CN204631626U - A kind of terrain following device for unmanned plane during flying - Google Patents
A kind of terrain following device for unmanned plane during flying Download PDFInfo
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- CN204631626U CN204631626U CN201520373707.7U CN201520373707U CN204631626U CN 204631626 U CN204631626 U CN 204631626U CN 201520373707 U CN201520373707 U CN 201520373707U CN 204631626 U CN204631626 U CN 204631626U
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- unmanned plane
- laser ranging
- microcontroller
- terrain
- ranging module
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Abstract
The utility model discloses a kind of terrain following device for unmanned plane during flying, comprise laser ranging module and microcontroller, described microcontroller is provided with serial communication interface, carry out communication for microcontroller and UAV Flight Control System to be connected, described laser ranging module totally two and be connected with microcontroller, two laser ranging modules are installed together with the angle being less than 90 °, and one of them laser ranging module is vertically installed.The utility model is by sending to UAV Flight Control System by the terrain parameter recorded, bootable unmanned plane adjustment flight attitude, unmanned plane is made to remain with the altitude certain relative to ground, and can make a response in advance to topography variation, greatly can reduce the cost and difficulty that realize unmanned plane terrain-following flight.Compared with prior art, the utility model structure is simple, lightweight, cheap, and safe and reliable, can easily carry below unmanned plane.
Description
Technical field
The utility model relates to a kind of terrain following device for unmanned plane during flying, belongs to unmanned air vehicle technique field.
Background technology
In recent years, unmanned plane industry development is swift and violent, and the range of application of unmanned plane is more and more wider.But unmanned plane still cannot meet the flight demand under complicated terrain environment.Wherein, terrain-following flight is the function that unmanned plane is badly in need of realizing, and particularly seems particularly important in air reconnaissance field.Existing unmanned plane terrain-following flight technology is imported in unmanned aerial vehicle station by the terrain data of surrounding environment in advance to generate terrain-following flight path, then import UAV Flight Control System, realizes terrain-following flight.This method is very complicated, and a lot of terrain data is difficult to obtain, and topography and geomorphology is not immutable, there is severe compromise, is unfavorable for applying of unmanned plane terrain-following flight technology on a large scale.
Therefore, exploitation is a kind of cheap, and simple and easy, the servicing unit reliably for unmanned plane terrain-following flight seems particularly important.
Summary of the invention
The purpose of this utility model is the deficiency overcoming existing unmanned plane terrain-following flight technology, and provides a kind of simple, reliable terrain following device for unmanned plane during flying.
The terrain following device for unmanned plane during flying that the utility model provides comprises laser ranging module and microcontroller, described microcontroller is provided with serial communication interface, be connected with the communication of UAV Flight Control System for microcontroller, described laser ranging module totally two and be connected with microcontroller, two laser ranging modules are installed together with certain angle, and one of them laser ranging module is vertically installed.
Further, the angle between two laser ranging modules is adjustable and be less than 90 °.
The utility model is by sending to UAV Flight Control System by the terrain parameter recorded, bootable unmanned plane adjustment flight attitude, unmanned plane is made to remain with the altitude certain relative to ground, and can make a response in advance to topography variation, greatly can reduce the cost and difficulty that realize unmanned plane terrain-following flight.Compared with prior art, the utility model structure is simple, lightweight, cheap, and safe and reliable, can easily carry below unmanned plane.
Accompanying drawing explanation
Fig. 1 is structural schematic block diagram of the present utility model.
Fig. 2 is the mounting structure schematic diagram of two laser modules of the present utility model.
Fig. 3 is the schematic diagram using the utility model to realize terrain-following flight.
In figure: 1-serial communication interface, 2-microcontroller, 3-laser ranging module, 4-laser ranging module
Embodiment
As shown in Figure 1 and Figure 2, the utility model comprises microcontroller 2 and laser ranging module 3,4, and microcontroller 2 is provided with serial communication interface 1, is connected for carrying out communication with UAV Flight Control System.Laser ranging module 3 and laser ranging module 4 are installed together with angle β, and are connected with microcontroller 2 simultaneously, and wherein laser ranging module 4 is installed straight down.The size of angle β arbitrarily can regulate in the scope of 0 ° ~ 90 °, and angle β is less, sensitivity and accuracy higher.In the present embodiment, microcontroller 2 adopts model to be the microcontroller of STM32F103, and laser ranging module 3 and laser ranging module 4 adopt model to be the laser ranging module of HJ-200A.
When the utility model uses, carry is below unmanned plane, for ensureing steady in unmanned plane during flying process of the utility model, can use and increase steady The Cloud Terrace carry the utility model device.
The utility model is used to realize the principle of terrain-following flight as shown in Figure 3, laser ranging module 4 obtains the flying height H of unmanned plane relative to ground, laser ranging module 3 obtains the air line distance D of unmanned plane and front landform, the angle of H and D is the angle β between two laser ranging modules 3,4, the formula that microcontroller 2 utilizes triangle cosine formula to derive
calculate the tilt angle alpha of topographic relief below unmanned plane, microcontroller 2 is by height H simultaneously, UAV Flight Control System is sent to by serial communication interface 1 with the distance D of front landform and the topographic relief angle [alpha] that obtains after calculating, guide unmanned plane adjustment flight attitude, make unmanned plane can keep with the altitude certain relative to ground all the time, and can make a response in advance to topography variation, greatly can reduce the cost and difficulty that realize unmanned plane terrain-following flight.
The above is only the good embodiment of the utility model; but protection domain of the present utility model is not limited thereto, any transformation of carrying out based on technical scheme provided by the utility model and inventive concept and replacing all should be encompassed in protection domain of the present utility model.
Claims (2)
1. the terrain following device for unmanned plane during flying, comprise laser ranging module and microcontroller, described microcontroller is provided with serial communication interface, be connected with the communication of UAV Flight Control System for microcontroller, described laser ranging module is connected with microcontroller, it is characterized in that: laser ranging module totally two, two laser ranging modules are installed together with certain angle, and one of them laser ranging module is vertically installed.
2. the terrain following device for unmanned plane during flying according to claim 1, is characterized in that: the angle between described two laser ranging modules is adjustable and be less than 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520373707.7U CN204631626U (en) | 2015-06-02 | 2015-06-02 | A kind of terrain following device for unmanned plane during flying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520373707.7U CN204631626U (en) | 2015-06-02 | 2015-06-02 | A kind of terrain following device for unmanned plane during flying |
Publications (1)
| Publication Number | Publication Date |
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| CN204631626U true CN204631626U (en) | 2015-09-09 |
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| CN201520373707.7U Expired - Fee Related CN204631626U (en) | 2015-06-02 | 2015-06-02 | A kind of terrain following device for unmanned plane during flying |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155073A (en) * | 2016-07-22 | 2016-11-23 | 珠海卡特瑞科农林航空装备研究所有限公司 | A kind of unmanned plane with flying height lock function |
| CN106441235A (en) * | 2016-09-23 | 2017-02-22 | 湖南科技大学 | Concrete-crack-width identification system and method based on robot bomb airborne imaging |
| CN107074360A (en) * | 2016-11-22 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, flight controller and the unmanned vehicle of unmanned vehicle |
| WO2018024177A1 (en) | 2016-08-03 | 2018-02-08 | Guangzhou Xaircraft Technology Co., Ltd | Method and device for terrain simulation flying of unmanned aerial vehicle and unmanned aerial vehicle |
| CN108072880A (en) * | 2018-01-17 | 2018-05-25 | 上海禾赛光电科技有限公司 | The method of adjustment of laser radar field of view center direction, medium, laser radar system |
| CN108319288A (en) * | 2016-01-26 | 2018-07-24 | 深圳市大疆创新科技有限公司 | Unmanned plane and its flight control method and system |
| CN110622087A (en) * | 2017-05-01 | 2019-12-27 | 苏州极目机器人科技有限公司 | Autonomous detection and following of terrain altitude along flight path |
| JP2021504790A (en) * | 2017-12-18 | 2021-02-15 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Control method for unmanned aerial vehicles or agricultural unmanned aerial vehicles, and control devices for unmanned aerial vehicles |
| US11346926B2 (en) | 2018-01-17 | 2022-05-31 | Hesai Technology Co., Ltd. | Detection device and method for adjusting parameter thereof |
| WO2023082255A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium |
-
2015
- 2015-06-02 CN CN201520373707.7U patent/CN204631626U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108319288A (en) * | 2016-01-26 | 2018-07-24 | 深圳市大疆创新科技有限公司 | Unmanned plane and its flight control method and system |
| CN106155073A (en) * | 2016-07-22 | 2016-11-23 | 珠海卡特瑞科农林航空装备研究所有限公司 | A kind of unmanned plane with flying height lock function |
| JP2018527669A (en) * | 2016-08-03 | 2018-09-20 | コアンチョウ・エックスエアークラフト・テクノロジー・カンパニー・リミテッド | Method, apparatus and unmanned aerial vehicle for terrain following flight of unmanned aerial vehicles |
| US10712751B2 (en) * | 2016-08-03 | 2020-07-14 | Guangzhou Xaircraft Technology Co., Ltd. | Method and device for terrain simulation flying of unmanned aerial vehicle and unmanned aerial vehicle |
| US20190146524A1 (en) * | 2016-08-03 | 2019-05-16 | Guangzhou Xaircraft Technology Co., Ltd | Method and device for terrain simulation flying of unmanned aerial vehicle and unmanned aerial vehicle |
| WO2018024177A1 (en) | 2016-08-03 | 2018-02-08 | Guangzhou Xaircraft Technology Co., Ltd | Method and device for terrain simulation flying of unmanned aerial vehicle and unmanned aerial vehicle |
| EP3326041A4 (en) * | 2016-08-03 | 2019-04-03 | Guangzhou Xaircraft Technology Co., Ltd. | Method and device for terrain simulation flying of unmanned aerial vehicle and unmanned aerial vehicle |
| CN106441235B (en) * | 2016-09-23 | 2019-02-19 | 湖南科技大学 | Concrete crack width recognition methods based on pilotless aircraft airborne imaging |
| CN106441235A (en) * | 2016-09-23 | 2017-02-22 | 湖南科技大学 | Concrete-crack-width identification system and method based on robot bomb airborne imaging |
| WO2018094576A1 (en) * | 2016-11-22 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, flight controller, and unmanned aerial vehicle |
| CN107074360A (en) * | 2016-11-22 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, flight controller and the unmanned vehicle of unmanned vehicle |
| CN110622087A (en) * | 2017-05-01 | 2019-12-27 | 苏州极目机器人科技有限公司 | Autonomous detection and following of terrain altitude along flight path |
| JP2021504790A (en) * | 2017-12-18 | 2021-02-15 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Control method for unmanned aerial vehicles or agricultural unmanned aerial vehicles, and control devices for unmanned aerial vehicles |
| CN108072880A (en) * | 2018-01-17 | 2018-05-25 | 上海禾赛光电科技有限公司 | The method of adjustment of laser radar field of view center direction, medium, laser radar system |
| US11346926B2 (en) | 2018-01-17 | 2022-05-31 | Hesai Technology Co., Ltd. | Detection device and method for adjusting parameter thereof |
| WO2023082255A1 (en) * | 2021-11-15 | 2023-05-19 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150909 Termination date: 20170602 |