CN114379805A - Obstacle avoidance unmanned aerial vehicle based on bat receiving and dispatching device - Google Patents
Obstacle avoidance unmanned aerial vehicle based on bat receiving and dispatching device Download PDFInfo
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- CN114379805A CN114379805A CN202210188559.6A CN202210188559A CN114379805A CN 114379805 A CN114379805 A CN 114379805A CN 202210188559 A CN202210188559 A CN 202210188559A CN 114379805 A CN114379805 A CN 114379805A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Abstract
The invention relates to an obstacle avoidance unmanned aerial vehicle based on a bat transceiver, which comprises an ultrasonic receiving device and an ultrasonic transmitting mechanism which are positioned at the bottom of the unmanned aerial vehicle, wherein the ultrasonic receiving device and the ultrasonic transmitting mechanism are both connected with a flight controller of the unmanned aerial vehicle; the ultrasonic wave emission mechanism comprises a bionic nose part and an acoustic wave emitter which are connected to the supporting part, and the bionic nose part is movably connected with the supporting part through an electric push rod; the ultrasonic receiving device comprises at least two groups of external ear simulating mechanisms which are arranged in parallel, each group of external ear simulating mechanisms are connected to a corresponding six-degree-of-freedom platform through a support, and the six-degree-of-freedom platform is connected to the base through a telescopic rod. Through the bionical nose portion and the simulation external ear organ that the emulation bat sent and received ultrasonic wave of mechanism, the bionical nose portion that utilizes electric putter to drive cooperatees with the simulation external ear mechanism that six degrees of freedom platforms drove, changes the characteristic of sound wave, can realize unmanned aerial vehicle's obstacle avoidance under the influence that does not receive external environment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an obstacle avoidance unmanned aerial vehicle based on a bat receiving and sending device.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, the obstacle avoidance is realized by various means in the flight process of the unmanned aerial vehicle, and the common modes such as image identification obstacle avoidance, laser radar obstacle avoidance and the like depend on a higher hardware foundation on one hand and have higher requirements on the flight environment of the unmanned aerial vehicle on the other hand, for example, the image identification obstacle avoidance can identify the obstacle existing on the flight route under the condition that visible light exists in the operation environment; and laser radar keeps away the barrier and receives the influence of external visible light less, nevertheless needs unmanned aerial vehicle to carry on many laser emitter and be used for acquireing the distance information of a plurality of directions for unmanned aerial vehicle carries the load device more, and the processing procedure of while signal is complicated, and meanwhile, laser radar keeps away the straight line laser that the barrier sent and is difficult to obtain the distance between small-size barrier and the unmanned aerial vehicle, causes easily and keeps away the barrier failure.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an obstacle avoidance unmanned aerial vehicle based on a bat transceiver, wherein an ultrasonic transceiver simulating a bat nose part and an ear part is mounted on the unmanned aerial vehicle, the transmitted sound waves are reflected when encountering an obstacle, the speed of the sound waves is known, the measured distance can be obtained only by acquiring the time difference of transmitting to receiving, and the actual distance between the obstacle and the unmanned aerial vehicle is obtained by combining the relative distance between the sound wave transmitter and the sound wave receiver, so that the unmanned aerial vehicle is not influenced by the external environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an obstacle avoidance unmanned aerial vehicle based on a bat receiving and sending device, which comprises an ultrasonic receiving device and an ultrasonic transmitting mechanism which are positioned at the bottom of the unmanned aerial vehicle, wherein the ultrasonic receiving device and the ultrasonic transmitting mechanism are both connected with a flight controller of the unmanned aerial vehicle;
the ultrasonic wave emission mechanism comprises a bionic nose part and an acoustic wave emitter which are connected to the supporting part, and the bionic nose part is movably connected with the supporting part through an electric push rod;
the ultrasonic receiving device comprises at least two groups of external ear simulating mechanisms which are arranged in parallel, each group of external ear simulating mechanisms are connected to a corresponding six-degree-of-freedom platform through a support, and the six-degree-of-freedom platform is connected to the base through a telescopic rod.
The fixed end of the electric push rod is connected to the supporting piece through a fastening piece; the movable end of the electric push rod is connected with the bionic nose.
The base is provided with an antenna for receiving a control signal of the unmanned aerial vehicle.
The bionic nose is provided with a saddle-shaped leaf part.
The simulated external ear mechanism comprises a simulated external ear and a simulated external ear subcutaneous flap.
The telescopic rod is positioned in a space between the base and the six-degree-of-freedom platform, and the height of the two groups of simulated external ear mechanisms relative to the base is changed through the action of the telescopic rod.
Each group of simulated external ear mechanisms are arranged on the corresponding external ear platform.
The external ear platform is movably connected with the bottom of the external ear simulating mechanism; the bracket is movably connected with the central point of the back side of the external ear simulating mechanism.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
1. through the bionical nose portion and the simulation external ear organ that the emulation bat sent and received ultrasonic wave of mechanism, the bionical nose portion that utilizes electric putter to drive cooperatees with the simulation external ear mechanism that six degrees of freedom platforms drove, changes the characteristic of sound wave, can realize unmanned aerial vehicle's obstacle avoidance under the influence that does not receive external environment.
2. Through the bionical nasal part that electric putter drove, change the distance of the relative support piece of bionical nasal part horizontal direction, adjust with the relative position of sound wave transmitter to increase the quantity and the intensity of the ultrasonic beam that sends, reduce unmanned aerial vehicle and keep away required time and energy consumption of barrier, when surveying the main direction, can also survey near space of main direction simultaneously.
3. The simulated external ear mechanism driven by the six-degree-of-freedom platform changes the relative position between the simulated external ear mechanism and the ultrasonic transmitting mechanism and the angle of the bionic external ear, so that the ultrasonic echoes of different angles are received, and the receiving range of the ultrasonic echoes is widened.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle carrying a bionic ultrasonic transceiver according to one or more embodiments of the present invention;
fig. 2 is a schematic structural diagram of an ultrasonic wave emitting mechanism in a bionic device according to one or more embodiments of the invention.
Fig. 3 is a schematic structural diagram of an ultrasonic receiving device in a bionic device according to one or more embodiments of the present invention.
In the figure: 1. an unmanned aerial vehicle; 2. a flight controller; 3. an ultrasonic receiving device; 4. an ultrasonic wave emitting mechanism; 5. a support member; 6. a fastener; 7. an electric push rod; 8. a bionic nose; 9. an acoustic wave emitter; 10. an antenna; 11. simulating an external ear mechanism; 12. an external ear platform; 13. a support; 14. a six degree of freedom platform; 15. a telescopic rod; 16. a base.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
As described in the background art, the current unmanned aerial vehicle realizes obstacle avoidance by various means in the flight process, and the common modes such as image identification obstacle avoidance, laser radar obstacle avoidance and the like depend on a higher hardware basis on one hand, and have higher requirements on the flight environment of the unmanned aerial vehicle on the other hand, for example, the image identification obstacle avoidance needs to identify obstacles existing on a flight route under the condition that visible light exists in the operation environment; and laser radar keeps away the barrier and receives the influence of external visible light less, nevertheless needs unmanned aerial vehicle to carry on many laser emitter and be used for acquireing the distance information of a plurality of directions for unmanned aerial vehicle carries the load device more, and the processing procedure of while signal is complicated, and meanwhile, laser radar keeps away the straight line laser that the barrier sent and is difficult to obtain the distance between small-size barrier and the unmanned aerial vehicle, causes easily and keeps away the barrier failure.
The bat relies on the ultrasonic wave to produce in the larynx, and the ultrasonic wave meets obstacle after reflection, is received by the ear of bat, and the bat can judge information such as position, distance and size of obstacle according to sound characteristics such as amplitude, frequency, signal interval of ultrasonic wave echo to do not receive the influence of external visible light, ultrasonic wave diffusion transmission in the space simultaneously, the position of the small-size obstacle of assurance that can be better than in rectilinear propagation's laser.
Therefore, following embodiment has given the unmanned aerial vehicle of keeping away barrier based on bat send-receiver device, carry on the ultrasonic wave send-receiver device of imitative bat nose and ear on unmanned aerial vehicle, the sound wave of transmission meets the barrier and can reflect, and the speed of sound wave is known, only need acquire the time difference of transmitting to receiving, can derive the distance of measuring, the relative distance of reunion sound wave emitter and sound wave receiver device to obtain the actual distance between barrier and the unmanned aerial vehicle, make unmanned aerial vehicle keep away the barrier and can not receive external environment influence.
The first embodiment is as follows:
as shown in fig. 1, the obstacle avoidance unmanned aerial vehicle based on the bat transceiver comprises an ultrasonic receiving device 3 and an ultrasonic transmitting mechanism 4 which are positioned at the bottom of the unmanned aerial vehicle 1, wherein the ultrasonic receiving device 3 and the ultrasonic transmitting mechanism 4 are both connected with a flight controller 2;
as shown in fig. 2, the ultrasonic emission mechanism 4 includes a bionic nose 8 and an acoustic wave emitter 9 connected to the support 5, the bionic nose 8 is movably connected to the support 5 through an electric push rod 7, the bionic nose 8 has a saddle-shaped blade portion (a structure simulating horseshoe-shaped protrusions on leaves of a bat nose), the bionic nose (simulating the shape and structure of the bat nose, and carbon fiber material can be used) can increase the number and intensity of emitted ultrasonic beams, and is more excellent than a common mode of matching an ultrasonic emission sensor and a receiving sensor.
The bionic nose 8 and the sound wave emitter 9 are connected through a lead.
In the embodiment, the support member 5 is L-shaped, the vertical part of the support member 5 is connected with the fixed end of an electric push rod 7 through a fastener 6, the movable end of the electric push rod 7 is connected with a bionic nose 8, and a sound wave emitter 9 is connected with the horizontal part of the support member 5; ultrasonic waves generated by the sound wave emitter 9 are emitted by the bionic nose 8, the distance between the bionic nose 8 and the support 5 in the horizontal direction is changed through the telescopic motion of the electric push rod 7, the relative position of the saddle-shaped blade and the acoustic wave emitter 9 can be adjusted, the beam width of the center frequency in the vertical direction tends to become smaller as the length of the saddle-shaped blade is lengthened, the more the hole in the saddle-shaped blade close to the wavelength generates a beam, so that the quantity and intensity of the emitted ultrasonic beams can be increased, the actually emitted ultrasonic frequency of the sound wave emitter 9 can be made to be more than 20000MHZ without generating ultrasonic waves with higher frequency so as to imitate the ultrasonic waves emitted by bats, and further, the space near the main direction can be detected while the main direction is detected, for obstacle avoidance of the unmanned aerial vehicle, detection time and energy consumption are reduced, and the flight controller 2 controls the sound wave transmitter to generate ultrasonic waves.
As shown in fig. 3, the ultrasonic receiving apparatus 3 includes at least two sets of external ear simulating mechanisms 11 arranged in parallel on a base 16, each set of external ear simulating mechanisms 11 is disposed on a corresponding external ear platform 12, each set of external ear simulating mechanisms 11 is connected to a corresponding six-degree-of-freedom platform 14 through a support 13, and the six-degree-of-freedom platform 14 is connected to the base 16 through a telescopic rod 15.
The base 16 is also provided with an antenna 10 for receiving control signals for the drone 1.
Simulation external ear mechanism 11 has the frequency and sweeps the characteristic including bionical external ear and bionical external ear hypodermis lamella, and simulation external ear structure can accurately simulate bat external ear and receive the echo wave, receives the echo after, utilizes echo positioning principle to analyse sound characteristics such as amplitude, frequency, signal interval of echo, can confirm the position can accurately judge how far away there is the distance to and barrier still insect, make unmanned aerial vehicle accurate completion keep away the barrier.
The external ear shape of the bat influences the formation of the collected beam, which may be such that it receives a very weak signal, or a signal that is highly sensitive in one direction, thus achieving a more accurate localization (e.g. "study of the effect of bat external ear edge extension on beam formation" quexian, 2008).
The bionic external ear and the bat external ear have the same shape and structure, and can imitate the bat external ear to receive ultrasonic waves.
In this embodiment, the telescopic rod 15 is connected between the base 16 and the six-degree-of-freedom platform 14, and is used for simultaneously changing the heights of the two sets of simulated external ear mechanisms 11; the outer ear platform 12 and the support 13 are used for bearing the weight of the simulated outer ear mechanism 11;
wherein, the outer ear platform 12 is movably connected with the bottom of the simulated outer ear mechanism 11, and the bracket 13 is movably connected with the central point of the back side of the simulated outer ear mechanism 11;
the six-degree-of-freedom platform is in a standard StewartPlatform form and comprises an upper platform and a lower platform which are arranged in parallel, the side parts of the two platforms are hinged through six telescopic rods, the hinged point of each two groups of telescopic rods on the side parts of the two platforms is close to each other, and the two platforms are trisected in the circumferential direction.
The upper platform moves relatively, the lower platform is relatively static, and the telescopic motion of six telescopic rods is used to complete the front-back movement, the left-right transverse movement, the lifting and descending, the front-back rolling and the left-right side tilting movement of the upper platform, so that each group of simulated external ear mechanisms 11 are driven to take the connection part of the back side and the support 13 as a central point, the relative position between the simulated external ear mechanisms 11 and the ultrasonic emission mechanism 4 and the angle of the simulated external ear mechanisms 11 are changed, the ultrasonic echoes of different angles are received, and the receiving range of the ultrasonic echoes is widened.
Correspondingly, the platform at the bottom of the six-degree-of-freedom platform 14, the telescopic rod 15 and the base 16 form a new six-degree-of-freedom platform, so that the two sets of the simulated external ear mechanisms 11 jointly realize the motion in 6 directions, and simultaneously, the angles of the two sets of the simulated external ear mechanisms 11 are changed.
The working process is as follows: ultrasonic waves generated by the sound wave emitter 9 are emitted through the bionic nose part 8, the distance of the bionic nose part 8 relative to the support part 5 in the horizontal direction is changed through the telescopic motion of the electric push rod 7, the relative position of the saddle-shaped leaf part and the sound wave emitter 9 is adjusted, and the ultrasonic waves with the ultrasonic frequency higher than 20000MHZ are emitted; generating an echo after the ultrasonic wave meets an obstacle;
after the analog outer ear mechanism 11 receives the echo, the ADC module (digital converter) of the flight controller 2 converts the analog signal into a digital signal and stores the digital signal in the DMA module (direct memory access), and the DMA module transmits the digital signal to the storage module. The flight controller 2 carries out filtering, framing and windowing processing on the echo signals in the storage module, and positions the obstacles according to the processed digital signals so as to obtain the position information of the obstacles; the flight controller 2 controls the unmanned aerial vehicle 1 to complete obstacle avoidance according to the position information of the obstacle.
Through the bionical nose portion and the simulation external ear organ that the emulation bat sent and received ultrasonic wave of mechanism, the bionical nose portion that utilizes electric putter to drive cooperatees with the simulation external ear mechanism that six degrees of freedom platforms drove, changes the characteristic of sound wave, can realize unmanned aerial vehicle's obstacle avoidance under the influence that does not receive external environment.
Through the bionical nasal part that electric putter drove, change the distance of the relative support piece of bionical nasal part horizontal direction, adjust with the relative position of sound wave transmitter to increase the quantity and the intensity of the ultrasonic beam that sends, reduce unmanned aerial vehicle and keep away required time and energy consumption of barrier, when surveying the main direction, can also survey near space of main direction simultaneously.
The simulated external ear mechanism driven by the six-degree-of-freedom platform changes the relative position between the simulated external ear mechanism and the ultrasonic transmitting mechanism and the angle of the bionic external ear, so that the ultrasonic echoes of different angles are received, and the receiving range of the ultrasonic echoes is widened.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Keep away barrier unmanned aerial vehicle based on bat transceiver, its characterized in that: the system comprises an ultrasonic receiving device and an ultrasonic transmitting mechanism which are positioned at the bottom of an unmanned aerial vehicle, wherein the ultrasonic receiving device and the ultrasonic transmitting mechanism are both connected with a flight controller of the unmanned aerial vehicle;
the ultrasonic wave emission mechanism comprises a bionic nose part and an acoustic wave emitter which are connected to the supporting part, and the bionic nose part is movably connected with the supporting part through an electric push rod;
the ultrasonic receiving device comprises at least two groups of external ear simulating mechanisms which are arranged in parallel, each group of external ear simulating mechanisms are connected to a corresponding six-degree-of-freedom platform through a support, and the six-degree-of-freedom platform is connected to the base through a telescopic rod.
2. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: the fixed end of the electric push rod is connected to the supporting piece through a fastening piece.
3. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: the movable end of the electric push rod is connected with the bionic nose.
4. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: the base is provided with an antenna for receiving a control signal of the unmanned aerial vehicle.
5. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: the bionic nose is provided with a saddle-shaped blade part.
6. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: the simulated external ear mechanism comprises a bionic external ear and a bionic external ear hypodermis.
7. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: the telescopic rod is positioned in a space between the base and the six-degree-of-freedom platform, and the height of the two groups of simulated external ear mechanisms relative to the base is changed through the action of the telescopic rod.
8. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: each group of simulated external ear mechanisms are arranged on the corresponding external ear platform.
9. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 8, wherein: the external ear platform is movably connected with the bottom of the external ear simulating mechanism.
10. An obstacle avoidance unmanned aerial vehicle based on a bat transceiver device as claimed in claim 1, wherein: the bracket is movably connected with the central point of the back side of the external ear simulating mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210188559.6A CN114379805A (en) | 2022-02-28 | 2022-02-28 | Obstacle avoidance unmanned aerial vehicle based on bat receiving and dispatching device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210188559.6A CN114379805A (en) | 2022-02-28 | 2022-02-28 | Obstacle avoidance unmanned aerial vehicle based on bat receiving and dispatching device |
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| CN106409109A (en) * | 2016-10-31 | 2017-02-15 | 济南大学 | Animal external ear sound characteristic simulator |
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| WO2018187946A1 (en) * | 2017-04-11 | 2018-10-18 | 深圳市大疆创新科技有限公司 | Radar assembly and unmanned aerial vehicle |
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-
2022
- 2022-02-28 CN CN202210188559.6A patent/CN114379805A/en active Pending
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Application publication date: 20220422 |