CN205809701U - Unmanned plane - Google Patents

Abstract

This utility model relates to unmanned plane, it is characterised in that including: multiple ultrasound probes, is arranged on the fuselage side of described unmanned plane, and wherein, each described ultrasound probe includes transmitting portion and receiving portion；Control part, be connected with transmitting portion and the receiving portion of each described ultrasound probe respectively；And, flight control modules, it is connected with the described part that controls.Avoiding obstacles by supersonic wave effect can be improved according to unmanned plane of the present utility model, thus improve the flight safety of unmanned plane.

Description

Unmanned plane

Technical field

This utility model relates to areas of information technology, particularly relates to a kind of unmanned plane.

Background technology

Along with developing rapidly of unmanned air vehicle technique, unmanned plane has been widely used for taking photo by plane, surveying and drawing and goods and materials The numerous areas such as transport input.In the flight course of unmanned plane, avoidance is a vital problem, Simultaneously, it is thus achieved that the distance between barrier and unmanned plane is the premise of research safety avoidance.Unmanned plane at present The barrier-avoiding method used mainly includes vision avoidance, avoiding obstacles by supersonic wave, ToF, and (Time of Flight, flies The row time) infrared light avoidance and radar avoidance.Wherein, ultrasonic evadible system is relatively easy, and cost Relatively low.Ultrasonic sensor is relatively easy with its information processing, cost is relatively low and hardware easily realization etc. is excellent Point, is widely used as distance measuring sensor.

The unmanned plane of existing employing ultrasonic evadible system generally uses direction of advance obstacle avoidance system, avoidance Effect is poor.

Utility model content

Technical problem

In view of this, the technical problems to be solved in the utility model is, existing employing avoiding obstacles by supersonic wave system The avoidance effect of the unmanned plane of system is poor.

Solution

In order to solve above-mentioned technical problem, according to an embodiment of the present utility model, it is provided that a kind of unmanned Machine, including:

Multiple ultrasound probes, are arranged on the fuselage side of described unmanned plane, wherein, each described ultrasonic Ripple probe includes transmitting portion and receiving portion；

Control part, be connected with transmitting portion and the receiving portion of each described ultrasound probe respectively；With And,

Flight control modules, is connected with the described part that controls.

For above-mentioned unmanned plane, in a kind of possible implementation, between multiple described ultrasound probes etc. Away from the fuselage side being arranged on described unmanned plane.

For above-mentioned unmanned plane, in a kind of possible implementation, the quantity of described ultrasound probe is 4.

For above-mentioned unmanned plane, in a kind of possible implementation, the peace of 4 described ultrasound probes Holding position is respectively the leading flank of the fuselage of described unmanned plane, trailing flank, left surface and right flank.

For above-mentioned unmanned plane, in a kind of possible implementation, the field angle of described ultrasound probe It it is 40 degree.

For above-mentioned unmanned plane, in a kind of possible implementation, described transmitting portion includes:

Transmitter；And,

First transducer, is connected with described transmitter.

For above-mentioned unmanned plane, in a kind of possible implementation, described receiving portion includes:

Receptor；

Second transducer, is connected with described receptor；And

Amplifier, is connected with described second transducer.

For above-mentioned unmanned plane, in a kind of possible implementation, described unmanned plane also includes:

The first memory that part is connected is controlled with described.

For above-mentioned unmanned plane, in a kind of possible implementation, described unmanned plane also includes:

The second memory that part is connected is controlled with described.

Beneficial effect

By installing multiple ultrasound probes in the fuselage side of unmanned plane, each ultrasound probe includes sending out Send part and receiving portion, control part the most respectively with transmitting portion and the receiving portion of each ultrasound probe It is connected, and controls partly to be connected with flight control modules, according to the unmanned function of this utility model embodiment Enough improve avoiding obstacles by supersonic wave effect, thus improve the flight safety of unmanned plane.

According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, further feature of the present utility model And aspect will be clear from.

Accompanying drawing explanation

The accompanying drawing of the part comprising in the description and constituting description together illustrates with description Exemplary embodiment of the present utility model, feature and aspect, and be used for explaining principle of the present utility model.

Fig. 1 illustrates the structured flowchart of the unmanned plane according to this utility model one embodiment；

Fig. 2 illustrates the detection angle of ultrasound probe 11 in the unmanned plane according to this utility model one embodiment The schematic diagram of scope；

Fig. 3 illustrates another structured flowchart of the unmanned plane according to this utility model one embodiment；

Fig. 4 illustrates the echo of second memory 15 storage of the unmanned plane according to this utility model one embodiment The schematic diagram of the oscillogram of the echo threshold that the oscillogram of data stores with first memory storage 14；

Fig. 5 a to 5d illustrates that in the unmanned plane according to this utility model one embodiment, ultrasound probe 11 is just The schematic diagram of view, left view, right view and rearview.

Detailed description of the invention

Various exemplary embodiments of the present utility model, feature and side is described in detail below with reference to accompanying drawing Face.Reference identical in accompanying drawing represents the same or analogous element of function.Although it is shown in the drawings The various aspects of embodiment, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.

The most special word " exemplary " means " as example, embodiment or illustrative ".Here as Any embodiment illustrated by " exemplary " should not necessarily be construed as preferred or advantageous over other embodiments.

It addition, in order to better illustrate this utility model, detailed description of the invention below gives crowd Many details.It will be appreciated by those skilled in the art that there is no some detail, this utility model Equally implement.In some instances, for method well known to those skilled in the art, means, unit Part and circuit are not described in detail, in order to highlight purport of the present utility model.

Embodiment 1

Fig. 1 illustrates the structured flowchart of the unmanned plane according to this utility model one embodiment.For convenience of description, Illustrate only the part relevant to this utility model embodiment.As Fig. 1 shows, this unmanned plane specifically includes that

Multiple ultrasound probes 11, are arranged on the fuselage side of unmanned plane, wherein, each ultrasound probe 11 include transmitting portion 111 and receiving portion 112；

Control part 12, respectively with transmitting portion 111 and receiving portion 112 phase of each ultrasound probe 11 Even；And,

Flight control modules 13, is connected with controlling part 12.

For example, ultrasound wave can be the frequency mechanical wave higher than 20kHz.Implement at this utility model In example, surrounding is entered when unmanned plane during flying or hovering by unmanned plane by multiple ultrasound probes 11 Row real-time detection.The transmitting portion 111 of ultrasound probe 11 is used for launching ultrasonic emitting signal, ultrasonic The receiving portion 112 of ripple probe 11 is used for receiving ultrasonic echo signal.Receiving portion can also be to ultrasonic Ripple echo-signal processes, and obtains echo data.Transmitting portion 111 He of each ultrasound probe 11 Receiving portion 112 is connected with control part 12 respectively.Control what receiving portion 112 can be returned by part 12 Echo data is analyzed, and obtains barrier data, and these barrier data can include barrier direction number According to obstacle distance data etc..

For example, controlling part 12 and can use PGA450-Q1 chip, this PGA450-Q1 chip comprises 51 single-chip microcomputer kernels.Control part 12 and can pass through LIN (Local with flight control modules 13 Interconnect Network, local interconnect network) interface communicates.Control part 12 and pass through LIN Barrier data are sent to flight control modules 13 by interface.

Flight control modules 13 can be according to barrier data genaration flight control instruction.Wherein, flight control Instruction processed can include early warning, slow down, brakes and/or the state of flight control instruction such as hovering.Flight controls Instruction can be also used for controlling unmanned plane cut-through thing and slowly going up to the air, and treats that early warning terminates or unmanned plane Flying height when reaching the ceiling altitude pre-set, perform to continue on or decline the dynamic of hovering Make.Flight control instruction can also include heading control instruction and/or flight speed control instruction.This Embodiment can generate required flight control instruction according to the demand of concrete application scenarios, at this not It is construed as limiting.

In a kind of possible implementation, multiple ultrasound probes 11 are equidistantly arranged on the machine of unmanned plane Body side.

In a kind of possible implementation, the quantity of ultrasound probe 11 is 4.

In a kind of possible implementation, the installation site of 4 ultrasound probes 11 is respectively unmanned plane The leading flank of fuselage, trailing flank, left surface and right flank.

In a kind of possible implementation, the field angle of ultrasound probe 11 is 40 degree.

As an example of this utility model embodiment, the quantity of ultrasound probe 11 is 4, and 4 surpass Sonic probe 11 is equidistantly arranged on the fuselage side of unmanned plane, and the field angle of each ultrasound probe 11 is 40 degree, the most each ultrasound probe 11 for the axis of this ultrasound probe 11 and extended line thereof ± 40 degree of directions detect, the most both can realize 360 degree without dead angle avoidance, each can be made again ultrasonic Interference between ripple probe 11 is less, reduces erroneous judgement, thus substantially increases avoiding obstacles by supersonic wave effect, carries The high flight safety of unmanned plane.

Fig. 2 illustrates the detection angle of ultrasound probe 11 in the unmanned plane according to this utility model one embodiment The schematic diagram of scope.In the case of the field angle of ultrasound probe 11 is 40 degree, each ultrasound probe 11 detect respectively in the angular range of 80 degree.

Although it should be noted that be 4 with the quantity of ultrasound probe, between 4 ultrasound probe 11 grades Away from being arranged on the fuselage side of unmanned plane and describe as example quantity and the position of ultrasound probe, but this Skilled person is it is understood that this utility model should be not limited to this.It is true that user completely can basis Personal like and/or actual application scenarios set quantity and the position of ultrasound probe flexibly, as long as can be from many Individual side carries out ultrasonic listening to improve avoiding obstacles by supersonic wave effect.

Fig. 3 illustrates another structured flowchart of the unmanned plane according to this utility model one embodiment.For the ease of Illustrate, illustrate only the part relevant to this utility model embodiment.The group that in Fig. 3, label is identical with Fig. 1 Part has identical function, for simplicity's sake, omits the detailed description to these assemblies.Need explanation It is for simplicity's sake, to illustrate only 2 ultrasound probes 11 in figure 3, and when reality is applied, can To use more ultrasound probe 11, in this no limit.

As shown in Figure 3:

In a kind of possible implementation, transmitting portion 111 includes:

Transmitter 1111；And,

First transducer 1112, is connected with transmitter 1111.

Wherein, transmitter 1111 is for producing the transmitting signal of electrical energy form.First transducer 1112 utilizes The transmitting signal of electrical energy form is converted to ultrasonic emitting signal by piezoelectric effect.

In a kind of possible implementation, receiving portion 112 includes:

Receptor 1121；

Second transducer 1122, is connected with receptor 1121；And

Amplifier 1123, is connected with the second transducer 1122.

Wherein, receptor 1121 is used for receiving ultrasonic echo signal, and the second transducer 1122 utilizes piezoelectricity Ultrasonic echo signal is converted to the echo-signal of electrical energy form by effect, and amplifier 1123 is to electrical energy form Echo-signal be amplified process, obtain echo data.Here, amplifier 1123 can use low Noise amplifier.

In a kind of possible implementation, unmanned plane also includes:

The first memory 14 being connected with control part 12.

For example, first memory 14 can use EEPROM (Electrically Erasable Programmable Read-Only Memory, EEPROM).First memory 14 may be used for storing the echo threshold pre-set.

In a kind of possible implementation, unmanned plane also includes:

The second memory 15 being connected with control part 12.

For example, second memory 15 can be internal storage.Second memory 15 can use (First Input First Output Random Access Memory, FIFO is random for FIFO RAM Access memorizer).

As an example of this utility model embodiment, after unmanned plane powers on, control part 12 with each Individual ultrasound probe 11 resets, and controls part 12 and reads the echo threshold pre-set from first memory 14 Value, and echo threshold is stored in second memory 15.Ultrasound probe 11 can be launched with 58kHz One group of mechanical shock ripple, time delay tens of delicate after, enable ultrasound probe 11 echo reception function, with Time drive receiving portion 112 amplifier 1123 work, gain amplifier can be 400V/V.Work as ultrasound wave Launch signal run into barrier and reflect, receiving portion 112 after receiving ultrasonic echo signal, Control part 12 to be stored in second memory 15 by echo data corresponding for ultrasonic echo signal, then lead to Cross pointer and transfer the echo threshold successive appraximation of relevant position in second memory 15.If controlling part 12 to examine Measure echo data more than echo threshold, then according to reception time corresponding to this echo data and launch time Calculate the distance of barrier, and determine the side of barrier according to the ultrasound probe 11 receiving this echo data To, thus obtain barrier data.For example, can according to the B1 position of echo data and B0 position, Determine the ultrasound probe 11 receiving this echo data, further according to this ultrasound probe 11 at the machine of unmanned plane Installation site with it determines the direction of barrier.Such as, according to B1 position and the B0 position of echo data, Determine that the ultrasound probe 11 receiving this echo data can be: if the B1 position of this echo data is 0, B0 Position is 0, then the ultrasound probe 11 receiving this echo data is T1；If the B1 position of this echo data is 0, B0 position is 1, then the ultrasound probe 11 receiving this echo data is T2；If the B1 position of this echo data is 1, B0 position is 0, then the ultrasound probe 11 receiving this echo data is T3；If the B1 of this echo data Position is 1, and B0 position is 1, then the ultrasound probe 11 receiving this echo data is T4.

Fig. 4 illustrates the echo of second memory 15 storage of the unmanned plane according to this utility model one embodiment The schematic diagram of the oscillogram of the echo threshold that the oscillogram of data stores with first memory storage 14.At figure In 4, the first reflection echo and the second reflection echo are the part in echo data more than echo threshold.

Fig. 5 a to 5d illustrates that in the unmanned plane according to this utility model one embodiment, ultrasound probe 11 is just The schematic diagram of view, left view, right view and rearview.Fig. 5 a to 5d also show the fuselage of unmanned plane 10。

So, by installing multiple ultrasound probes, each ultrasound probe in the fuselage side of unmanned plane Including transmitting portion and receiving portion, control part respectively with the transmitting portion of each ultrasound probe and connecing Receiving portions is connected, and controls partly to be connected with flight control modules, according to the nothing of this utility model embodiment The man-machine avoiding obstacles by supersonic wave effect that can improve, thus improve the flight safety of unmanned plane.

The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model It is not limited thereto, the technology model that any those familiar with the art discloses at this utility model In enclosing, change can be readily occurred in or replace, all should contain within protection domain of the present utility model.Cause This, protection domain of the present utility model should be as the criterion with described scope of the claims.

Claims (9)

1. a unmanned plane, it is characterised in that including:

Multiple ultrasound probes, are arranged on the fuselage side of described unmanned plane, wherein, each described ultrasonic Ripple probe includes transmitting portion and receiving portion；

Control part, be connected with transmitting portion and the receiving portion of each described ultrasound probe respectively；With And,

Flight control modules, is connected with the described part that controls.

Unmanned plane the most according to claim 1, it is characterised in that multiple described ultrasound probes etc. Spacing is arranged on the fuselage side of described unmanned plane.

Unmanned plane the most according to claim 1 and 2, it is characterised in that described ultrasound probe Quantity is 4.

Unmanned plane the most according to claim 3, it is characterised in that 4 described ultrasound probes Installation site is respectively the leading flank of the fuselage of described unmanned plane, trailing flank, left surface and right flank.

Unmanned plane the most according to claim 3, it is characterised in that the wave beam of described ultrasound probe Angle is 40 degree.

Unmanned plane the most according to claim 1, it is characterised in that described transmitting portion includes:

Transmitter；And,

First transducer, is connected with described transmitter.

7. according to the unmanned plane described in claim 1 or 6, it is characterised in that described receiving portion includes:

Receptor；

Second transducer, is connected with described receptor；And

Amplifier, is connected with described second transducer.

Unmanned plane the most according to claim 1 and 2, it is characterised in that described unmanned plane also includes:

The first memory that part is connected is controlled with described.

Unmanned plane the most according to claim 1 and 2, it is characterised in that described unmanned plane also includes:

The second memory that part is connected is controlled with described.