.
In one embodiment of the invention, the first distance sensor is further adapted to issue an alarm when an obstacle is detected.
In one embodiment of the invention, the first distance sensor is further configured to calculate a distance of the detected target relative to the movable platform.
In one embodiment of the invention, the movable platform is a drone, an unmanned vehicle, or a ground-based remotely controlled robot.
According to the embodiment of the invention, the movable platform is provided with the sensor for detecting the area above the machine body on the machine body, so that the problem of a detection blind area of the area above the movable platform can be solved.
Drawings
FIG. 1 shows a schematic block diagram of a movable platform according to an embodiment of the invention.
FIG. 2 illustrates an exemplary top view antenna array format for a first distance sensor of a movable platform according to an embodiment of the present invention.
Fig. 3 shows a schematic diagram of a virtual phase center formed by the receiving antennas of the first distance sensor of the movable platform according to an embodiment of the present invention.
Fig. 4 shows a schematic diagram of the phase goniometry principle of the first distance sensor of the movable platform according to an embodiment of the present invention.
FIG. 5 shows a schematic block diagram of a movable platform according to another embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be set forth in the following description in order to explain the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
A movable platform according to an embodiment of the present invention is described below with reference to the accompanying drawings. FIG. 1 shows a schematic block diagram of a movable platform 100 according to an embodiment of the present invention. As shown in fig. 1, the movable platform 100 includes a body 110, a first distance sensor 120, a status sensor 130, and a control module 140. Wherein the first distance sensor 120 is mounted on the body 110 (such as on top of the body 110) for detecting an upper region of the body 110. The status sensor 130 is used to acquire status information of the movable platform 100. The control module 140 is communicatively coupled to the status sensor 130 and the first distance sensor 120. The first distance sensor 120 fuses the detected detection data with the state information of the movable platform 100 acquired by the state sensor 130 and outputs a detection result, and the control module 140 controls the movement of the movable platform 100 according to the detection result.
In the embodiment of the present invention, since the first distance sensor 120 for detecting the upper region of the body 110 is mounted on the body 110 of the movable platform 100, the movable platform 100 can avoid accidents caused by blind detection regions of the upper region during movement, which is very beneficial for agricultural plant protection machines with very complex working scenes.
In an embodiment of the present invention, the first distance sensor 120 may be a radar sensor. For the optical sensor who easily receives smog, light, shelters from the influence such as, adopt the radar sensor that has more smog penetrability more can satisfy various abominable operational environment, adaptability is stronger, and application scope is wider.
In an embodiment of the present invention, the first distance sensor 120 may be a microwave radar. The microwave is well-directed at a speed equal to the speed of light. The microwave radar is more suitable for the scene of rapidly detecting obstacles and rapidly avoiding obstacles in the high-speed movement of the movable platform 100.
In an embodiment of the present invention, the first distance sensor 120 may be a Frequency Modulated Continuous Wave (FMCW) radar. Compared with a single-frequency continuous wave radar which can only measure the speed but cannot measure the distance, the frequency modulation continuous wave radar can measure the distance and the speed, and has increasingly obvious advantages in short-distance measurement. When the frequency modulation continuous wave radar receives and transmits, a range-finding blind area existing in the pulse radar does not exist theoretically, and the average power of a transmitted signal is equal to the peak power, so that only a low-power device is needed. In addition, the frequency modulation continuous wave radar has the advantages of easy realization, relatively simple structure, small size, light weight, low cost and the like. Thus, implementation of first distance sensor 120 using frequency modulated continuous wave radar also makes movable platform 100 easier to implement, simpler in structure, smaller in size, lighter in weight, and less costly.
Illustratively, the first distance sensor 120 may include a radio frequency front end and a signal processing module. The radio frequency front end adopts one receiving and one sending, the signal processing module is responsible for generating a modulation signal, and the intermediate frequency signal collected by an Analog to Digital Converter (ADC) is processed and analyzed. The radio frequency front end receives a modulation signal to generate a high-frequency signal with the frequency linearly changing along with the modulation voltage, the high-frequency signal is radiated downwards through the antenna, electromagnetic waves are reflected back when encountering the ground or an obstacle and are received by the receiving antenna, the transmitted signal and the intermediate frequency are mixed to obtain an intermediate frequency signal, and speed and distance information can be obtained according to the frequency of the intermediate frequency signal.
In an embodiment of the present invention, the first distance sensor 120 may include a transmitting antenna and a receiving antenna. Wherein the polarization form of the transmitting antenna may be a circular polarization form, and the polarization form of the receiving antenna may include a horizontal polarization form and a vertical polarization form. The use of such polarization for each of the transmit and receive antennas may ensure that the first distance sensor 120 better covers the area above while enabling two-dimensional angle measurements. The antenna array form of the first distance sensor 120 is described below with reference to fig. 2.
Fig. 2 illustrates an exemplary top view antenna pattern of the first distance sensor 120 of the movable platform 100 in accordance with an embodiment of the present invention. As shown in fig. 2, the first distance sensor 120 includes a transmission antenna TX, reception antennas RX1, RX2, RX3, and RX 4. Among them, the polarization form of the transmission antenna TX may take a circular polarization form, the polarization forms of the reception antennas RX1 and RX4 may take a horizontal polarization form, and the polarization forms of the reception antennas RX2 and RX3 may take a vertical polarization form. It should be appreciated that the antenna array shown in fig. 2 is merely exemplary, and that in embodiments of the present invention, the first distance sensor 120 of the movable platform 100 may also take any other suitable antenna array.
In the embodiment of the present invention, the first distance sensor 120 may perform distance calculation and angle calculation for an obstacle when detecting the obstacle in the upper area. The distance settlement process may include: ADC data acquisition, data truncation and windowing, frequency domain Fast Fourier Transform (FFT), Constant False Alarm Rate (CFAR) detection, and distance estimation solution.
In an embodiment of the present invention, when the first distance sensor 120 detects an obstacle in the upper area, the angle calculation for the obstacle may be to calculate an azimuth angle and/or a pitch angle of the detected obstacle with respect to the movable platform 100 based on the phase angle measurement. Further, in an embodiment of the present invention, the first distance sensor 120 may implement the phase angle measurement based on a virtual phase center formed by the receiving antennas included therein. The following description will be made taking the antenna arrangement form shown in fig. 2 as an example. In this example, the receive antennas of the first distance sensor 120 include a first receive antenna RX1, a second receive antenna RX2, a third receive antenna RX3, and a fourth receive antenna RX 4. Wherein the polarization form of the first receiving antenna RX1 and the fourth receiving antenna RX4 is a horizontal polarization form, and the polarization form of the second receiving antenna RX2 and the third receiving antenna RX3 is a vertical polarization form. Virtual phase centers of the four first, second, third and fourth receiving antennas RX1, RX2, RX3 and RX4 may be two by two as shown in fig. 3.
As shown in fig. 3, the first distance sensor 120 determines a first virtual phase center RX _ E1 based on the first and second receiving antennas RX1 and RX2, determines a second virtual phase center RX _ E2 based on the third and fourth receiving antennas RX3 and RX4, and calculates an azimuth angle of the detected obstacle with respect to the movable platform 100 based on the first and second virtual phase centers RX _ E1 and RX _ E2. Further, the first distance sensor 120 determines a third virtual phase center RX _ H2 based on the first and fourth receiving antennas RX1 and RX4, determines a fourth virtual phase center RX _ H1 based on the second and third receiving antennas RX2 and RX3, and calculates a pitch angle of the detected obstacle with respect to the movable platform 100 based on the third and fourth virtual phase centers RX _ H2 and RX _ H1.
In an embodiment of the present invention, the principle of the angle solution of the first distance sensor 120 based on the phase angle measurement may be as shown in fig. 4. As shown in fig. 4, the path difference can be expressed as: d1 ═ d × sin (θ), where d is the distance (base line length) between the aforementioned first and second virtual phase centers RX _ E1 and RX _ E2 of the first distance sensor 120, there is a delay and thus a phase difference corresponding to the path difference in the signal propagation received between the first and second virtual phase centers RX _ E1 and RX _ E2 of the first distance sensor 120, as shown in the following equation:
where λ is the wavelength of the signal received by the receiving antenna.
The azimuth angle θ of the detected obstacle with respect to the movable platform 100 can be solved according to the above equation, as shown in the following equation:
similarly, the pitch angle of the detected obstacle relative to the movable platform 100 may be calculated based on the spacing between the third virtual phase center RX _ H2 and the fourth virtual phase center RX _ H1 by the above-described principle.
Referring back to fig. 1, in an embodiment of the present invention, the control module 140 may be a flight control module for controlling a flight state of the movable platform 100 based on the detection data of the first distance sensor 120. In this example, the movable platform 100 may be a drone. In alternative examples, the movable platform 100 may also be an unmanned vehicle or a ground-based remotely controlled robot, or the like.
In an embodiment of the present invention, the first distance sensor 120 may also be used to issue a warning when an obstacle is detected, to further improve the operational safety of the movable platform 100.
The above exemplarily shows the movable platform 100 according to one embodiment of the present invention, and based on the above description, the movable platform 100 according to the embodiment of the present invention has the sensor mounted on the body thereof for detecting the region above the body, which can solve the problem of the detection blind region of the region above the movable platform.
A movable platform according to another embodiment of the present invention is described below with reference to fig. 5. Fig. 5 shows a schematic block diagram of a movable platform 500 according to another embodiment of the invention. As shown in fig. 5, the movable platform 500 includes a body 510, a first distance sensor 520, a status sensor 530, a control module 540, and a second distance sensor 550. Wherein a first distance sensor 520 is mounted on the body 510 (such as on top of the body 510) for detecting an area above the body 510. The second distance sensor 550 is mounted at the bottom of the body 510 for detecting regions other than the upper side of the body 510 (such as the front, rear, lower side of the body). The status sensor 530 is used to acquire status information of the movable platform 500. The control module 540 is communicatively coupled to the status sensor 530, the first distance sensor 520, and the second distance sensor 550. The first distance sensor 520 and the second distance sensor 550 output the detection result after fusing the detected detection data with the state information of the movable platform 500 acquired by the state sensor 530, and the control module 540 controls the movement of the movable platform 500 according to the detection result.
In this embodiment of the present invention, since the first distance sensor 520 for detecting the region above the main body 510 is installed on the main body 510 of the movable platform 500, and the second distance sensor 550 for detecting the region other than the region above the main body 510 is installed at the bottom of the main body 510 of the movable platform 500, the movable platform 100 can realize omnidirectional sensing of the surrounding environment, thereby ensuring the work safety of the movable platform 100 during moving, which is very beneficial for agricultural plant protection machines with very complex work scenes, for example.
In an embodiment of the present invention, the first distance sensor 520 may have a similar function and structure to the first distance sensor 120 described above with reference to fig. 1, and for brevity, no further description is provided herein, and those skilled in the art may understand the structure and function of the first distance sensor 520 in combination with the foregoing description.
In the embodiment of the present invention, the number of the second distance sensors 550 may be plural, for example, including a forward obstacle avoidance radar, a backward obstacle avoidance radar, and a downward obstacle avoidance radar, so as to detect the area other than the area above the movable platform 500.
In an embodiment of the present invention, the second distance sensor 550 may be a radar sensor. For the optical sensor who easily receives smog, light, shelters from the influence such as, adopt the radar sensor that has more smog penetrability more can satisfy various abominable operational environment, adaptability is stronger, and application scope is wider.
In an embodiment of the present invention, the second distance sensor 550 may be a microwave radar. The microwave is well-directed at a speed equal to the speed of light. The microwave radar is more suitable for a scene that the movable platform 500 moves at a high speed to quickly detect obstacles and quickly avoid the obstacles.
In an embodiment of the present invention, the second distance sensor 550 may be a Frequency Modulated Continuous Wave (FMCW) radar. Compared with a single-frequency continuous wave radar which can only measure the speed but cannot measure the distance, the frequency modulation continuous wave radar can measure the distance and the speed, and has increasingly obvious advantages in short-distance measurement. When the frequency modulation continuous wave radar receives and transmits, a range-finding blind area existing in the pulse radar does not exist theoretically, and the average power of a transmitted signal is equal to the peak power, so that only a low-power device is needed. In addition, the frequency modulation continuous wave radar has the advantages of easy realization, relatively simple structure, small size, light weight, low cost and the like. Thus, implementation of second range sensor 550 using frequency modulated continuous wave radar also makes movable platform 500 easier to implement, simpler in structure, smaller in size, lighter in weight, and less costly.
Illustratively, the second distance sensor 550 may include a radio frequency front end and a signal processing module. The radio frequency front end adopts one receiving and one sending, the signal processing module is responsible for generating a modulation signal, and the intermediate frequency signal collected by an Analog to Digital Converter (ADC) is processed and analyzed. The radio frequency front end receives a modulation signal to generate a high-frequency signal with the frequency linearly changing along with the modulation voltage, the high-frequency signal is radiated downwards through the antenna, electromagnetic waves are reflected back when encountering the ground or an obstacle and are received by the receiving antenna, the transmitted signal and the intermediate frequency are mixed to obtain an intermediate frequency signal, and speed and distance information can be obtained according to the frequency of the intermediate frequency signal.
In the embodiment of the present invention, the second distance sensor 550 may include a transmitting antenna and a receiving antenna, and the antenna arrangement form thereof may be the same as that of the first distance sensor 520 or different from that of the first distance sensor 520, and those skilled in the art may set the antenna arrangement form according to specific requirements.
In an embodiment of the present invention, the second distance sensor 550 may calculate the azimuth angle and/or the pitch angle of the detected obstacle with respect to the movable platform 500 using the phase angle measurement principle described above, or may calculate the azimuth angle and/or the pitch angle of the detected obstacle with respect to the movable platform 500 using any other suitable method.
In an embodiment of the present invention, the control module 540 may also be used to transmit status data of the movable platform 500 to the first distance sensor 520 and the second distance sensor 550. The status data may include, but is not limited to, takeoff data of the movable platform 500, global positioning system data, inertial measurement unit data, among others. The first distance sensor 520 may further be configured to fuse the detection data of the first distance sensor with the status data to obtain first fused data, and transmit the first fused data to the control module 540. The second distance sensor 550 may be further configured to fuse the detection data of the second distance sensor with the state data to obtain second fused data, and transmit the second fused data to the control module 540. The control module 540 may control the movement of the movable platform 500 based on the first and second fused data.
Alternatively, the first distance sensor 520 may transmit the first fused data to the second distance sensor 550 and transmit the first fused data to the control module 540 via the second distance sensor 550. In this embodiment, the control module 540 need only include a communication interface with the second distance sensor 550, further simplifying the structure of the movable platform 500.
Further, the first distance sensor 520 may transmit the first fusion data to the second distance sensor 550, and the second distance sensor 550 may fuse the detection data of itself with the state data to obtain second fusion data, fuse the second fusion data with the first fusion data to obtain third fusion data, and transmit the third fusion data to the control module. In this embodiment, the control module 540 can directly control the movement of the movable platform 500 based on the data transmitted by the second distance sensor 550, without performing fusion calculation on the data transmitted by the first distance sensor 520 and the second distance sensor 550.
In an embodiment of the present invention, control module 540 may be a flight control module for controlling a flight state of movable platform 500 based on detection data of first distance sensor 520 and detection data of second distance sensor 550. In this example, the movable platform 500 may be a drone. In alternative examples, the movable platform 500 may also be an unmanned vehicle or a ground-based remotely controlled robot, or the like.
In an embodiment of the present invention, the second distance sensor 550 may also be used to issue a warning when an obstacle is detected, so as to further improve the work safety of the movable platform 500.
The movable platform 500 according to another embodiment of the present invention is exemplarily shown above, and based on the above description, the movable platform 500 according to an embodiment of the present invention has a sensor mounted on its body for detecting the region above the body, which can solve the problem of the detection dead zone of the region above the movable platform. In addition, the movable platform 500 according to the embodiment of the present invention has a sensor mounted on the body thereof for detecting a region other than the region above the body, which can solve the omni-directional sensing of the environment around the movable platform, thereby ensuring the operation safety of the movable platform 500 during the movement.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that is, the claimed invention requires more features than are expressly recited in a claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with the claims themselves being directed to separate embodiments of the present invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. The features disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on a computer-readable storage medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (21)
1. A movable platform, comprising:
a body;
the first distance sensor is arranged on the fuselage and used for detecting an area above the fuselage;
the state sensor is used for acquiring state information of the movable platform; and
the control module is in communication connection with the state sensor and the first distance sensor;
the first distance sensor fuses detected detection data and the state information and outputs a detection result, and the control module controls the movable platform to move according to the detection result.
2. The movable platform of claim 1, wherein the first distance sensor is a radar sensor.
3. The movable platform of claim 2, wherein the first distance sensor is a microwave radar.
4. The movable platform of claim 2, wherein the first distance sensor is a frequency modulated continuous wave radar.
5. The movable platform of any one of claims 2-4, wherein the first distance sensor comprises a transmit antenna and a receive antenna, the transmit antenna having a polarization form that is circularly polarized and the receive antenna having a polarization form that comprises a horizontally polarized form and a vertically polarized form.
6. The movable platform of claim 5, wherein the receive antennas comprise a first receive antenna, a second receive antenna, a third receive antenna, and a fourth receive antenna, wherein the polarization forms of the first receive antenna and the fourth receive antenna are horizontally polarized forms, and wherein the polarization forms of the second receive antenna and the third receive antenna are vertically polarized forms.
7. The movable platform of any one of claims 2-6, wherein the first distance sensor calculates an azimuth angle and/or a pitch angle of the detected target relative to the movable platform based on phase angulation.
8. The movable platform of claim 7, wherein the first distance sensor implements the phase angulation based on a virtual phase center of four of the first receive antenna, the second receive antenna, the third receive antenna, and the fourth receive antenna, two by two.
9. The movable platform of claim 8, wherein the first range sensor determines a first virtual phase center based on the first receive antenna and the second receive antenna, determines a second virtual phase center based on the third receive antenna and the fourth receive antenna, and calculates an azimuth angle of the detected target relative to the movable platform based on the first virtual phase center and the second virtual phase center.
10. The movable platform of claim 8, wherein the first distance sensor determines a third virtual phase center based on the first receive antenna and the fourth receive antenna, determines a fourth virtual phase center based on the second receive antenna and the third receive antenna, and calculates a pitch angle of the detected target relative to the movable platform based on the third virtual phase center and the fourth virtual phase center.
11. The movable platform of any one of claims 1-10, wherein the first distance sensor is mounted on top of the fuselage.
12. The movable platform of any one of claims 1-11, wherein the control module is a flight control module configured to control a flight state of the movable platform based on detection data of the first distance sensor.
13. The movable platform of any one of claims 1-12, further comprising a second distance sensor mounted at a bottom of the body for detecting a region other than above the body.
14. The movable platform of claim 13, wherein the control module is further configured to control a flight state of the movable platform based on detection data of each of the first and second distance sensors.
15. The movable platform according to any one of claims 12-14, wherein the control module is further configured to transmit status data of the movable platform to the first distance sensor, and the first distance sensor is further configured to fuse its own detection data with the status data to obtain first fused data and transmit the first fused data to the control module.
16. The movable platform of claim 15, wherein the first range sensor communicates the first fused data to the control module via the second range sensor.
17. The movable platform of claim 16, wherein the control module is further configured to transmit status data of the movable platform to the second distance sensor, and the second distance sensor is further configured to fuse detection data of the second distance sensor with the status data to obtain second fused data, fuse the second fused data with the first fused data to obtain third fused data, and transmit the third fused data to the control module.
18. The movable platform of any one of claims 15-17, wherein the status data comprises at least one of: takeoff data of the movable platform, global positioning system data and inertial measurement unit data.
19. The movable platform of any one of claims 1-18, wherein the first distance sensor is further configured to issue an alert when an obstacle is detected.
20. The movable platform of any one of claims 1-19, wherein the first distance sensor is further configured to calculate a distance of the detected target relative to the movable platform.
21. The movable platform of any one of claims 1-20, wherein the movable platform is a drone, an unmanned vehicle, or a ground-based remotely controlled robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/114837 WO2021081930A1 (en) | 2019-10-31 | 2019-10-31 | Mobile platform |
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| Publication Number | Publication Date |
|---|---|
| CN112105949A true CN112105949A (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980030611.1A Pending CN112105949A (en) | 2019-10-31 | 2019-10-31 | Movable platform |
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| Country | Link |
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| CN (1) | CN112105949A (en) |
| WO (1) | WO2021081930A1 (en) |
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