CN205176661U - Unmanned aerial vehicle keeps away barrier and uses information acquisition module - Google Patents
Unmanned aerial vehicle keeps away barrier and uses information acquisition module Download PDFInfo
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- CN205176661U CN205176661U CN201520984867.5U CN201520984867U CN205176661U CN 205176661 U CN205176661 U CN 205176661U CN 201520984867 U CN201520984867 U CN 201520984867U CN 205176661 U CN205176661 U CN 205176661U
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Abstract
The utility model discloses an unmanned aerial vehicle keeps away the barrier with three -dimensional scene information acquisition module, include: a plurality of laser emitter and a photosensitive element, a plurality of laser emitter with the photosensitive element is the center and is in the photosensitive element is arranged all around. Through the utility model discloses size and the position that has or not barrier and barrier can be judged to the laser rangefinder array of arranging, combine the unmanned aerial vehicle gesture accurate report to the police to lay equal stress on newly plan the route, realize listening effectively and avoiding of under three -dimensional environment barrier. The utility model has the characteristics of simple structure, measurement accuracy, lightweight etc, a practicality is strong is provided, keeping away of reliable operation hinders methods and system.
Description
Technical field
The utility model relates to Aeronautics field, particularly relates to a kind of unmanned plane and keeps away barrier information acquisition module.
Background technology
In recent years, multiaxis Development of UAV is swift and violent.Unmanned plane is in flight course, and its flight environment of vehicle information is difficult to predict completely, and often can run into pop-up threats or obstacle, now, the overall flight path path of planning in advance cannot meet the demands.For reaching the object of expection, need detecting real-time and the function of avoiding obstacles, analysis and evaluation is carried out to path and surrounding enviroment thereof and threat, plans a rational flight path path, then the flight of flight path path is to avoid preceding object, continues to finish the work to allow unmanned plane again plan accordingly.
At present, domestic and international researchers propose many unmanned plane Real Time Obstacle Avoiding solutions successively, however keep away barrier solution be all keep away barrier technique based on the unmanned plane of two dimensional surface, high-precision automatic obstacle avoiding cannot be realized.
Utility model content
In view of this, fundamental purpose of the present utility model is to provide a kind of unmanned plane to keep away barrier information acquisition module, implements the information acquisition to stereo scene in aircraft working direction, so that the high-precision independent realizing unmanned plane keeps away barrier.
For achieving the above object, the technical solution of the utility model is achieved in that
A kind of unmanned plane keeps away barrier information acquisition module, and described acquisition module is for realizing, to the information acquisition of stereo scene in aircraft working direction, comprising:
Multiple laser beam emitting head and a photo-sensitive cell, described multiple laser beam emitting head is arranged in described photo-sensitive cell surrounding centered by described photo-sensitive cell.
Further, described laser beam emitting head is all equipped with the cylindrical lens of same model, and described cylindrical lens makes described laser beam emitting head produce the consistent straight line hot spot of covering of the fan angle; The setting angle of each laser beam emitting head makes its straight line hot spot project on the perpendicular of front and forms the envelope region of preset shape, and forms laser network in described envelope region.
The acquisition module that the utility model provides can gather stereo scene information in unmanned plane working direction, meeting under the light-weighted requirement of unmanned aerial vehicle onboard equipment, for the flight characteristic of multiaxis unmanned plane, obstacle detection is carried out based on laser ranging array, can in three-dimensional environment along heading be effectively multiaxis unmanned plane realize in real time detecting and avoiding obstacles, realize high-precision automatic obstacle avoiding.
Accompanying drawing explanation
The realization flow figure of the unmanned plane barrier-avoiding method that Fig. 1 is suitable for by the utility model embodiment;
The realization flow figure of the unmanned plane barrier-avoiding method specific embodiment that Fig. 2 is suitable for by the utility model embodiment;
Envelope area schematic in the unmanned plane barrier-avoiding method that Fig. 3 is suitable for by the utility model embodiment;
The schematic diagram in three-dimensional supervision region in the unmanned plane barrier-avoiding method that Fig. 4 is suitable for by the utility model embodiment;
The structural representation of the unmanned plane obstacle avoidance system that Fig. 5 provides for the utility model embodiment;
The structural representation of the information acquisition module that Fig. 6 provides for the utility model embodiment.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearly understand, by the following examples also with reference to accompanying drawing, the utility model is further described.
Fig. 1 show the utility model embodiment the unmanned plane barrier-avoiding method that is suitable for, as shown in Figure 1, described method comprises the steps:
Step 101, adopts laser ranging array to carry out stereo scene information acquisition in the working direction of described unmanned plane;
Here, described laser ranging array is produced by multiple laser beam emitting head and a photo-sensitive cell, and described photo-sensitive cell is positioned at center, and multiple laser beam emitting head is arranged in described photo-sensitive cell surrounding;
Correspondingly, the method also comprises: described laser beam emitting head is equipped with cylindrical lens, makes it produce the consistent straight line hot spot of covering of the fan angle; Described straight line hot spot the angle envelope region of carrying out adjusting that all straight line hot spots are projected on the perpendicular of front and form preset shape according to described unmanned plane practical flight environment and barrier feature and in envelope region, form laser network, specifically can with reference to figure 3, as shown in Figure 3, at the friendship coordinate system XOY of described perpendicular foundation; Be numbered often restrainting straight line hot spot: A-K, 1-11, in A-K, any one can with in 1-11, any one be crossing, and vice versa, and its intersection point can with two character representations, as B
2; Described laser network, the closer to the region at center in envelope, laser network density is larger, to ensure that the dead ahead in unmanned plane working direction maintains higher obstacle recognition precision.
Particularly, according to the state of flight of described unmanned plane, according to
determine safety stop distance; Wherein, l is safety stop distance, and v is the maximum flying speed of described unmanned plane, the acceleration that a provides for Rotor thrust when described unmanned plane slows down;
According to form factors and the safe flight distance of described unmanned plane, determine safe flight radius according to R=l+r; Wherein, R is safe flight radius, and r is described unmanned plane rotor circumradius;
According to described safe flight radius, build obstacle reconnaissance range, working direction surface level is formed a rectangle obstacle detection area, be from the close-by examples to those far off divided into Ji Ting district, deceleration area, warning district and place of safety by with unmanned plane body distance, specifically can with reference to figure 4;
The straight line hot spot that laser beam emitting head sends projects at front perpendicular, form the envelope region of preset shape, laser network is formed in envelope region, according to described envelope region, form the pie three-dimensional supervision region with preset thickness and angle, specifically can with reference to figure 4, this three-dimensional supervises region with the surface level at place, unmanned plane during flying direction for boundary, at surface level, with lower part, more above water part is narrow for it, to reduce ground interference, to enable unmanned plane tolerate certain angle of pitch, and keep obstacle supervision distance far away;
Laser beam emitting head, according to predefined procedure and the time interval, scans three-dimensional supervision region, collects obstacle information in three-dimensional supervision region.As shown in Figure 4, for barrier Z, laser beam emitting head can receive be numbered C, D, E, 3,4, the feedback information of the light of 5;
Step 102, according to the stereo scene information collected, carries out barrier point detecting to the front of described unmanned plane, determines to keep away barrier path;
Particularly, according to obstacle information in the three-dimensional supervision region collected, dyscalculia thing region, determines the size of barrier, direction and position; According to the motion state of described unmanned plane and the geometric relationship of barrier region and unmanned plane, judge counter-measure, determine to keep away barrier path.Such as, as shown in Figure 4, for barrier Z, in the three-dimensional that collects supervision region barrier information comprise be numbered C, D, E, 3,4, the feedback information of the light of 5; Then according to those obstacle informations, determine the quadrilateral B formed by laser beam B, F, 2,6
6b
2f
2f
6inside is barrier region.
Step 103, flies according to described barrier path of keeping away.
Particularly, described unmanned plane keeps away barrier path according to described, completes decelerations, urgency stops or the action such as to detour.
Fig. 2 shows the realization flow figure of the unmanned plane barrier-avoiding method specific embodiment that the utility model embodiment provides, as shown in Figure 2, described embodiment be unmanned plane application the utility model barrier-avoiding method complete flight course, comprise the steps:
Step 201, unmanned plane planning preliminary examination path;
Step 202, flies according to current path;
Step 203, judge whether to reach home, if so, then current process terminates, otherwise, perform step 204;
Step 204, judges whether to detect obstacle, if so, performs step 205, otherwise performs step 202;
Step 205, the orientation of cognitive disorders thing;
Step 206, judges whether this barrier affects current flight, if impact, performs step 207, otherwise performs step 202;
Step 207, build front stereo scene model, building mode specifically can refer to and describes above;
Step 208, again path planning, perform step 202.
Fig. 5 shows the structural representation of the unmanned plane obstacle avoidance system that the utility model embodiment provides, and described system comprises: information acquisition module 1, message processing module 2 and keep away barrier execution module 3; Wherein,
Described information acquisition module 1, carries out stereo scene information acquisition for adopting laser ranging array in the working direction of described unmanned plane;
Described message processing module 2, for according to the stereo scene information collected, carries out barrier point detecting to the front of described unmanned plane, determines to keep away barrier path;
Described keeping away hinders execution module 3, for flying according to described barrier path of keeping away.
Alternatively, described information acquisition module 1, can comprise multiple laser beam emitting head and a photo-sensitive cell, for generation of laser ranging array.
Here, as shown in Figure 6, described photo-sensitive cell 5 is positioned at center, and multiple laser beam emitting head 4 is arranged in the surrounding of described photo-sensitive cell 5.
Described laser beam emitting head 5 is equipped with cylindrical lens, makes it produce the consistent straight line hot spot of covering of the fan angle; The envelope region that the angle of described straight line hot spot is carried out adjusting that all straight line hot spots are projected on the perpendicular of front and formed preset shape according to described unmanned plane practical flight environment and barrier feature also forms laser network in envelope region.
Alternatively, described information acquisition module 1, specifically for the state of flight according to described unmanned plane, according to
determine safety stop distance; Wherein, l is safety stop distance, and v is the maximum flying speed of described unmanned plane, the acceleration that a provides for Rotor thrust when described unmanned plane slows down; According to form factors and the safe flight distance of described unmanned plane, determine safe flight radius according to R=l+r; Wherein, R is safe flight radius, and r is described unmanned plane rotor circumradius; According to described safe flight radius, build obstacle reconnaissance range, working direction surface level is formed a rectangle obstacle detection area, be from the close-by examples to those far off divided into Ji Ting district, deceleration area, warning district and place of safety by with unmanned plane body distance, specifically can consult Fig. 4; The straight line hot spot of the cylindrical lens injection of laser beam emitting head projects at front perpendicular, form the envelope region of preset shape, laser network is formed in envelope region, according to described envelope region, form the pie three-dimensional supervision region with preset thickness and angle, and set up rectangular coordinate system XOY at described perpendicular; According to predefined procedure preset frequency, three-dimensional supervision region is scanned, collect obstacle information in three-dimensional supervision region.
Alternatively, described message processing module 2, specifically for supervising obstacle information in region according to the three-dimensional collected, dyscalculia thing region, determines the size of barrier, direction and position; According to the motion state of described unmanned plane and the geometric relationship of barrier region and unmanned plane, judge counter-measure, determine to keep away barrier path.
A kind of unmanned plane obstacle avoidance system that the utility model embodiment provides, need with other functional module work compounds of unmanned plane, as shown in Figure 5, these other functional modules can comprise unmanned plane course and location identification module, UAV Flight Control System, UAV Communication module, unmanned aerial vehicle and dispatch and the module such as control system, unmanned plane during flying pose adjustment, unmanned plane during flying tasks carrying.
Preferably, described unmanned plane can be multiaxis rotary wind type unmanned plane.
Each functional module of this system can be used for the flow process of said method embodiment, each module routine and said method embodiment similar, do not repeat them here.
The unmanned plane barrier-avoiding method that the utility model embodiment provides and system, meeting under the light-weighted requirement of unmanned aerial vehicle onboard equipment, for the flight characteristic of multiaxis unmanned plane, obstacle detection is carried out based on laser ranging array, can in three-dimensional environment along heading be effectively multiaxis unmanned plane realize in real time detecting and avoiding obstacles, realize high-precision automatic obstacle avoiding.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each embodiment of the method can have been come by the hardware that programmed instruction is relevant.Aforesaid program can be stored in computer read/write memory medium.This program, when performing, performs the step comprising above-mentioned each embodiment of the method; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.
Last it is noted that above each embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to foregoing embodiments, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the utility model.
Claims (2)
1. unmanned plane keeps away a barrier stereo scene information acquisition module, it is characterized in that, described acquisition module, for generation of laser ranging array, comprising:
Multiple laser beam emitting head and a photo-sensitive cell, described multiple laser beam emitting head is arranged in described photo-sensitive cell surrounding centered by described photo-sensitive cell.
2. unmanned plane according to claim 1 keeps away barrier stereo scene information acquisition module, it is characterized in that, described laser beam emitting head is all equipped with the cylindrical lens of same model, and described cylindrical lens makes described laser beam emitting head produce the consistent straight line hot spot of covering of the fan angle; The setting angle of each laser beam emitting head makes its straight line hot spot project on the perpendicular of front and forms the envelope region of preset shape, and forms laser network in described envelope region.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371436A (en) * | 2016-08-29 | 2017-02-01 | 无锡卓信信息科技股份有限公司 | Driverless automobile obstacle avoidance method and system |
| CN106512267A (en) * | 2016-10-27 | 2017-03-22 | 江苏金米智能科技有限责任公司 | Intelligent fire engine capable of automatically avoiding obstacles |
-
2015
- 2015-12-02 CN CN201520984867.5U patent/CN205176661U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106371436A (en) * | 2016-08-29 | 2017-02-01 | 无锡卓信信息科技股份有限公司 | Driverless automobile obstacle avoidance method and system |
| CN106512267A (en) * | 2016-10-27 | 2017-03-22 | 江苏金米智能科技有限责任公司 | Intelligent fire engine capable of automatically avoiding obstacles |
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Address after: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A (located in Shenzhen Qianhai business secretary Co. Ltd.) Patentee after: SHENZHEN EFFICIEN TECH Co.,Ltd. Address before: 518060 Shenzhen City, Shenzhen, Guangdong, Shennan Avenue, No. 10128 digital cultural industry base, West Tower building 2807 Patentee before: SHENZHEN EFFICIEN TECH Co.,Ltd. |
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Granted publication date: 20160420 Termination date: 20211202 |
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