CN114560096A - Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver - Google Patents
Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver Download PDFInfo
- Publication number
- CN114560096A CN114560096A CN202210188990.0A CN202210188990A CN114560096A CN 114560096 A CN114560096 A CN 114560096A CN 202210188990 A CN202210188990 A CN 202210188990A CN 114560096 A CN114560096 A CN 114560096A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- ultrasonic
- bat
- variable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 210000000883 ear external Anatomy 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000002604 ultrasonography Methods 0.000 claims description 8
- 230000003592 biomimetic effect Effects 0.000 claims 6
- 238000000034 method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000002592 echocardiography Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 230000005236 sound signal Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000288673 Chiroptera Species 0.000 description 1
- 206010071232 Protuberant ear Diseases 0.000 description 1
- 241000746998 Tragus Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000613 ear canal Anatomy 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- 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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar 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
- 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
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention relates to an unmanned aerial vehicle system and an unmanned aerial vehicle system based on a variable bionic bat ultrasonic transceiver, which comprise an unmanned aerial vehicle and a ground base station in wireless communication with the unmanned aerial vehicle, wherein the bottom of the unmanned aerial vehicle is provided with an ultrasonic transmitting mechanism and an ultrasonic receiving device; the ultrasonic transmitting mechanism comprises an auxiliary transmitting device and a transmitter which are connected to a transmitting support, the transmitter is movably connected with the transmitting support through a rotating table, the ultrasonic receiving device comprises at least two groups of simulated outer ears which are connected to a receiving support and arranged in parallel, each group of simulated outer ears are connected to a corresponding six-freedom-degree platform through outer ear supports, and each group of six-freedom-degree platform is located at the top of the platform support. By simulating the transmitting device and the receiving device of the bat, the bat nostril vibrates to sound to generate an ultrasonic signal, the external ear receives the ultrasonic signal, and a complete image is generated by an ultrasonic image display principle, so that the accuracy of face recognition is improved when the unmanned aerial vehicle is in a dark environment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle system based on a variable bionic bat ultrasonic transceiver.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
When utilizing unmanned aerial vehicle to realize face identification, need unmanned aerial vehicle to obtain image information, image discernment face data after handling, among the present mode, the image that unmanned was obtained relies on visible light, when illumination condition changes (for example night or dark surrounds), the discernment ability can sharply descend, causes the recognition result inaccurate, the discernment cooperation through thermal imaging and multi-angle is supplementary at present, but the recognition effect is still unsatisfactory, be difficult to deal with the identification process when illumination condition is not enough.
Disclosure of Invention
In order to solve the technical problems in the background technology, the invention provides an unmanned aerial vehicle system based on a variable bionic bat ultrasonic transceiver, wherein the unmanned aerial vehicle is provided with an ultrasonic transceiver simulating a bat nose part and an ear part, 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 can be obtained by combining the relative distance between the sound wave transmitting device and the sound wave receiving device, so that the unmanned aerial vehicle can avoid the obstacle without being influenced by the external environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an unmanned aerial vehicle system based on a variable bionic bat ultrasonic transceiver, which comprises an unmanned aerial vehicle and a ground base station in wireless communication with the unmanned aerial vehicle, wherein the bottom of the unmanned aerial vehicle is provided with an ultrasonic transmitting mechanism and an ultrasonic receiving device;
the ultrasonic transmitting mechanism comprises an auxiliary transmitting device and a transmitter which are connected with the transmitting bracket, the transmitter is movably connected with the transmitting bracket through a rotating platform,
the ultrasonic receiving device comprises at least two groups of simulated outer ears which are connected on the receiving support and arranged in parallel, each group of simulated outer ears are connected on a corresponding six-degree-of-freedom platform through an outer ear support, and each group of six-degree-of-freedom platform is positioned at the top of the platform support.
The launching cradle is the L type, and supplementary emitter has two sets ofly of arranging side by side, all is located the top of launching cradle, and the transmitter has two sets ofly of arranging side by side, is located corresponding supplementary emitter terminal under respectively.
The simulated external ear is movably connected with the six-degree-of-freedom platform, and the external ear support is movably connected with the central point of the back side of the simulated external ear; and a lead connected with the simulated outer ear penetrates through the six-degree-of-freedom platform and is used for being connected with a flight controller of the unmanned aerial vehicle.
The six-degree-of-freedom platform 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, and every two groups of telescopic rods are close to each other at the hinged point of the side parts of the two platforms and trisect the two platforms in the circumferential direction.
The unmanned aerial vehicle is connected with the flight controller, the image processing module and the image acquisition module.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
through the emitter and the receiver of simulation bat, imitate bat nostril vibrations sound production ultrasonic signal and the ultrasonic signal of external ear receipt, generate complete image through ultrasonic image display principle, improve face identification's rate of accuracy when unmanned aerial vehicle is in under the dark surrounds.
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 transmitting mechanism in a bionic ultrasonic transceiver provided in one or more embodiments of the present invention.
Fig. 3 is a schematic structural diagram of an ultrasonic receiving device in a bionic ultrasonic transceiver provided in one or more embodiments of the present invention.
In the figure: 1. an unmanned aerial vehicle; 2. an ultrasonic wave emitting mechanism; 3. an ultrasonic receiving device; 4. a flight controller; 5. an image processing module; 6. an image acquisition module; 7. a transmitter; 8. a rotating table; 9. a launch cradle; 10. an auxiliary transmitting device; 11. receiving a bracket; 12. simulating an external ear; 13. a wire; 14. a six degree of freedom platform; 15. an external ear support; 16. and (4) supporting the platform.
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, in the current method, an image acquired by nobody depends on visible light, when the lighting condition changes (for example, at night or in a dark environment), the recognition capability may decrease sharply, which causes an inaccurate recognition result.
The bat lives in a dark environment with insufficient illumination conditions, ultrasonic waves are generated in the throat, the ultrasonic waves are reflected after encountering objects and are received by ears of the bat, and the bat can judge information such as the position, distance, size and the like of the objects according to sound characteristics such as amplitude, frequency, signal interval and the like of ultrasonic echoes, so that images are formed under the condition that the bat is not influenced by external visible light. By using the ultrasonic imaging principle, imaging can be carried out in a dark environment with insufficient light conditions or in certain hard-to-reach areas, such as B-type ultrasonic examination which is common in the medical field.
Therefore, the following embodiments provide an unmanned aerial vehicle system based on a variable bionic bat ultrasound transceiver device, an ultrasonic transmitting mechanism and a receiving device are mounted on an unmanned aerial vehicle, the simulated outer ear of the bat ear is simulated in the receiving device, the shape of the simulated outer ear is changed to change the distribution phenomenon of wave beams, the received sound signals are diffracted to highlight the signals in the face direction, the signals serve as a directional filter to realize the receiving and amplification of important sound information, finally, the acquired ultrasonic signals are converted into two-dimensional face images, and the two-dimensional face images are compressed and then sent to a ground station of the unmanned aerial vehicle, so that the recognition of the face images is realized in a dark environment lacking visible light.
The first embodiment is as follows:
an unmanned aerial vehicle system based on a variable bionic bat ultrasonic transceiver comprises an unmanned aerial vehicle 1 shown in figure 1 and a ground base station in wireless communication with the unmanned aerial vehicle 1, wherein the unmanned aerial vehicle 1 comprises an ultrasonic transmitting mechanism 2 and an ultrasonic receiving device 3 which are positioned at the bottom, and the unmanned aerial vehicle 1 is also connected with a flight controller 4, an image processing module 5 and an image acquisition module 6;
unmanned aerial vehicle 1 passes through flight controller 4 and ground base station wireless communication, and the beam pattern that ultrasonic wave receiving arrangement 3 acquireed passes through flight controller 4 and transmits for the ground base station, and the ground base station utilizes present ultrasonic wave B type display principle to convert received ultrasonic signal into two-dimentional face image to further realize the discernment and the analysis to the face image.
As shown in fig. 2, the ultrasonic transmitter 2 includes an auxiliary transmitter 10 and a transmitter 7 connected to a transmitter support 9, the transmitter 7 is movably connected to the transmitter support 9 through a rotary table 8,
in this embodiment, the launching bracket 9 is L-shaped, the auxiliary launching device 10 is located at the top of the launching bracket 9, and the launchers 7 are provided with two groups arranged in parallel and respectively located right below the tail ends of the auxiliary launching devices 10. The auxiliary transmitting device 10 simulates the shape and the structure of a bat nose head, a plurality of grooves are arranged inside the auxiliary transmitting device, a sound wave sensor is arranged in each groove, and the ultrasonic energy emitted by the transmitter 7 is changed by the auxiliary transmitting device 10 through the plurality of grooves.
In this embodiment, the auxiliary transmitting device 10 simulates the shape and structure of a batnose head, and is provided with a plurality of grooves therein, and the auxiliary transmitting device 10 filters clutter by using the plurality of grooves, and amplifies the emitted frequency to a specific frequency range by increasing power, thereby achieving the purpose of changing the ultrasonic energy emitted by the emitter 7.
Transmitter 7 produces the ultrasonic wave, drives rotatoryly through revolving stage 8, realizes the propagation of all directions ultrasonic wave, and the ultrasonic wave that transmitter 7 produced can change the ultrasonic energy that the transmitter sent through supplementary emitter 10, realizes making the acoustic wave frequency of obtaining be greater than 20000MHz to the supplementary propagation of ultrasonic wave.
As shown in fig. 3, the ultrasonic receiver 3 includes at least two sets of simulated outer ears 12 connected to the receiver support 11 and arranged in parallel, each set of simulated outer ears 12 is connected to a corresponding six-degree-of-freedom platform 14 through an outer ear support 15, and each set of six-degree-of-freedom platform 14 is located on top of a platform support 16.
The external ear of a bat generally consists of the pinna, the tragus (or antitragus), the ear canal, etc. In terms of appearance, bats often have particularly complex geometries on their pinna, such as ridge and groove structures. The simulated outer ear 12 in the present embodiment is thus the same in shape and configuration as a bat outer ear, and can mimic the reception of ultrasonic waves by a bat outer ear.
In this embodiment, the simulated outer ear 12 is movably connected to the six-degree-of-freedom platform 14, and the outer ear support 15 is movably connected to a central point on the back side of the simulated outer ear 12; a wire 13 connected to the simulated outer ear 12 passes through the six degree of freedom platform 14 for connection with the flight controller 4 of the drone.
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 back-and-forth movement, the left-and-right transverse movement, the lifting and descending, the front-and-back rolling and the left-and-right side-tilting movement of the upper platform, so that each group of simulated external ears 12 is driven to take the connection part of the back side and the external ear support 15 as a central point, the relative position between the simulated external ears 12 and the ultrasonic emission mechanism 2 and the angle of the simulated external ears 12 are changed, the ultrasonic echoes of different angles are received, and the receiving range of the ultrasonic echoes is widened.
The lower stage of the six-degree-of-freedom stage 14 is connected to the base plate of the ultrasonic receiver 3 via a stage support 16.
The working process is as follows: ultrasonic waves generated by the transmitter 7 are transmitted by the auxiliary transmitting device 10, the frequency of the ultrasonic waves is greater than 20000MHz, and the ultrasonic waves generate echoes after encountering objects;
after the simulated outer ear 12 in the ultrasonic receiving device 3 receives the echo, the received sound signal is diffracted, a signal in the direction of the human face is highlighted, and the received sound signal is used as a directional filter to receive and amplify important sound information.
When the ultrasonic receiving device 3 receives an ultrasonic signal, the tip of the ear is bent downward and backward and outward under the driving of the six-degree-of-freedom platform 14 by the simulated external ear 12, so that the external ear is deformed. In this process, the top connecting rod of six degrees of freedom platform 14 links to each other with the tip of simulation external ear 12, therefore the platform is when removing or rotating, drives the sharp portion of simulation external ear 12 through the connecting rod, realizes the motion of sharp portion, because simulation external ear 12 root is fixed on the platform, consequently can realize the change of external ear shape. The direction, angle and corresponding magnitude of motion of the six degree-of-freedom platform 14 is controlled by the differential contrast of the signals received by the two outer ears.
When the simulated outer ear 12 in the ultrasonic receiving device 3 deforms, the distribution phenomenon of the wave beams can be changed, and when the simulated outer ear is in an upright state, the wave beam distribution has an obvious main lobe and other direction values are small; when the outer ear is deformed, the value of the originally small side lobe in the beam begins to increase gradually with the degree of deformation, and some frequencies may even exceed the main lobe, and the change of the main lobe is relatively minimal. At the end of the deformation, the concha shape returns to an upright position, with the beam returning. The side lobes have a large variation with frequency, the side lobes have a large difference with each other for different frequencies, and the variation of the main lobe is very small.
The ultrasonic receiver determines the diffraction process and resulting beam pattern for the received acoustic signal. The beam pattern is passed through an image processing module 5 to generate a complete image according to the B-mode ultrasonic image display principle.
The bat is simulated by a transmitting device and a receiving device of a simulated bat nostril to vibrate and sound to generate an ultrasonic signal and an external ear to receive the ultrasonic signal, a complete image is generated by an ultrasonic image display principle, and the accuracy of image recognition is further improved by utilizing the existing wavelet moment characteristic-based gray level image recognition algorithm and a neural network, so that the accuracy of face recognition is improved when the unmanned aerial vehicle is in a dark environment.
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. Unmanned aerial vehicle system based on changeable bionical bat supersound transceiver device, its characterized in that: the system comprises an unmanned aerial vehicle and a ground base station in wireless communication with the unmanned aerial vehicle, wherein an ultrasonic transmitting mechanism and an ultrasonic receiving device are arranged at the bottom of the unmanned aerial vehicle;
the ultrasonic transmitting mechanism comprises an auxiliary transmitting device and a transmitter which are connected with the transmitting bracket, the transmitter is movably connected with the transmitting bracket through a rotating platform,
the ultrasonic receiving device comprises at least two groups of simulated outer ears which are connected on the receiving support and arranged in parallel, each group of simulated outer ears are connected on a corresponding six-degree-of-freedom platform through an outer ear support, and each group of six-degree-of-freedom platform is positioned at the top of the platform support.
2. The variable biomimetic bat ultrasound transceiver-based drone system of claim 1, wherein: the auxiliary launching device is provided with two groups which are arranged in parallel and are positioned at the top of the launching bracket.
3. The variable bionical bat ultrasound transceiver device-based drone system of claim 2, wherein: the emitters are provided with two groups which are arranged in parallel and are respectively positioned right below the tail ends of the corresponding auxiliary emitting devices.
4. The variable biomimetic bat ultrasound transceiver-based drone system of claim 1, wherein: the simulated external ear is movably connected with the six-degree-of-freedom platform.
5. The variable biomimetic bat ultrasound transceiver-based drone system of claim 1, wherein: the six-degree-of-freedom platform comprises an upper platform and a lower platform which are arranged in parallel.
6. The variable biomimetic bat ultrasound transceiver-based drone system of claim 5, wherein: the lateral parts of the upper platform and the lower platform are hinged through six telescopic rods.
7. The unmanned aerial vehicle system based on the variable bionic bat ultrasonic transceiver device as claimed in claim 6, wherein: the hinge points of each two groups of telescopic rods on the side parts of the two platforms are close to each other and trisect the two platforms in the circumferential direction.
8. The unmanned aerial vehicle system based on the variable bionic bat ultrasonic transceiver device as claimed in claim 1, wherein: the external ear support is movably connected with the central point of the back side of the simulated external ear.
9. The variable biomimetic bat ultrasound transceiver-based drone system of claim 1, wherein: and a lead connected with the simulated outer ear penetrates through the six-degree-of-freedom platform and is used for being connected with a flight controller of the unmanned aerial vehicle.
10. The variable biomimetic bat ultrasound transceiver-based drone system of claim 1, wherein: the unmanned aerial vehicle is connected with the flight controller, the image processing module and the image acquisition module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210188990.0A CN114560096A (en) | 2022-02-28 | 2022-02-28 | Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210188990.0A CN114560096A (en) | 2022-02-28 | 2022-02-28 | Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114560096A true CN114560096A (en) | 2022-05-31 |
Family
ID=81715300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210188990.0A Pending CN114560096A (en) | 2022-02-28 | 2022-02-28 | Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114560096A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001023907A1 (en) * | 1999-09-24 | 2001-04-05 | Astrium Gmbh | Helicopter-borne radar system |
| CN204822097U (en) * | 2015-05-22 | 2015-12-02 | 刘道满 | Anti -jamming unmanned aerial vehicle system |
| CN106054200A (en) * | 2016-06-24 | 2016-10-26 | 南京奇蛙智能科技有限公司 | Ultrasonic distance sensor capable of preventing sound interference and range finding method thereof |
| CN106409109A (en) * | 2016-10-31 | 2017-02-15 | 济南大学 | Animal external ear sound characteristic simulator |
| CN107783115A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle |
| CN108469615A (en) * | 2018-03-27 | 2018-08-31 | 山东大学 | It is a kind of based on the small target auto-orientation device and its construction method of bat biomimetic sonar and application |
| CN109991594A (en) * | 2017-12-29 | 2019-07-09 | 哈尔滨跃渊智能科技有限责任公司 | A kind of microwave radar device for monitoring water quality unmanned plane |
| CN110009984A (en) * | 2019-04-22 | 2019-07-12 | 山东交通学院 | A kind of high saddle rhinolophine sound property simulator and method |
| CN110018464A (en) * | 2019-04-22 | 2019-07-16 | 山东交通学院 | Three leaf hoof bat category bat nose notch characteristics simulators of one kind and method |
-
2022
- 2022-02-28 CN CN202210188990.0A patent/CN114560096A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001023907A1 (en) * | 1999-09-24 | 2001-04-05 | Astrium Gmbh | Helicopter-borne radar system |
| CN204822097U (en) * | 2015-05-22 | 2015-12-02 | 刘道满 | Anti -jamming unmanned aerial vehicle system |
| CN106054200A (en) * | 2016-06-24 | 2016-10-26 | 南京奇蛙智能科技有限公司 | Ultrasonic distance sensor capable of preventing sound interference and range finding method thereof |
| CN107783115A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle |
| CN106409109A (en) * | 2016-10-31 | 2017-02-15 | 济南大学 | Animal external ear sound characteristic simulator |
| CN109991594A (en) * | 2017-12-29 | 2019-07-09 | 哈尔滨跃渊智能科技有限责任公司 | A kind of microwave radar device for monitoring water quality unmanned plane |
| CN108469615A (en) * | 2018-03-27 | 2018-08-31 | 山东大学 | It is a kind of based on the small target auto-orientation device and its construction method of bat biomimetic sonar and application |
| CN110009984A (en) * | 2019-04-22 | 2019-07-12 | 山东交通学院 | A kind of high saddle rhinolophine sound property simulator and method |
| CN110018464A (en) * | 2019-04-22 | 2019-07-16 | 山东交通学院 | Three leaf hoof bat category bat nose notch characteristics simulators of one kind and method |
Non-Patent Citations (2)
| Title |
|---|
| 刘海波;李冀;: "浅析无人机自动避障系统" * |
| 张贵峰;陈晓;崔彦召;刘胜南;: "基于自抗扰技术的无人机自主避障研究" * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104101786B (en) | The active multi-beam sphere phase array antenna pattern measurement system in full spatial domain | |
| CN106409109B (en) | Animal external ear sound property simulator | |
| CN109581385B (en) | Target positioning device and method based on double-lug-contour bionic sonar of large-ear bats | |
| CN102988155B (en) | Coding vibration and voice prompt blind guiding method and apparatus based on multi-frequency modulation | |
| JP2000028589A (en) | Three-dimensional ultrasonic imaging device | |
| CN104683907A (en) | Directional transmission device | |
| CN108415000B (en) | Laser radar based on multi-joint mechanical arm | |
| CN109031242A (en) | Transmit-receive integrated telecentric optical system applied to three-dimensional scanning fiber laser radar | |
| CN106772328A (en) | A kind of bionical bat sonar experimental system setup based on multiaxis head | |
| CN110174644A (en) | The method and apparatus and smart machine of ranging are carried out using more wireless sensing signals | |
| CN114560096A (en) | Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver | |
| CN113820694B (en) | Simulation ranging method, related device, equipment and storage medium | |
| CN107276706A (en) | A kind of directive property source of sound broadcast system based on UWB | |
| CN117169893B (en) | Laser induced sound cross-air underwater target detection system and method | |
| CN103760538B (en) | Generation device and method for radar transmitting baseband signals | |
| CN210605073U (en) | Optical fiber array coupling device | |
| CN110018464B (en) | Hemiphos dauricum batnose recess characteristic simulation device and method | |
| CN110261967B (en) | Device and method for improving coupling efficiency of space light-optical fiber array | |
| CN108490435B (en) | High-resolution high-penetrability three-dimensional radar life detection positioning device | |
| CN207689918U (en) | A kind of red fire ant ant nest monitoring system based on unmanned plane | |
| CN109188394A (en) | Laser radar circuit system and laser radar | |
| CN114379805A (en) | Obstacle avoidance unmanned aerial vehicle based on bat receiving and dispatching device | |
| CN108957464A (en) | Four dot matrix fish finding sonars | |
| CN109387569A (en) | A kind of quality of welding spot automatic checkout system | |
| CN210835235U (en) | Broadband multi-beam sounding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220531 |
|
| RJ01 | Rejection of invention patent application after publication |