CN205317940U - Multiaxis unmanned aerial vehicle keeps away barrier system based on laser array - Google Patents
Multiaxis unmanned aerial vehicle keeps away barrier system based on laser array Download PDFInfo
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- CN205317940U CN205317940U CN201620008187.4U CN201620008187U CN205317940U CN 205317940 U CN205317940 U CN 205317940U CN 201620008187 U CN201620008187 U CN 201620008187U CN 205317940 U CN205317940 U CN 205317940U
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Abstract
The utility model is suitable for an aviation science technology field provides multiaxis unmanned aerial vehicle keeps away barrier system based on laser array, the system includes: information acquisition, gesture discernment, posture adjustment, information processing and keep away the barrier and carry out five modules, its leading features does: information acquisition module make its sharp facula that sends effectively overlap the sector area in certain horizontal contained angle through the special laser rangefinder of arranging array, the size and the position that have or not barrier and barrier are listened to the place ahead sector area's scanning to the realization, the unmanned aerial vehicle attitude information that gathers according to gesture identification module of posture adjustment module, the adjustment keeps away barrier system gesture in order to keep paying close attention to the flight horizontal position in the place ahead to the space of listening certain angle in the vertical direction is regional, information processing module combine the current gesture of unmanned aerial vehicle realize accurate report to the police to lay equal stress on newly plan the route, by the barrier executable module of keeping away carry out and to keep away the barrier function, realize effectively listening and dodging the barrier under the three -dimensional environment.
Description
Technical field
This utility model relates to Aeronautics field, particularly relates to a kind of multiaxis unmanned plane obstacle avoidance system based on laser array.
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 precognition, is frequently encountered pop-up threats or obstacle, and the overall flight path path at this moment planned in advance cannot meet requirement. For reaching intended purpose, need the function possessing detecting real-time avoiding obstacles, path and surrounding enviroment thereof and threat can be analyzed assessment, again one rational flight path path of planning, coordinate unmanned plane to fly to avoid preceding object by this flight path path specified, continue task. After 1970's, domestic and international researcheres propose the solution of many unmanned plane Real Time Obstacle Avoidings successively, the unmanned plane avoidance technology of two dimensional surface has been achieved for great successes and applies widely, but the obstacle scanner uni avoiding obstacles also rarely seen document in three-dimensional environment.
Utility model content
Technical problem to be solved in the utility model is in that to provide a kind of multiaxis unmanned plane obstacle avoidance system based on laser array, it is intended to the problem solving to carry out barrier scanning and avoiding obstacles in three-dimensional environment.
This utility model is realized in, a kind of multiaxis unmanned plane obstacle avoidance system based on laser array, including: message processing module, the gesture recognition module being connected with described message processing module respectively, pose adjustment module, information acquisition module and avoidance perform module;
Described information acquisition module, for adopting laser ranging array to carry out the information gathering of stereo scene in multiaxis unmanned plane direction of advance, the information transmission extremely described message processing module that then will gather;
Described gesture recognition module, for identifying the flight attitude information of multiaxis unmanned plane, and the information transmission extremely described message processing module that will recognize;
Described message processing module, for receiving and process the information obtained from described gesture recognition module, then sends the instruction adjusting obstacle avoidance system attitude to pose adjustment module; It is additionally operable to receive and process the information obtained from information acquisition module, performs module to avoidance and send avoidance instruction;
Described pose adjustment module, carries out pose adjustment for the attitude regulating command sent according to described message processing module to obstacle avoidance system, so that multiaxis unmanned plane obstacle avoidance system remains focused on the horizontal direction of its heading dead ahead;
Described avoidance performs module, for receiving and performing the avoidance instruction sent from message processing module.
Further, described multiaxis unmanned plane obstacle avoidance system remains focused on the horizontal direction of its heading dead ahead, and detects the area of space of certain angle in vertical direction.
Further, described information acquisition module includes multiple laser beam emitting head and a reception head.
Further, in described information acquisition module, described reception head is placed in center position; The plurality of laser beam emitting head is arranged to array, and each described laser beam emitting head is provided with cylindrical lens, can penetrate straight line hot spot to pay close attention to the sector of certain angle on light path injection direction; The plurality of laser beam emitting head includes some horizontal laser beam emitting heads and some vertical beam of light emitting heads, and wherein, the quantity of horizontal laser beam emitting head is more than the quantity of vertical beam of light emitting head;
The cylindrical lens entirety of each horizontal laser light emitting head is horizontally disposed, and the horizontal laser light light beam sent is for paying close attention to the sector in front horizontal face, and the horizontal laser light light beam sent has overlap each other, more more intensive by centre;
Each vertical laser emitting head is used for paying close attention to the upper and lower a range of barrier of dead ahead horizontal line, the overall perpendicular layout of the cylindrical lens of each laser beam emitting head.
Further, described flight attitude information includes the angle of pitch of multiaxis unmanned plane, roll angle.
Further, described multiaxis unmanned plane obstacle avoidance system and other unmanned aerial vehicle onboard module cooperative operations.
This utility model is compared with prior art, have the beneficial effects that: this utility model is for multiaxis unmanned plane features of movement and environmental characteristic, only focus on 90 ° of sectors of unmanned plane during flying direction dead ahead horizontal plane, and have the area of space of certain level angle, realize effectively detecting and avoiding obstacles under three-dimensional environment, meet the light-weighted demand of unmanned aerial vehicle onboard equipment, simple in construction, cost economy simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of multiaxis unmanned plane obstacle avoidance system based on laser array that this utility model embodiment provides.
Fig. 2 is the information collection module structural representation that this utility model embodiment provides.
Fig. 3 is the laser array coverage schematic diagram that this utility model embodiment provides.
Fig. 4 is pose adjustment modular structure schematic diagram and the laser beam lateral plan of this utility model embodiment offer.
Fig. 5 is the fundamental diagram of a kind of multiaxis unmanned plane obstacle avoidance system based on laser array that this utility model embodiment provides.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, this utility model is further elaborated. Should be appreciated that specific embodiment described herein is only in order to explain this utility model, be not used to limit this utility model. It addition, eliminate the description to known features and technology in the following description, to avoid confusion to concept of the present utility model.
This utility model is for meeting the light-weighted requirement of unmanned aerial vehicle onboard equipment, flight characteristic for many rotor wing unmanned aerial vehicles, a kind of many rotor wing unmanned aerial vehicles obstacle avoidance system based on laser array is proposed, in three-dimensional environment, effectively can realize detecting and avoiding obstacles in real time for multiaxis unmanned plane along heading, meet the light-weighted demand of unmanned aerial vehicle onboard equipment simultaneously.
As shown in Figure 1, for this utility model embodiment provide a kind of multiaxis unmanned plane obstacle avoidance system based on laser array, including message processing module 4, the gesture recognition module 2 being connected with message processing module 4 respectively, pose adjustment module 3, information acquisition module 1 and avoidance perform module 5;
Information acquisition module 1, for adopting laser ranging array to carry out the information gathering of stereo scene in multiaxis unmanned plane direction of advance, then transmits the information gathered to message processing module 4.
Gesture recognition module 2, the gesture recognition module of multiaxis unmanned plane autogamy can be shared, for identifying the flight attitude information of multiaxis unmanned plane, and the information recognized is transmitted to message processing module 4, concrete, it is possible to identify the information such as the multiaxis unmanned plane angle of pitch, roll angle.
Pose adjustment module 3, obstacle avoidance system is carried out pose adjustment by the attitude regulating command for sending according to message processing module 4, so that multiaxis unmanned plane obstacle avoidance system remains focused on the horizontal direction of its heading dead ahead, and detect the area of space of certain angle in vertical direction, as shown in Figure 4.
Message processing module 4, for receiving and process the information obtained from multiaxis UAV Attitude identification module 2, sends attitude regulating command to pose adjustment module 3, so that information acquisition module 1 remains focused on the horizontal direction of multiaxis unmanned plane during flying direction dead ahead; It is additionally operable to receive and process the information obtained from information acquisition module 1; multiaxis unmanned plane front is carried out judgement and the extraction in barrier detection and aerial flight path; build barrier zone and orientation model; and design optimum avoidance path; then perform module 5 to avoidance and send avoidance instruction, so that multiaxis unmanned plane completes to slow down according to optimum avoidance path, jerk or the action such as detour. Avoidance performs module 5, for receiving and perform the avoidance instruction sent from message processing module 4, completes to slow down according to optimum avoidance path, jerk or the action such as detour.
Concrete, information acquisition module 1, adopt laser ranging array to realize stereo scene information gathering in direction of advance. Described laser ranging array includes the staggered laser beam emitting head of multiple distribution and a reception head placed in the middle. Utilize laser beam emitting device to reflex to, because barrier is encountered on propagation way, the time difference receiving head to laser from launching laser, extrapolate size and the orientation of preceding object thing. Information acquisition module 1 is to be controlled by the form regulation system in obstacle avoidance system, adjusts the attitude of obstacle avoidance system according to the flight attitude of multiaxis unmanned plane, it is achieved information acquisition module 1 is all the time to the detection of multiaxis unmanned plane advance horizontal direction and information gathering.
As in figure 2 it is shown, information acquisition module 1 includes multiple laser beam emitting head and a reception head, described laser ranging array includes the laser beam emitting head 11 of multiple concern transverse plane, the laser beam emitting head 12 paying close attention to fore-and-aft plane and a reception 13. Laser beam emitting head presses the composition array of interlaced arrangement shown in Fig. 2, forms level in the horizontal direction and pays close attention to laser beam, pays close attention to the region in the covering of the fan of 90 degree of multiaxis unmanned plane during flying front. Straight vertical side is upwardly formed and vertically pays close attention to laser beam. The equal device cylindrical lens in laser beam emitting head front end, the light of transmitting forms straight line hot spot after superrefraction, and pays close attention to the sector of certain angle. Reception 13 is placed in center, pays close attention to the laser beam emitting head 11 of horizontal plane, launches light beam interlaced arrangement in horizontal direction, pays close attention within the scope of the covering of the fan of front horizontal direction certain radius, the region at 90 ° of angles; The laser beam emitting head 12 paying close attention to vertical plane is arranged in the upper and lower of reception 13, and adjusts straight line hot spot in vertical direction so that it is pay close attention to the Sector Range in vertical direction, as shown in Figure 3.
Further, the equal device cylindrical lens of laser beam emitting head 11,12, penetrates straight line hot spot. Laterally (level) plane arranges multiple laser beam emitting head 11, each emitting head pays close attention to 30 ° of front fan-shaped range inner region, the straight line hot spot of multiple emitting heads injection has overlap in various degree, more intensive the closer to center, collectively constitute on front horizontal face in certain radius 90 ° and fan-shaped scout region. Longitudinally arranging less laser beam emitting head 12 in (vertically) plane, each emitting head pays close attention to 15 ° of front fan-shaped range inner region. Detailed, level is paid close attention to laser beam and is converged by the transmitting light of more laser beam emitting head and formed, and the cylindrical lens of each laser beam emitting head is horizontally disposed, has overlap each other, more more intensive by centre. For placing a number of laser beam emitting head in limited geometric space, level pay close attention to laser beam multiple laser beam emitting heads can not arrange in same level, need to by its incident point in distalmost end adjustment in same level. Vertical laser beam of paying close attention to is converged by the transmitting light of less laser beam emitting head and is formed, and is primarily upon the upper and lower a range of region of dead ahead horizontal line, and the cylindrical lens of each laser beam emitting head is arranged vertically.
As shown in Figure 4, the cylindrical lens of laser beam emitting head 111,112 is horizontally disposed, and the cylindrical lens of laser beam emitting head 12 is vertically arranged.
As it is shown in figure 5, described multiaxis unmanned plane detects the sector region of its advance horizontal direction an angle of 90 degrees, the distance according to the obstacle distance multiaxis unmanned plane detected, by near to being far respectively divided into: jerk district, deceleration area, alert zone and place of safety.
The foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all any amendment, equivalent replacement and improvement etc. made within spirit of the present utility model and principle, should be included within protection domain of the present utility model.
Claims (6)
1. the multiaxis unmanned plane obstacle avoidance system based on laser array, it is characterized in that, described multiaxis unmanned plane obstacle avoidance system includes: message processing module, the gesture recognition module being connected with described message processing module respectively, pose adjustment module, information acquisition module and avoidance perform module;
Described information acquisition module, for adopting laser ranging array to carry out the information gathering of stereo scene in multiaxis unmanned plane direction of advance, the information transmission extremely described message processing module that then will gather;
Described gesture recognition module, for identifying the flight attitude information of multiaxis unmanned plane, and the information transmission extremely described message processing module that will recognize;
Described message processing module, for receiving and process the information obtained from described gesture recognition module, then sends the instruction adjusting obstacle avoidance system attitude to pose adjustment module; It is additionally operable to receive and process the information obtained from information acquisition module, performs module to avoidance and send avoidance instruction;
Described pose adjustment module, carries out pose adjustment for the attitude regulating command sent according to described message processing module to obstacle avoidance system;
Described avoidance performs module, for receiving and performing the avoidance instruction sent from message processing module.
2. multiaxis unmanned plane obstacle avoidance system as claimed in claim 1, it is characterised in that described multiaxis unmanned plane obstacle avoidance system remains focused on the horizontal direction of unmanned plane during flying direction dead ahead, and detects the area of space of certain angle in vertical direction.
3. multiaxis unmanned plane obstacle avoidance system as claimed in claim 1, it is characterised in that described information acquisition module includes multiple laser beam emitting head and a reception head.
4. multiaxis unmanned plane obstacle avoidance system as claimed in claim 3, it is characterised in that in described information acquisition module, described reception head is placed in center position; The plurality of laser beam emitting head is arranged to array, and each described laser beam emitting head is provided with cylindrical lens, can penetrate straight line hot spot to pay close attention to the sector of certain angle on light path injection direction; The plurality of laser beam emitting head includes some horizontal laser beam emitting heads and some vertical beam of light emitting heads, and wherein, the quantity of horizontal laser beam emitting head is more than the quantity of vertical beam of light emitting head;
The cylindrical lens entirety of each horizontal laser light emitting head is horizontally disposed, and the horizontal laser light light beam sent is for paying close attention to the sector in front horizontal face, and the horizontal laser light light beam sent has overlap each other, more more intensive by centre;
Each vertical laser emitting head is used for paying close attention to the upper and lower a range of barrier of dead ahead horizontal line, the overall perpendicular layout of the cylindrical lens of each laser beam emitting head.
5. multiaxis unmanned plane obstacle avoidance system as claimed in claim 1, it is characterised in that described flight attitude information includes the angle of pitch of multiaxis unmanned plane, roll angle.
6. the multiaxis unmanned plane obstacle avoidance system as described in claim 1 to 5 any one, it is characterised in that described multiaxis unmanned plane obstacle avoidance system and other multiaxis unmanned aerial vehicle onboard module cooperative operations.
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| CN201620008187.4U CN205317940U (en) | 2016-01-05 | 2016-01-05 | Multiaxis unmanned aerial vehicle keeps away barrier system based on laser array |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864739A (en) * | 2016-12-29 | 2017-06-20 | 中国矿业大学 | A kind of six rotor flying robots for underground pipe gallery detection |
| CN107003679A (en) * | 2016-11-23 | 2017-08-01 | 深圳市大疆创新科技有限公司 | The avoidance obstacle method and unmanned vehicle of unmanned vehicle |
| CN108414978A (en) * | 2018-02-08 | 2018-08-17 | 北京理工大学 | A kind of expansible base station array, optical tracking system and its tracking |
| CN109407698A (en) * | 2018-10-25 | 2019-03-01 | 深圳慈航无人智能系统技术有限公司 | No-manned plane three-dimensional path barrier-avoiding method based on probability density |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
-
2016
- 2016-01-05 CN CN201620008187.4U patent/CN205317940U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107003679A (en) * | 2016-11-23 | 2017-08-01 | 深圳市大疆创新科技有限公司 | The avoidance obstacle method and unmanned vehicle of unmanned vehicle |
| WO2018094626A1 (en) * | 2016-11-23 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle obstacle-avoidance control method and unmanned aerial vehicle |
| CN106864739A (en) * | 2016-12-29 | 2017-06-20 | 中国矿业大学 | A kind of six rotor flying robots for underground pipe gallery detection |
| CN108414978A (en) * | 2018-02-08 | 2018-08-17 | 北京理工大学 | A kind of expansible base station array, optical tracking system and its tracking |
| CN108414978B (en) * | 2018-02-08 | 2020-08-11 | 北京理工大学 | Extensible base station array, optical tracking system and tracking method thereof |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
| CN109407698A (en) * | 2018-10-25 | 2019-03-01 | 深圳慈航无人智能系统技术有限公司 | No-manned plane three-dimensional path barrier-avoiding method based on probability density |
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| C14 | Grant of patent or utility model | ||
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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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| 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: 20160615 Termination date: 20220105 |