CN115617077B - Automatic obstacle avoidance unmanned aerial vehicle and automatic obstacle avoidance method - Google Patents
Automatic obstacle avoidance unmanned aerial vehicle and automatic obstacle avoidance method Download PDFInfo
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Abstract
The invention discloses an automatic obstacle avoidance unmanned aerial vehicle and an automatic obstacle avoidance method, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body, and a radar, a camera body, a distance measurement sensor and a controller are arranged on the unmanned aerial vehicle body; the radar, the camera body and the ranging sensor monitor environmental data and upload the environmental data to the controller; the controller is used for receiving the environment data, judging whether an obstacle exists in front of the unmanned aerial vehicle according to the environment data, determining the distance between the unmanned aerial vehicle and the obstacle when the obstacle exists, and controlling the unmanned aerial vehicle to avoid the obstacle when the distance is smaller than a preset threshold value. Through the technical scheme, the unmanned aerial vehicle disclosed by the invention can automatically identify the obstacles according to a plurality of environmental data and automatically avoid the obstacles according to the distance between the unmanned aerial vehicle and the obstacles, so that the unmanned aerial vehicle is prevented from colliding against the obstacles due to negligence of workers and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an automatic obstacle avoidance unmanned aerial vehicle and an automatic obstacle avoidance method.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by utilizing a wireless remote control device and a self-contained program control device, has no cockpit on the vehicle, but is provided with an automatic pilot, a program control device and other devices, can be divided into an unmanned fixed wing aircraft, an unmanned vertical take-off and landing aircraft, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned umbrella wing aircraft and the like, and is widely used for aerial reconnaissance, monitoring, communication, anti-dive, electronic interference and the like.
Present part unmanned aerial vehicle can utilize optical equipment to fix a position self, for example confirm the distance of self and barrier with laser range finder to make things convenient for the staff to avoid in advance, but unmanned aerial vehicle's the operation of avoiding is mostly manual operation, in case because of staff's negligence or error, make unmanned aerial vehicle too be close the barrier, can't in time avoid the operation, lead to unmanned aerial vehicle and barrier to collide with, bring loss of property.
Disclosure of Invention
The embodiment of the invention provides an automatic obstacle avoidance unmanned aerial vehicle and an automatic obstacle avoidance method, which aim to solve the problem that the existing unmanned aerial vehicle can automatically avoid obstacles when workers neglect or do not notice the obstacles.
The embodiment of the invention provides an automatic obstacle avoidance unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wherein a radar, a camera body, a distance measurement sensor and a controller are arranged on the unmanned aerial vehicle body;
the radar, the camera body and the ranging sensor monitor environmental data and upload the environmental data to the controller;
the controller is used for receiving the environment data, judging whether an obstacle exists in front of the unmanned aerial vehicle according to the environment data, determining the distance between the unmanned aerial vehicle and the obstacle when the obstacle exists, and controlling the unmanned aerial vehicle to avoid the obstacle when the distance is smaller than a preset threshold value.
In some embodiments, the radar and the camera body are disposed on an upper portion or a bottom portion of the unmanned aerial vehicle body, and the distance measuring sensor is disposed on a side portion of the unmanned aerial vehicle body.
In some embodiments, a wiping device for wiping the radar, the camera body and/or the ranging sensor is further disposed on the unmanned aerial vehicle body;
the wiping device comprises a driving part and a wiping part, the driving part is used for driving the wiping part to move, and the wiping part comprises a sponge, wiping cloth and/or a hairbrush.
In some embodiments, the drive portion comprises a fixed mechanism, a telescoping mechanism, and a rotating mechanism;
the fixing mechanism is fixedly connected with the unmanned aerial vehicle body, one end of the telescopic mechanism is connected with the fixing mechanism, and the other end of the telescopic mechanism is connected with the rotating mechanism; the rotating mechanism is used for driving the wiping part to rotate.
In some embodiments, the fixing mechanism includes a fixing disk, a fixing hole, a fixing screw and a thread groove, the fixing disk is mounted at an end of the telescopic mechanism, the fixing hole penetrates through the surface of the fixing disk, and the thread groove is formed in a mounting seat of the unmanned aerial vehicle body; and/or the presence of a gas in the gas,
the telescopic mechanism comprises any one of an electric push rod, a hydraulic rod or a pneumatic rod; and/or the presence of a gas in the gas,
the rotating mechanism comprises a first box body, a rotating rod is rotatably connected inside the first box body, a first rotary table is fixedly connected to the extending end of the rotating rod, a movable plate is rotatably connected to the front face of the first rotary table, and a wiping portion is arranged on the surface of the movable plate.
In some embodiments, the rotating mechanism further comprises a second box, a driving motor is fixed inside the second box, an output shaft of the driving motor is fixedly connected with a second rotating disc, and the movable plate is rotatably connected with the second rotating disc;
the second box through with fixed establishment with parallel second fixed establishment and the second telescopic machanism that sets up of telescopic machanism are connected to on the unmanned aerial vehicle body.
In some embodiments, a connecting rod is further arranged at one end of the first box body and the second box body, which is far away from the first rotating disc or the second rotating disc, and the connecting rod is bent; and/or the presence of a gas in the gas,
unmanned aerial vehicle body below still is provided with the unmanned aerial vehicle support.
In some embodiments, the controller further comprises any one or more of:
the main processor is used for realizing data processing and control on the unmanned aerial vehicle;
the flight control module is used for realizing the flight control of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to avoid the barrier;
the steering rudder module is used for executing steering of the unmanned aerial vehicle;
the obstacle avoidance unit comprises a data acquisition module, a distance calculation module and a judgment module, and is used for identifying and determining the distance between the obstacle and the obstacle through the distance calculation module according to the environmental data acquired by the data acquisition module, and issuing an avoidance instruction according to the judgment result of the judgment module;
the data transmission module is used for transmitting data and instructions;
and the flight data storage module is used for storing data generated in the flight of the unmanned aerial vehicle.
In some embodiments, the drone further comprises a ground operating end, the ground operating end further comprising any one or more of: the device comprises a data transmission module, a display end, an operator and a warning module;
the data transmission module is used for realizing input and output of data;
the display end is used for displaying state data, environment data and/or operation data of the unmanned aerial vehicle;
the operator is used for realizing human-computer interaction;
the warning module is used for the controller judges that the distance between unmanned aerial vehicle and the barrier is less than the preset threshold value and gives an alarm.
An embodiment of the invention provides an automatic obstacle avoidance method for an unmanned aerial vehicle, which comprises the following steps:
receiving environmental data monitored by a radar, a camera body and a ranging sensor on an unmanned aerial vehicle;
detecting whether an obstacle exists in front of the unmanned aerial vehicle or not according to the environmental data;
when detecting that there is the barrier in unmanned aerial vehicle the place ahead, confirm unmanned aerial vehicle with distance between the barrier, and be in when being less than preset threshold value control unmanned aerial vehicle realizes keeping away barrier flight.
Compared with the prior art, the unmanned aerial vehicle provided by the embodiment of the invention has the following advantages:
the unmanned aerial vehicle provided by the embodiment of the invention can control the unmanned aerial vehicle to automatically avoid when the unmanned aerial vehicle is too close to the obstacle, so that the unmanned aerial vehicle is prevented from colliding with the obstacle due to negligence of workers.
Furthermore, the embodiment of the invention can also clean the camera lens which is polluted by water mist or other dirt after the unmanned aerial vehicle is lifted off to ensure the visual field of the camera, thereby solving the problem that the visual field of the camera of the unmanned aerial vehicle is influenced because the existing unmanned aerial vehicle is polluted by water mist or other dirt after being lifted off and the camera cannot be cleaned.
Drawings
Fig. 1 is a schematic perspective view of an automatic obstacle avoidance unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of the disassembled structure of the unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of the structure of FIG. 2;
fig. 4 is a schematic perspective view of a wiping device according to an embodiment of the present invention;
FIG. 5 is a top cross-sectional view of a wiping device according to an embodiment of the present invention;
FIG. 6 is a schematic view of the unmanned aerial vehicle during camera cleaning according to the present invention;
fig. 7 is a cross-sectional view of the internal controller portion of the drone of the present invention;
FIG. 8 is a functional block diagram of the controller of the present invention;
FIG. 9 is a schematic block diagram of the ground operating terminal of the UAV of the present invention;
fig. 10 is a flowchart of an automatic obstacle avoidance method for an unmanned aerial vehicle according to an embodiment of the present invention.
In the figure: 1. an unmanned aerial vehicle body; 2. a mounting seat; 3. a main processor; 4. a flight control module; 5. a rudder steering module; 6. an obstacle avoidance unit; 7. a flight data storage module; 8. a data transmission module; 9. a radar; 10. a camera body; 11. a ranging sensor; 12. an electric telescopic rod; 13. a fixing mechanism; 131. fixing the disc; 132. a fixing hole; 133. fixing the bolt; 134. a thread groove; 14. a first case; 15. a second case; 16. a rotating rod; 17. a first turntable; 18. a movable plate; 19. a cleaning brush; 20. a drive motor; 21. a second turntable; 22. a connecting rod.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather construed as limited to the embodiments set forth herein.
The automatic obstacle avoidance unmanned aerial vehicle shown in the combined figure 1 can start the automatic obstacle avoidance function when the unmanned aerial vehicle flies autonomously or is operated by people and excessively approaches to an obstacle, so that the unmanned aerial vehicle can avoid colliding with the obstacle.
Specifically, unmanned aerial vehicle includes unmanned aerial vehicle body 1, be provided with radar 9, camera body 10, range sensor 11 and controller on the unmanned aerial vehicle body 1.
Wherein, radar 9, camera body 10 and range finding sensor 11 can real-time supervision and gather the environmental data of unmanned aerial vehicle in flight, specifically include point cloud data (sound wave data), image data and laser signal data etc. and will environmental data uploads the controller.
The controller is used for receiving the environmental data uploaded by the equipment, comprehensively judging whether an obstacle exists in the front of the unmanned aerial vehicle according to the environmental data, determining the distance between the unmanned aerial vehicle and the obstacle when the obstacle exists, and controlling the unmanned aerial vehicle to avoid the obstacle when the distance is smaller than a preset threshold value.
In summary, the obstacle avoidance unmanned aerial vehicle disclosed by the embodiment of the invention improves the detection accuracy of the obstacle and the accuracy of distance calculation through the fusion of data of a plurality of sensors, and avoids false detection, thereby improving the accuracy of obstacle avoidance.
In one or some embodiments, the radar 9 and the camera body 10 are disposed on the upper or bottom of the drone body.
Preferably, combine shown in fig. 1, radar 9 sets up the upper portion of unmanned aerial vehicle body, camera body 10 sets up the bottom of unmanned aerial vehicle body, just range sensor sets up the lateral part of unmanned aerial vehicle body.
In some embodiments, as shown in fig. 2 to 6, a wiping device for wiping the radar, the camera body and/or the distance measuring sensor is further disposed on the drone body 1. It should be noted that fig. 2-6 illustrate wiping of the camera body 10, and wiping of other sensors is within the scope of embodiments of the present invention.
Specifically, the wiping device comprises a driving part and a wiping part, the driving part is used for driving the wiping part to move, and the wiping part comprises a sponge, a wiping cloth and/or a hairbrush.
In the embodiment, the driving part and the wiping part are respectively arranged, so that the wiping range, efficiency and precision are improved, and the installation and the disassembly are convenient.
Specifically, the driving part comprises a fixing mechanism 13, a telescopic mechanism and a rotating mechanism;
the fixing mechanism 13 is fixedly connected with the unmanned aerial vehicle body, one end of the telescopic mechanism is connected with the fixing mechanism, and the other end of the telescopic mechanism is connected with the rotating mechanism; the rotating mechanism is used for driving the wiping part to rotate.
The rotation mechanism may be configured to wipe the optical sensor simply by a rotation point of a motor or the like, or may be configured to perform a compound movement by cooperation with the telescopic mechanism and its own structural design.
In a specific embodiment, as shown in fig. 3, the fixing mechanism includes a fixing plate 131, a fixing hole 132, a fixing screw 133, and a thread groove 134, the fixing plate 131 is installed at an end of the telescopic mechanism, the fixing hole 132 penetrates through a surface of the fixing plate 131, and the thread groove is opened on the mounting base 2 of the unmanned aerial vehicle body 1.
In this embodiment, through the setting of fixed disk 131, fixed orifices 132, fixing bolt 133 and thread groove 134, after fixed orifices 132 aligns with thread groove 134, pass the inside that fixed orifices 132 got into thread groove 134 with fixing bolt 133, alright fix fixed disk 131 in the bottom of mount pad 2, also fix telescopic machanism in unmanned aerial vehicle's bottom like the cleaning structure of wiping of electric telescopic handle 12 and below simultaneously, also can dismantle simultaneously, it is very convenient.
The telescoping mechanism comprises any one of an electric push rod, a hydraulic rod or a pneumatic rod, and is preferably an electric telescopic rod 12.
The rotating mechanism comprises a first box body 14, a rotating rod 16 is rotatably connected inside the first box body 14, preferably, the rotating rod is driven to rotate by the rotating mechanism, a first rotating disc 17 is fixedly connected to the extending end of the rotating rod 16, a movable plate 18 is rotatably connected to the front face of the first rotating disc 17, and a wiping part is arranged on the surface of the movable plate.
In one or some embodiments, referring to fig. 4 and 5, the wiping apparatus is a symmetrical structure, and includes two fixing mechanisms and a telescopic mechanism, and a second box 15 is further included below the telescopic mechanism, a driving motor 20 is fixed inside the second box 15, an output shaft of the driving motor 20 is fixedly connected with a second rotating disc 21, and the movable plate 18 is rotationally connected with the second rotating disc 21.
Optionally, the movable plate 18 is connected to the non-central position of the first rotating disc and the second rotating disc, so that the movable plate 18 can realize the compound wiping of swinging.
Optionally, the diameter of the first rotating disc 17 is the same as that of the second rotating disc 21, the rear end of the rotating rod 16 is rotatably connected with the inner wall of the first box 14 through a bearing, and the rotating rod 16 penetrates through the first box 14 and is rotatably connected with the inner wall of the penetrating position through a bearing, so that the rotating rod 16 can be fixed and can rotate.
In addition, the cleaning brush 19 is disposed on the side of the movable plate 18 close to the object to be wiped, the distribution range of the cleaning brush 19 is half or less of the area of the movable plate 18, and the first box 14 and the second box 15 are both boxes with the same size and specification for balance.
In some embodiments, as shown in fig. 4 and 5, the first box and the second box are further provided with a connecting rod 22 at an end far from the first rotating disc or the second rotating disc, and the connecting rod is bent.
Preferably, the connecting rod 22 is bolted to the two side cases respectively for disassembly, and in this embodiment, the connecting rod 22 can fix the first case 14 and the second case 15 to each other, so as to ensure that the two cases can move up and down synchronously.
Fig. 6 is a schematic view showing a state where the wiping apparatus is wiping in the embodiment of the present invention.
Combine fig. 1 and fig. 6 to show, unmanned aerial vehicle body below still is provided with the unmanned aerial vehicle support for when unmanned aerial vehicle descends, support the unmanned aerial vehicle body is kept away from ground.
In some embodiments, the controller further comprises any one or more of:
the main processor is used for realizing data processing and control on the unmanned aerial vehicle;
the flight control module is used for realizing the flight control of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to avoid the barrier;
the steering rudder module is used for executing steering of the unmanned aerial vehicle;
the obstacle avoidance unit comprises a data acquisition module, a distance calculation module and a judgment module, and is used for identifying and determining the distance between the obstacle and the obstacle through the distance calculation module according to the environment data acquired by the data acquisition module, and issuing an avoidance instruction according to the judgment result of the judgment module;
the data transmission module is used for transmitting data and instructions;
and the flight data storage module is used for storing data generated in the flight of the unmanned aerial vehicle.
In some embodiments, the drone further comprises a ground operating end, the ground operating end further comprising any one or more of: the device comprises a data transmission module, a display end, an operator and a warning module;
the data transmission module is used for realizing the input and output of data;
the display end is used for displaying state data, environment data and/or operation data of the unmanned aerial vehicle;
the operator is used for realizing human-computer interaction;
the warning module is used for the controller to judge that the distance between unmanned aerial vehicle and the barrier is less than and reports to the police when predetermineeing the threshold value.
Specifically, in a specific implementation example, as shown in fig. 8, with reference to the embodiment, the radar 9, the output ends of the camera body 10 and the ranging sensor 11 are all unidirectionally and electrically connected to the input end of the main processor 3, the output end of the main processor 3 is respectively unidirectionally and electrically connected to the driving motor 20, the flight control module 4 and the input end of the data acquisition module, the output end of the data acquisition module is unidirectionally and electrically connected to the input end of the distance calculation module, the output end of the distance calculation module is unidirectionally and electrically connected to the input end of the judgment module, the output end of the judgment module is unidirectionally and electrically connected to the input end of the main processor 3, the output end of the main processor 3 is bidirectionally and electrically connected to the input end of the data transmission module 8, the output end of the data transmission module 8 is bidirectionally and electrically connected to the ground operation end of the unmanned aerial vehicle, the output end of the flight control module 4 is unidirectionally and electrically connected to the input end of the rudder module 5, and the main processor 3 is configured and the relationship between the related electronic components, thereby achieving the effect of the inductive control of the main processor 3, and improving the automation degree of the control system.
Unmanned aerial vehicle body 1's inside still installs flight data and saves module 7, and the output of host processor 3 and the two-way electric connection of input that flight data saved module 7 through the setting that flight data saved module 7, and it is used for preserving the data that unmanned aerial vehicle produced at the flight in-process to operating personnel is follow-up looks over.
Flight data save module 7 is the SD memory card, and 8 unmanned aerial vehicle GIS module antennas of data transmission module, for in this embodiment, flight data save module 7 is used for saving flight data, and GIS module antenna is used for data transfer.
Further, combine shown in fig. 9, unmanned aerial vehicle ground operation end includes data transfer module, display end and operation ware, the output of data transfer module and the one-way electric connection of input of display end, the output of operation ware and the one-way electric connection of input of data transfer module, through data transfer module, the setting of display end and operation ware, data transfer module is used for receiving the data signal who comes from unmanned aerial vehicle, perhaps can send control signal to unmanned aerial vehicle, the while shows the end and can demonstrate the picture that comes from unmanned aerial vehicle to shoot and the data of monitoring, the simultaneous operation ware is used for controlling unmanned aerial vehicle.
Unmanned aerial vehicle ground operation end is still including warning module, the one-way electric connection of output and warning module's input of data transfer module, and warning module is warning facilities such as humming buzzer or alarm lamp, and through warning module's setting, when unmanned aerial vehicle is too close the barrier, warning module sends the police dispatch newspaper, reminds the staff to notice to the staff can in time react and carry out relevant operation of avoiing.
According to another embodiment of the present invention, referring to fig. 10, there is further disclosed an automatic obstacle avoidance method for an unmanned aerial vehicle, where the method includes:
step S101: receive the environmental data that radar, camera body and range finding sensor on the unmanned aerial vehicle monitored.
The radar can obtain point cloud data (sound wave data) in real time, the camera body can shoot to obtain videos or video frames, the distance measuring sensor is preferably a laser distance measuring sensor, and position information of an obstacle can be obtained.
The embodiment of the invention preferably fuses the data, for example, the data of the camera body and the radar are fused, the outline of the obstacle is detected and identified, the distance is determined, and the distance obtained by laser ranging is corrected by using the distance, so that the detection accuracy and precision of the obstacle and the distance thereof are improved, and the overall detection benefit is improved.
Step S102: and detecting whether an obstacle exists in front of the unmanned aerial vehicle according to the environment data.
Specifically, whether an obstacle exists in front of the unmanned aerial vehicle can be further identified and detected according to point cloud data (sound wave data) and video image data, and an avoidance scheme is determined according to the size and the position of the obstacle.
Of course, the distance can also be corrected by using point cloud data (acoustic data) and image data, and distance information can be obtained comprehensively.
Step S103: when detecting that there is the barrier in unmanned aerial vehicle the place ahead, confirm unmanned aerial vehicle with distance between the barrier, and when the distance is less than predetermineeing the threshold value control unmanned aerial vehicle realizes keeping away barrier flight.
When the obstacle is detected, whether the obstacle is too close to the obstacle is further judged according to the distance information, for example, the distance information can be compared with a preset threshold value, and when the distance information is smaller than the preset threshold value, the unmanned aerial vehicle is controlled to execute an avoiding action.
In summary, the working principle of the above embodiments of the present invention is as follows:
firstly, an operator operates an unmanned aerial vehicle through an unmanned aerial vehicle ground operating end, a radar 9, a camera body 10 and a distance measuring sensor 11 start to work, the camera body 10 is used for shooting, the radar 9 can position or acquire point cloud data (sound wave data) by using sound waves, meanwhile, the distance measuring sensor 11 can measure distance by using optics, then, the radar 9, the camera body 10 and the distance measuring sensor 11 upload working data to a main processor 3, meanwhile, the data are transmitted to the unmanned aerial vehicle ground operating end through a data transmission module 8, meanwhile, the main processor 3 also transmits the data to a data acquisition module, the data acquisition module transmits the acquired data to a distance calculation module, the distance calculation module calculates and identifies obstacles, and calculates the distance between the main processor and the obstacles, when the unmanned aerial vehicle is too close to the obstacles, the judgment module receives the data from the distance calculation module, and judges that the unmanned aerial vehicle is about to collide against the obstacles, then, the judgment module transmits the result to the main processor 3, at this moment, the main processor 3 controls the motor of the unmanned aerial vehicle through a flight control module 4 and a steering rudder module 5, thereby controlling the whole unmanned aerial vehicle to steer, avoiding the unmanned aerial vehicle from colliding against the obstacle and avoiding the unmanned aerial vehicle from operating without causing the obstacle.
In addition, in the flying process, if dirt or water mist appears on the lens of the camera and affects the visual field, the electric telescopic rods 12 on the two sides of the remote control are synchronously opened, at the moment, the output shaft of the electric telescopic rod 12 extends and drives the first box 14 and the second box 15 to operate, when the movable plate 18 is located in front of the camera, the driving motor 20 is controlled to be opened, at the moment, the driving motor 20 drives the second rotary plate 21 to do circular motion and drives one end of the movable plate 18 to do circular motion, then the movable plate 18 drives the first rotary plate 17 to do rotary motion, at the moment, the movable plate 18 reciprocates in the vertical direction, the lens of the camera is cleaned through the cleaning brush 19, the visual field of the camera is recovered, then the driving motor 20 is closed, and the electric telescopic rod 12 is opened to enable the movable plate 18 to ascend, so that the movable plate 18 is prevented from blocking the visual field.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230; \8230;" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element
It should be noted that the above-mentioned preferred embodiments of the present invention are not intended to limit the present invention, and any person skilled in the art may make variations and modifications without departing from the spirit and scope of the present invention.
Claims (6)
1. An automatic obstacle avoidance unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, wherein a radar, a camera body, a distance measurement sensor and a controller are arranged on the unmanned aerial vehicle body;
the radar, the camera body and the ranging sensor monitor environmental data and upload the environmental data to the controller;
the controller is used for receiving the environment data, judging whether an obstacle exists in front of the unmanned aerial vehicle or not according to the environment data, determining the distance between the unmanned aerial vehicle and the obstacle when the obstacle exists, and controlling the unmanned aerial vehicle to avoid the obstacle when the distance is smaller than a preset threshold value;
the unmanned aerial vehicle body is also provided with a wiping device for wiping the radar, the camera body and/or the distance measuring sensor;
the wiping device comprises a driving part and a wiping part, the driving part is used for driving the wiping part to move, and the wiping part comprises a sponge, a wiping cloth and/or a hairbrush;
the driving part comprises a fixing mechanism, a telescopic mechanism and a rotating mechanism;
the fixing mechanism is fixedly connected with the unmanned aerial vehicle body, one end of the telescopic mechanism is connected with the fixing mechanism, and the other end of the telescopic mechanism is connected with the rotating mechanism; the rotating mechanism is used for driving the wiping part to rotate;
the fixing mechanism comprises a fixing disc, a fixing hole, a fixing screw and a thread groove, the fixing disc is installed at the end part of the telescopic mechanism, the fixing hole penetrates through the surface of the fixing disc, and the thread groove is formed in an installation seat of the unmanned aerial vehicle body;
the telescopic mechanism comprises any one of an electric push rod, a hydraulic rod or a pneumatic rod;
the rotating mechanism comprises a first box body, a rotating rod is rotatably connected inside the first box body, a first rotary table is fixedly connected to the extending end of the rotating rod, a movable plate is rotatably connected to the front face of the first rotary table, and a wiping portion is arranged on the surface of the movable plate.
2. The unmanned aerial vehicle of claim 1, wherein the radar and the camera body are disposed on an upper portion or a bottom portion of the unmanned aerial vehicle body, and the range sensor is disposed on a side portion of the unmanned aerial vehicle body.
3. The unmanned aerial vehicle of claim 1, wherein the rotating mechanism further comprises a second box, a driving motor is fixed inside the second box, a second turntable is fixedly connected to an output shaft of the driving motor, and the movable plate is rotatably connected with the second turntable;
the second box through with fixed establishment with parallel second fixed establishment and the second telescopic machanism that sets up of telescopic machanism are connected to on the unmanned aerial vehicle body.
4. The unmanned aerial vehicle of claim 3, wherein the first and second boxes are further provided with a connecting rod at an end away from the first or second turntable, the connecting rod being bent; and/or the presence of a gas in the gas,
unmanned aerial vehicle body below still is provided with the unmanned aerial vehicle support.
5. A drone according to claim 1 or 2, wherein the controller includes any one or more of:
the main processor is used for realizing data processing and control on the unmanned aerial vehicle;
the flight control module is used for realizing the flight control of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to avoid the barrier;
the steering rudder module is used for executing steering of the unmanned aerial vehicle;
the obstacle avoidance unit comprises a data acquisition module, a distance calculation module and a judgment module, and is used for identifying and determining the distance between the obstacle and the obstacle through the distance calculation module according to the environmental data acquired by the data acquisition module, and issuing an avoidance instruction according to the judgment result of the judgment module;
the data transmission module is used for transmitting data and instructions;
and the flight data storage module is used for storing data generated in the flight of the unmanned aerial vehicle.
6. A drone according to claim 1 or 2, further comprising a ground operating end, the ground operating end further comprising any one or more of: the device comprises a data transmission module, a display end, an operator and a warning module;
the data transmission module is used for realizing input and output of data;
the display end is used for displaying state data, environment data and/or operation data of the unmanned aerial vehicle;
the operator is used for realizing human-computer interaction;
the warning module is used for the controller to judge that the distance between unmanned aerial vehicle and the barrier is less than and reports to the police when predetermineeing the threshold value.
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| JP4118111B2 (en) * | 2002-09-18 | 2008-07-16 | トヨタ自動車株式会社 | Dangerous obstacle judgment device |
| CN106527480A (en) * | 2016-12-02 | 2017-03-22 | 南京航空航天大学 | Multi-sensor fusion obstacle avoiding system of unmanned aerial vehicle and method |
| CN108037768A (en) * | 2017-12-13 | 2018-05-15 | 常州工学院 | Unmanned plane obstruction-avoiding control system, avoidance obstacle method and unmanned plane |
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| CN113376658A (en) * | 2021-05-08 | 2021-09-10 | 广东电网有限责任公司广州供电局 | Unmanned aerial vehicle autonomous obstacle avoidance method and system based on single line laser radar |
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