CN205426135U - Range finding keeps away barrier appearance - Google Patents
Range finding keeps away barrier appearance Download PDFInfo
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- CN205426135U CN205426135U CN201520976325.3U CN201520976325U CN205426135U CN 205426135 U CN205426135 U CN 205426135U CN 201520976325 U CN201520976325 U CN 201520976325U CN 205426135 U CN205426135 U CN 205426135U
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- range finding
- grating
- barrier
- raster
- camera
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Abstract
The utility model discloses a range finding keeps away barrier appearance, range finding keeps away barrier appearance includes: the grating transmitter, the transmission grating is to the barrier, shoot the camera, shoot and launch raster image picture on the barrier, the raster processor, with shoot camera connect, the raster processor is handled shoot camera the raster image picture, wherein, the raster processor is through measuring shoot camera raster image like the pixel between interval value, and press the proportion of interval value and actual range, judge each part of barrier with the technical problem that the range finding keeps away barrier appearance measuring result rate of accuracy is low among the prior art, the interference killing feature is poor has been solved to range finding keeps away barrier appearance's distance, and it provides the technological effect that a range finding keeps away barrier appearance measuring result rate of accuracy is high, the interference killing feature is strong to have reached.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, particularly to range finding avoidance instrument.
Background technology
UAV is called for short " unmanned plane ", is the most manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Without driving cabin on machine, but the equipment such as automatic pilot, presetting apparatus, signal pickup assembly are installed.On ground, naval vessels or machine tool remote control station personnel are by the equipment such as radar, it is tracked, positions, remote control, remote measurement and Digital Transmission.Can take off as conventional airplane under wireless remotecontrol or launch with booster rocket, it is possible to be taken to by machine tool and throw in flight in the air.
During unmanned plane flight aloft, in prior art, the laser ranging fault avoidnig device of unmanned plane is by launching laser signal to barrier, the laser reflected by barrier is being detected by the laser light sensing device of receiver module, height or the distance of barrier is determined by measuring difference two-way time, this measuring method needs to send a plurality of light beam, to detection device levels of precision require the highest, accuracy rate is low；Or rough to converse both distances, poor anti jamming capability according to the size of barrier in the image shot with video-corder.
Utility model content
This utility model provides one range finding avoidance instrument, solve and prior art finds range avoidance instrument measurement result accuracy rate is low, the technical problem of poor anti jamming capability, a kind of technique effect that avoidance instrument measurement result accuracy rate is high, capacity of resisting disturbance is strong of finding range of offer has been provided.
For solving above-mentioned technical problem, this utility model provides a kind of range finding avoidance instrument, and described range finding avoidance instrument includes: light barrier transmitter, launches grating to barrier；Shooting camera, shooting is transmitted into the raster image on described barrier；Raster processor, is connected with described shooting camera, and described raster processor processes the described raster image of described shooting camera shooting；Wherein, the distance values between the pixel of the described raster image that described raster processor is shot by the described shooting camera of measurement, and in the ratio of described distance values Yu actual range, it is judged that barrier each several part and the distance of described range finding avoidance instrument.
Preferably, described range finding avoidance instrument also includes a support, and one end of described support is fixing with described shooting camera to be connected, and the other end is removably secured with described laser grating emitter and is connected.
Preferably, described support is connected by clip is fixing with described light barrier transmitter.
Preferably, described support is fixed by snap with described light barrier transmitter is connected.
Preferably, the grating type that the camera lens filter of described shooting camera is launched with described light barrier transmitter mates.
Preferably, the grating that described light barrier transmitter is launched is visible grating.
Preferably, the grating that described light barrier transmitter is launched is invisible grating.
The application has the beneficial effect that:
The range finding avoidance instrument that the application provides, the characteristic utilizing grating launches grating to barrier by light barrier transmitter, the shooting of described shooting camera is transmitted into the raster image on described barrier, calculate the distance values between the pixel of described raster image, select the direction flight become larger with obstacle distance, complete avoidance, solve and prior art finds range avoidance instrument measurement result accuracy rate is low, the technical problem of poor anti jamming capability, a kind of technique effect that avoidance instrument measurement result accuracy rate is high, capacity of resisting disturbance is strong of finding range of offer has been provided.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, in describing embodiment below, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only embodiments more of the present utility model.
Fig. 1 is the structural representation of the application one better embodiment range finding avoidance instrument；
Fig. 2 is the partial schematic diagram of Fig. 1 medium-height trestle；
Fig. 3 is the flow chart of the method for the application another better embodiment unmanned plane range finding avoidance；
Accompanying drawing illustrates:
100-finds range avoidance instrument, and 1-light barrier transmitter, 2-shoots camera, 3-support, 200-barrier.
Detailed description of the invention
In order to be better understood from technique scheme, below in conjunction with Figure of description and specific embodiment, technique scheme is described in detail.
Fig. 1 is the structural representation of the application one better embodiment range finding avoidance instrument.As it is shown in figure 1, described range finding avoidance instrument 100 includes light barrier transmitter 1, shooting camera 2 and raster processor.
Described light barrier transmitter 1 is used for launching grating and is transmitted into the raster image on described barrier 200 to barrier 200, the shooting of described shooting camera.Described raster processor is connected with described shooting camera 2, for processing the described raster image of described shooting camera 2 shooting；During operation, the distance values between the pixel of the described raster image that described raster processor is shot by the described shooting camera 2 of measurement, and in the ratio of described distance values Yu actual range, it is judged that barrier 200 each several part and the distance of described range finding avoidance instrument 100.It addition, the grating type that the camera lens filter of described shooting camera 2 is launched with described light barrier transmitter 1 mates, to ensure that the definition of 2 raster images taken the photograph clapped by described shooting camera.Described light barrier transmitter 1 can launch visible or invisible grating, and the camera lens filter of described shooting camera 2 is specially and selects the camera lens filter for described visible or invisible grating specific wavelength according to described visible or invisible grating.
Fixing described light barrier transmitter 1 and described shooting camera 2 for convenience, described range finding avoidance instrument 100 also includes a support 3, and one end of described support 3 is fixing with described shooting camera 2 to be connected, and the other end is removably secured with described laser grating emitter 1 and is connected.Described support 3 is connected by clip or buckle are fixing with described light barrier transmitter 1.
Based on same inventive concept, the application also provides for a kind of method of unmanned plane range finding avoidance using above-mentioned range finding avoidance instrument, refers to Fig. 3, and the method for described unmanned plane range finding avoidance includes:
Step S100, described light barrier transmitter launches grating to barrier.
Step S200, the shooting of described shooting camera is transmitted into the raster image on described barrier, and raster image is transferred to described raster processor.
Step S300, calculates the distance of barrier each several part and described range finding avoidance instrument according to described raster image.
Wherein, described step S300 calculates the distance of barrier each several part and described range finding avoidance instrument according to described raster image, it is specially the distance values between the pixel of the described raster image that described raster processor measures the shooting of described shooting camera, and in the ratio of described distance values Yu actual range, calculate the distance of barrier each several part and described range finding avoidance instrument.
Step S400, unmanned plane, according to the spacing with described barrier each several part, selects the direction flight become larger with obstacle distance, completes avoidance.
Embodiment
The method that described unmanned plane range finding avoidance is exemplified below, launches, by default light barrier transmitter, the method that the grid number of grating illustrates unmanned plane range finding avoidance, and such as Fig. 1, the grating that described light barrier transmitter is launched is the grid of 3 × 3.It can be seen that unmanned plane described in obstacle distance is the most remote in Fig. 1, the every lattice raster grid size being transmitted on barrier is the biggest, and the same every lattice raster grid size on the photograph being mapped to the shooting of described shooting camera is the biggest.A in Fig. 11、a2、a3And a4Equal apart from the distance of described unmanned plane, it is mapped to the every lattice raster grid a on the photograph of described shooting camera shooting1And a2、a2And a3、a3And a4Distance the most equal, and d1And d1Between spacing more than a1And a2Between spacing.The spacing between raster pixel image point according to the shooting set and the ratio of actual range, calculate the spacing between each several part of barrier and described unmanned plane, selects the direction flight become larger with obstacle distance, completes avoidance.
The application has the beneficial effect that:
The range finding avoidance instrument of the application offer and the method for unmanned plane range finding avoidance, the characteristic utilizing grating launches grating to barrier by light barrier transmitter, the shooting of described shooting camera is transmitted into the raster image on described barrier, calculate the distance values between the pixel of described raster image, select the direction flight become larger with obstacle distance, complete avoidance, solve avoidance instrument measurement result accuracy rate of finding range in prior art low, the technical problem of poor anti jamming capability, reach to provide one range finding avoidance instrument measurement result accuracy rate high, the technique effect that capacity of resisting disturbance is strong.
It should be noted last that, above detailed description of the invention is only in order to illustrate the technical solution of the utility model and unrestricted, although this utility model being described in detail with reference to example, it will be understood by those within the art that, the technical solution of the utility model can be modified or equivalent, without deviating from the spirit and scope of technical solutions of the utility model, it all should be contained in the middle of right of the present utility model.
Claims (6)
1. a range finding avoidance instrument, it is characterised in that described range finding avoidance instrument includes:
Light barrier transmitter, is used for launching grating to barrier；
Shooting camera, is transmitted into the raster image on described barrier for shooting；
Raster processor, is connected with described shooting camera, for processing the described raster image of described shooting camera shooting；
Wherein, the distance values between the pixel of the described raster image that described raster processor is shot by the described shooting camera of measurement, and in the ratio of described distance values Yu actual range, it is judged that barrier each several part and the distance of described range finding avoidance instrument；Described range finding avoidance instrument also includes a support, and one end of described support is fixing with described shooting camera to be connected, and the other end is removably secured with described light barrier transmitter and is connected.
2. range finding avoidance instrument as claimed in claim 1, it is characterised in that described support is connected by clip is fixing with described light barrier transmitter.
3. range finding avoidance instrument as claimed in claim 1, it is characterised in that described support is fixed by snap with described light barrier transmitter to be connected.
4. range finding avoidance instrument as claimed in claim 1, it is characterised in that the grating type that the camera lens filter of described shooting camera is launched with described light barrier transmitter mates.
5. range finding avoidance instrument as claimed in claim 1, it is characterised in that the grating that described light barrier transmitter is launched is visible grating.
6. range finding avoidance instrument as claimed in claim 1, it is characterised in that the grating that described light barrier transmitter is launched is invisible grating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520976325.3U CN205426135U (en) | 2015-11-30 | 2015-11-30 | Range finding keeps away barrier appearance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520976325.3U CN205426135U (en) | 2015-11-30 | 2015-11-30 | Range finding keeps away barrier appearance |
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| Publication Number | Publication Date |
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| CN205426135U true CN205426135U (en) | 2016-08-03 |
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| CN201520976325.3U Expired - Fee Related CN205426135U (en) | 2015-11-30 | 2015-11-30 | Range finding keeps away barrier appearance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094873A (en) * | 2016-08-26 | 2016-11-09 | 深圳市中航佳智能科技有限公司 | A kind of novel have avoidance and the unmanned plane of distance measurement function and avoidance and distance-finding method |
-
2015
- 2015-11-30 CN CN201520976325.3U patent/CN205426135U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094873A (en) * | 2016-08-26 | 2016-11-09 | 深圳市中航佳智能科技有限公司 | A kind of novel have avoidance and the unmanned plane of distance measurement function and avoidance and distance-finding 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 | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 430000 Hubei province Wuhan City Jiang'an District Lake Street Bridge Road No. 5 Building 1 layer 4 Patentee after: Ewatt Technology Co.,Ltd. Address before: 430000 Hubei province Wuhan City Jiang'an District Lake Street Bridge Road No. 5 Building 1 layer 4 Patentee before: Ewatt Technology 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: 20160803 Termination date: 20211130 |