CN205015481U - Obstacle detecting device for unmanned aerial vehicle - Google Patents
Obstacle detecting device for unmanned aerial vehicle Download PDFInfo
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- CN205015481U CN205015481U CN201520690774.1U CN201520690774U CN205015481U CN 205015481 U CN205015481 U CN 205015481U CN 201520690774 U CN201520690774 U CN 201520690774U CN 205015481 U CN205015481 U CN 205015481U
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- unmanned plane
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- obstacle detector
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Abstract
The utility model provides an obstacle detecting device for unmanned aerial vehicle, including drive arrangement, range unit, angle -measuring equipment and controlling means, drive arrangement, range unit, angle -measuring equipment are connected with controlling means respectively, and drive arrangement and range unit are connected, and range unit includes distance sensor, and the angle -measuring equipment includes range unit 0, and controlling means includes the control panel. The utility model discloses can realize detecting the barrier of all directions around the unmanned aerial vehicle, the condition of avoiding unmanned aerial vehicle and barrier to bump has reduced the probability of unmanned aerial vehicle emergence accident.
Description
Technical field
The utility model relates to unmanned vehicle, specifically, is a kind of unmanned plane obstacle detector.
Background technology
In the face of landform complicated and changeable and environment, the unmanned plane performing inter-related task can run into barrier unavoidably in flight course.If hidden not as good as aviation accident occurring, produce potential safety hazard, even operator or other people are damaged; Also result in certain economic loss simultaneously.Particularly for other light-duty unmanned plane consumer, the device that unmanned plane is installed corresponding avoiding barrier is also necessary.
Being difficult to the problem of avoiding barrier in order to solve above-mentioned unmanned plane, first, should be able to barrier being detected.
One, application number be 201110031250.8 Chinese invention patent disclose a kind of flight instruments and method of automatic avoiding barrier, comprise ultrasound wave transmitter module, ultrasound wave receiver module, driver module etc., by launching ultrasound wave, receiving the mode such as ultrasound wave, dyscalculia thing distance, reach the object detecting barrier.Similarly, application number is that the Chinese patents such as 201520129617.3,201510099457.7,201420310963.7,201310480659.7 also use the method similar with above-mentioned patent.
But this kind of method accurately cannot judge the orientation angles residing for barrier, thus error is also comparatively large, therefore, can be used in flying toy field described in above-mentioned patent, but inapplicable on unmanned plane.
Also have and adopt lidar measurement barrier and aircraft distance, but the volume weight of laser radar is comparatively large, cannot be applied to and consume on the small-sized unmanned plane such as classification.
Two, application number be 201210184303.4 Chinese invention patent disclose a kind of unmanned plane vision location with barrier-avoiding method and system, comprise the unmanned plane and vision positioning device with Airborne Camera and Inertial Measurement Unit, judged shape, the size and motion state etc. of the relative position information between barrier and unmanned plane, described barrier by the mode of the inertial guidance data obtained from visually-perceptible Airborne Camera.
This method can obtain the relevant information of barrier really exactly.But this method must have complicated algorithm to support, and need more complicated related hardware support, not only reliability is relative also lower for it, and cost compare is high simultaneously.
Three, application number be 201310036271.8 Chinese invention patent disclose a kind of unmanned plane avoidance obstacle method, be provided with unmanned plane subsystem and land station's subsystem, unmanned plane subsystem comprises the airborne end embedding controller and wireless data chain, embedded flight controller built-in satellite location receiver and height sensor; Land station's subsystem comprises the ground surface end of embedded monitoring computing machine and wireless data chain, and embedded monitoring built-in computer comprises the electronic chart of barrier geography information; On the electronic chart of the embedded monitoring built-in computer of land station's subsystem, determine the position of barrier in flight range, set up virtual barrier polygon cylinder, and its body data are downloaded to embedded flight controller, the current location of embedded flight controller Real-time Obtaining unmanned plane also calculates the spatial relationship with barrier polygon cylinder, then generate the path instructions of unmanned plane, realize the automatic obstacle-avoiding of unmanned plane.
This mode is by means of electronic chart, and needs rely on more perfect cartographic information, more stable data communication supports, and just can complete inter-related task.Thus, this kind of complicated means being not suitable on consumer etc. not small-sized unmanned plane.
To sum up, for above-mentioned three kinds of schemes, due to the defect of its technological means itself, the direction that current unmanned plane obstacle detecting apparatus detects often only comprises all around four direction or a less angular range, other direction cannot be detected, and the mode of unmanned plane during flying may change at any time, so still can have an accident under many circumstances.
Therefore, obtain and a kind ofly accurately can detect that barrier, the concrete orientation of disturbance in judgement thing, reliability are strong, the simple unmanned plane obstacle detector of structure becomes the target that those skilled in the art pursue in real time.
Utility model content
The problems such as the concrete orientation of disturbance in judgement thing or technical scheme are comparatively complicated are difficult to for solving existing unmanned plane obstacle detecting device, the utility model provides a kind of unmanned plane obstacle detector, achieves the detection of the information such as distance, angle to barrier and unmanned plane.
For achieving the above object, the utility model discloses a kind of unmanned plane obstacle detector, comprise control device, and the drive unit, distance measuring equipment, the angle-measuring equipment that are connected with control device respectively; Drive unit is connected with distance measuring equipment.
Under the co-controlling of control device and drive unit, the location that unmanned plane obstacle detector of the present utility model adopts distance measuring equipment, angle-measuring equipment to realize barrier, and also apparatus structure is simple, reliability is high, is applicable to various types of unmanned plane.
Further, distance measuring equipment comprises range sensor, support bar, conducting slip ring and range finding support column, support bar two ends are fixedly connected with range sensor and conducting slip ring one end respectively, range finding support column two ends are fixedly connected with the conducting slip ring other end and control device respectively, and range sensor is electrically connected with control device by support bar, conducting slip ring, range finding support column successively.
Control device is that range sensor is powered, ensured that it can normally work, and the outside utilizing emitted light signal of range sensor is to judge whether there is barrier around unmanned plane.
The utility model is innovatively provided with conducting slip ring, avoids the phenomenon generation that data line distortion fractures when continuous rotation by range sensor.
Further, drive unit comprises speed reduction unit, motor and motor support post, and motor is electrically connected with control device by motor support post, and motor output shaft is connected with speed reduction unit, and speed reduction unit is connected with support bar gear.
The utility model innovatively provide can 360 ° rotate range sensors, driven by motor, speed reduction unit, the mode of being rotated by reducer gear drives the range sensor on support column to rotate, reach to unmanned plane peripheral obstacle carry out without dead angle detect object.
Further, angle-measuring equipment comprises the angular transducer and angle measurement support column that are mutually permanently connected, and angular transducer is electrically connected with control device by angle measurement support column; On support bar, cover has magnet ring, and magnet ring side is located at by angular transducer.
Under the prerequisite that range sensor rotates, the utility model, while barrier being detected, by the angle of angular transducer judging distance sensor rotation, and then can judge orientation, barrier place, in conjunction with the distance of barrier and unmanned plane, the particular location of barrier can be drawn.
Further, the control device power supply that comprises control panel and be electrically connected with control panel; Range finding support column, motor support post, angle measurement support column be arranged in parallel, are fixedly connected with respectively with control panel.
Further, control panel is arranged in horizontal direction, and range finding support column, motor support post and angle measurement support column are arranged in vertical direction.
Further, range sensor is infrared ray sensor, and inside is provided with filter plate.
Further, reducer output shaft is fixedly connected with driving wheel, and on support bar, cover has, is fixedly connected with engaged wheel, and driving wheel is connected with engaged wheel gear.
Further, angular transducer is identical with magnet ring height, and a side of angular transducer is facing to magnet ring outside surface.
Further, control panel has mounting groove, range finding support column, motor support post, angle measurement support column insert in different mounting grooves.
The beneficial effects of the utility model are: in unmanned plane during flying process, the utility model can realize detecting the barrier of around all directions, the situation avoiding unmanned plane and barrier to collide, reduces the probability that unmanned plane has an accident, avoids economic loss.
Obstacle detector of the present utility model has good reliability, installs the advantages such as simple, easy to use, volume is little, lightweight, power consumption is little, can be installed on all kinds of unmanned plane.
Obstacle detection method of the present utility model simply, easily realizes, and implementation is comparatively strong, has very high using value, even can use in other technologies field at multiple unmanned plane.
Accompanying drawing explanation
Fig. 1 is the assembling schematic diagram of unmanned plane obstacle detector.
Fig. 2 is the structural representation of unmanned plane obstacle detector.
Fig. 3 is the detection method schematic diagram of unmanned plane obstacle detector.
In figure,
1, distance measuring equipment; 10, range sensor; 11, conducting slip ring; 12, range finding support column; 13, support bar; 14, magnet ring; 2, angle-measuring equipment; 20, angular transducer; 21, angle measurement support column; 3, drive unit; 30, speed reduction unit; 31, motor; 32, motor support post; 4, control device; 40, control panel.
Embodiment
Below in conjunction with accompanying drawing, detailed explanation and explanation are carried out to the utility model unmanned plane obstacle detector.
Embodiment one
As shown in Figure 1, 2, a kind of unmanned plane obstacle detector of the present utility model, comprise the control device 4 of the control center as whole unmanned plane obstacle detector, and the drive unit 3, distance measuring equipment 1, the angle-measuring equipment 2 that are connected with control device 4 respectively, drive unit 3 is connected with distance measuring equipment 1, drive unit 3 is for providing corresponding power for the rotation of distance measuring equipment 1, and angle-measuring equipment 2 is for measuring the angle of distance measuring equipment 1 rotation.
Specifically, distance measuring equipment 1 comprises range sensor 10, support bar 13, conducting slip ring 11 and range finding support column 12, support bar 13 two ends are affixed range sensor 10 and conducting slip ring 11 one end respectively, range finding support column 12 two ends affixed conducting slip ring 11 other end and control device 4 respectively, range sensor 10 is successively by support bar 13, conducting slip ring 11, range finding support column 12 is electrically connected with control device 4, the distance signal information that range sensor 10 records is successively by support bar 13, conducting slip ring 11, range finding support column 12 transfers to control device 4, and control device 4 is powered for range sensor 10 simultaneously, conducting slip ring 11 of the present utility model is multichannel conducting slip ring 11, can simultaneous transmission of signals and power supply, certainly, arrange at support bar 13 be respectively connected wire accordingly with range finding support column 12 inside, one or more wires are for connecting range sensor 10 and conducting slip ring 11, and one or more wires are for connecting conducting slip ring 11 and control device 4.
In preferably technical scheme, the utility model range sensor 10 is infrared ray sensor.In order to ensure that the infrared ray returned is not subject to or reduces the interference by outside clutter, the inside of range sensor 10 is provided with filter plate.
Drive unit 3 comprises speed reduction unit 30, motor 31 and motor support post 32, and motor 31 is electrically connected with control device 4 by motor support post 32, motor 31 connection reducer 30, and speed reduction unit 30 is connected with support bar 13 gear; Motor 31 by speed reduction unit 30 control support column rotate, range sensor 10 rotates with the rotation of support column, and in the present embodiment, speed reduction unit 30 output shaft is fixedly connected with driving wheel, on support bar 13 cover have, affixed engaged wheel, driving wheel is connected with engaged wheel gear.
Angle-measuring equipment 2 comprises the angular transducer 20 and angle measurement support column 21 that are mutually permanently connected, angular transducer 20 is electrically connected with control device 4 by angle measurement support column 21, control device 4 is powered for angular transducer 20, angular transducer 20 obtains the angle signal that range sensor 10 points to, and angle signal is transferred to control device 4; On support bar 13, cover has magnet ring 14, magnet ring 14 is fixedly connected with support bar 13, and it is other that magnet ring 14 is located at by angular transducer 20, and angular transducer 20 is identical with the height of magnet ring 14, be oppositely arranged, angular transducer 20 gathers the magnetic signal of magnet ring 14, with the angle of this judging distance sensor 10.
Control device 4 comprises power supply and control panel 40, and range finding support column 12, motor support post 32, angle measurement support column 21 be arranged in parallel and affixed with control panel 40 respectively.The preferred control panel 40 of the utility model is PCB, control panel 40 arranges relevant electron device, be embodied as range sensor 10, angular transducer 20 and motor 31 to power, and be responsible for receiving range signal, angle signal, to determine the position of barrier relative to unmanned plane, the utility model can arrange communication module on control panel 40, and the distance relative to unmanned plane of barrier, angle information are transferred to unmanned aerial vehicle (UAV) control center, to control unmanned plane avoiding obstacles.
In the present embodiment, control panel 40 is horizontally disposed with, and range finding support column 12, motor support post 32, angle measurement support column 21 are vertically arranged.Control panel 40 has mounting groove, and range finding support column 12, motor support post 32, angle measurement support column 21 insert in different mounting grooves.
It should be noted that, in the utility model, range finding support column 12, angle measurement support column 21, motor support post 32 all serve the effect supporting superstructure, and these parts can be used as conductor, also only can arrange connection wire therein as supporting construction.
Embodiment two
The unmanned plane obstacle detector of embodiment two is substantially identical with the structure of embodiment one, and its difference is, speed reduction unit 30 and support bar 13 pass through belt gear.Certainly, may there is the phenomenon that the relative reducer output shaft of belt slides in belt gear, cause barrier walking direction inaccurate, therefore gear drive stability is higher.
Under enlightenment of the present utility model, those skilled in the art can select any power mode expected to ensure that support bar 13 rotates, and then drive range sensor 10 to rotate, and reach the object detecting unmanned and peripheral obstacle.
Detailed explanation and explanation is carried out below in conjunction with accompanying drawing 3 pairs of the utility model unmanned plane obstacle detection methods.
When unmanned plane aloft flies, after the pick-up unit of unmanned plane barrier of the present utility model powers on, power supply is that control panel 40 is powered, control panel 40 is other energize portions of unmanned plane obstacle detector, this device is started working, the utility model setting unmanned plane heading is 0 ° of direction, and motor 31 drives speed reduction unit 30 by rotating clockwise/counterclockwise, thus drives the upper part of range sensor 10 and magnet ring 14 to rotate.
Range sensor 10 is in rotating process, with the dephased light wave of the outside emission band of higher frequency, light wave returns after running into barrier and is received by range sensor 10, filter plate in range sensor 10 filters the light wave returned, some clutters of filtering, and the time T1 recorded now, range sensor 10 calculates the distance S1 between barrier and device according to the light wave received, and will apart from S1, time T1 and correction coefficient are transferred to control panel 40, due to environment, the reasons such as weather, the correction coefficient S1 that adjusts the distance is needed to correct, this correction coefficient is distance measuring equipment 1 setting when dispatching from the factory, after control panel 40 obtains distance S1 and correction coefficient, the real distance S of obstacle distance unmanned plane is finally obtained by calculating, and be the conventional method that those skilled in the art grasp by the method for distance S1 and correction coefficient dyscalculia thing and unmanned plane distance.
When speed reduction unit 30 drives in the rotating process of range finding support bar 13, angular transducer 20 is with the anglec of rotation of the continuous measuring distance sensor 10 of higher frequency, and the anglec of rotation of range sensor 10 under certain time of real time record, as time T2, angle Q, 0 ° <Q<360 ° or-360 ° of <Q<0 °, and constantly by above-mentioned information transmission to control panel 40, detection angles of the present utility model is-360 ° to+360 °.The time T2 of the time T1 of range sensor 10 forward data and angular transducer 20 forward data constantly mates by control panel 40, if T1=T2 or the two closely, so show to obtain data at one time: distance S1 and angle Q, namely illustrate and obtain distance S and angle Q simultaneously, two kinds of couplings complete, obtain distance S between barrier and unmanned plane and and unmanned plane between angle Q, then with the coordinate of unmanned plane for (0, 0), coordinate (S, Q) be the relative coordinate of the relative unmanned plane of barrier, namely the purpose of this utility model is achieved.
In short, the detection method of the utility model unmanned plane obstacle detector comprises following three steps:
1) range sensor 10 is made with support bar 13 for axle rotates, range sensor 10 detects the barrier around unmanned plane and measures the distance of barrier and unmanned plane, the speed reduction unit 30 gear driven support bar 13 of rotary motion, support bar 13 drive range sensor 10 in 360 ° of rotary motions, motor 31 provides power for speed reduction unit 30, and corrects the distance between barrier and unmanned plane by correction coefficient;
2) angular transducer 20 is measured magnet ring 14 magnetic signal change outside support bar 13, is calculated the anglec of rotation of range sensor 10, and angular transducer 20 detects magnet ring 14 magnetic field intensity of rotary motion and/or the change in direction, the anglec of rotation of judging distance sensor 10;
3) control panel 40 constantly receiving range data and pivoting angle data, is that standard is mated above-mentioned two kinds of data with time, acquired disturbance object location information.
The method of angle residing for the Distance geometry barrier of the utility model employing detection barrier and unmanned plane, and automatically by two of the same time kinds of Data Matching, ensure that the accuracy of data, in other words, for same barrier, this method can realize in the distance of certain time, measurement of angle, and can detect quickly and judge the particular location of barrier, and the method has the advantages such as simple and convenient, reliability is high, implementation effect is good.
A key point of the present utility model is can the range sensor 10 of 360 ° of rotary motions, and due to the setting of conducting slip ring 11, range sensor 10 can rotate along a direction all the time, because it can along forward or retrograde rotation, then reduce the requirement to driving arrangement, only need common speed reduction unit 30, motor 31 can satisfy the demand.Certainly, range sensor 10 of the present utility model also can on request forward-reverse or reverse-forward rotate.The utility model innovatively have employed to survey and rotates magnet ring 14 magnetic field intensity and/or walking direction range sensor 10 anglec of rotation, under technology enlightenment of the present utility model, those skilled in the art can be concrete according to the magnet ring 14 selected Distribution of Magnetic Field information, use corresponding algorithm can realize the technical purpose of measuring distance sensor 10 anglec of rotation.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all do in the utility model flesh and blood any amendment, equivalent to replace and simple modifications etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a unmanned plane obstacle detector, is characterized in that: comprise control device (4), and the drive unit (3) be connected with control device respectively, distance measuring equipment (1), angle-measuring equipment (2); Drive unit is connected with distance measuring equipment.
2. unmanned plane obstacle detector according to claim 1, it is characterized in that: distance measuring equipment comprises range sensor (10), support bar (13), conducting slip ring (11) and range finding support column (12), support bar two ends are fixedly connected with range sensor and conducting slip ring one end respectively, range finding support column two ends are fixedly connected with the conducting slip ring other end and control device respectively, and range sensor is electrically connected with control device by support bar, conducting slip ring, range finding support column successively.
3. unmanned plane obstacle detector according to claim 2, it is characterized in that: drive unit comprises speed reduction unit (30), motor (31) and motor support post (32), motor is electrically connected with control device by motor support post, motor output shaft is connected with speed reduction unit, and speed reduction unit is connected with support bar gear.
4. the unmanned plane obstacle detector according to Claims 2 or 3, it is characterized in that: angle-measuring equipment comprises the angular transducer (20) and angle measurement support column (21) that are mutually permanently connected, angular transducer is electrically connected with control device by angle measurement support column; On support bar, cover has magnet ring (14), and magnet ring side is located at by angular transducer.
5. unmanned plane obstacle detector according to claim 4, is characterized in that: the power supply that control device comprises control panel (40) and is electrically connected with control panel; Range finding support column, motor support post, angle measurement support column be arranged in parallel, are fixedly connected with respectively with control panel.
6. unmanned plane obstacle detector according to claim 5, is characterized in that: control panel is arranged in horizontal direction, and range finding support column, motor support post and angle measurement support column are arranged in vertical direction.
7. unmanned plane obstacle detector according to claim 2, is characterized in that: range sensor is infrared ray sensor, and inside is provided with filter plate.
8. unmanned plane obstacle detector according to claim 3, is characterized in that: reducer output shaft is fixedly connected with driving wheel, and on support bar, cover has, is fixedly connected with engaged wheel, and driving wheel is connected with engaged wheel gear.
9. unmanned plane obstacle detector according to claim 4, is characterized in that: angular transducer is identical with magnet ring height, and a side of angular transducer is facing to magnet ring outside surface.
10. unmanned plane obstacle detector according to claim 5, is characterized in that: control panel has mounting groove, and range finding support column, motor support post, angle measurement support column insert in different mounting grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520690774.1U CN205015481U (en) | 2015-09-08 | 2015-09-08 | Obstacle detecting device for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520690774.1U CN205015481U (en) | 2015-09-08 | 2015-09-08 | Obstacle detecting device for unmanned aerial vehicle |
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| CN205015481U true CN205015481U (en) | 2016-02-03 |
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| CN201520690774.1U Withdrawn - After Issue CN205015481U (en) | 2015-09-08 | 2015-09-08 | Obstacle detecting device for unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105093237A (en) * | 2015-09-08 | 2015-11-25 | 零度智控（北京）智能科技有限公司 | Detection device of barriers for unmanned plane and detection method thereof |
-
2015
- 2015-09-08 CN CN201520690774.1U patent/CN205015481U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105093237A (en) * | 2015-09-08 | 2015-11-25 | 零度智控（北京）智能科技有限公司 | Detection device of barriers for unmanned plane and detection method thereof |
| CN105093237B (en) * | 2015-09-08 | 2018-05-11 | 天津远翥科技有限公司 | A kind of unmanned plane obstacle detector and its detection method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Detection device of barriers for unmanned plane and detection method thereof Effective date of registration: 20170327 Granted publication date: 20160203 Pledgee: XinDa national equity investment fund (Shanghai) partnership (L.P.)|Beijing Civil Aviation Heyuan Investment Center (L.P.) Pledgor: ZEROTECH (BEIJING) INTELLIGENCE TECHNOLOGY Co.,Ltd. Registration number: 2017990000242 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160203 Effective date of abandoning: 20180511 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20160203 Effective date of abandoning: 20180511 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20221008 Granted publication date: 20160203 Pledgee: XinDa national equity investment fund (Shanghai) partnership (L.P.)|Beijing Civil Aviation Heyuan Investment Center (L.P.) Pledgor: ZEROTECH (BEIJING) INTELLIGENCE TECHNOLOGY Co.,Ltd. Registration number: 2017990000242 |