CN206057975U - A kind of fault avoidnig device and plant protection unmanned plane - Google Patents
A kind of fault avoidnig device and plant protection unmanned plane Download PDFInfo
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- CN206057975U CN206057975U CN201620943795.4U CN201620943795U CN206057975U CN 206057975 U CN206057975 U CN 206057975U CN 201620943795 U CN201620943795 U CN 201620943795U CN 206057975 U CN206057975 U CN 206057975U
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Abstract
A kind of fault avoidnig device and plant protection unmanned plane, including：Radar altitude sensor, measures to relative altitude of the unmanned plane with ground；GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed etc.；AHRS modules, gather unmanned plane during flying attitude data；Borne Millimeter Wave Collision Avoidance Radars sensor, gathers relative velocity, relative distance and azimuth of unmanned plane and barrier etc.；Ultrasonic radar sensor, for being acquired to the relative distance of barrier；Master controller, when judging that the data that each sensor is obtained exceed threshold value, control unmanned plane carries out flight of turning back, and then avoiding barrier to left and right, after hovering；The application can effectively perceive the high accuracy and accurately acquisition of the plant protection unmanned plane to its flight environment of vehicle and obstacle target of single rotor, reduce the factors such as the related data information disappearance and deficiency of single-sensor presence.
Description
Technical field
This utility model belongs to unmanned plane avoidance technical field, more particularly to a kind of fault avoidnig device and plant protection unmanned plane.
Background technology
Agricultural plant protection unmanned plane the states such as the U.S., Russia, Japan use it is very universal, technology is also highly advanced, so
And China, used as large agricultural country, 1,800,000,000 mu of basic farmlands, agricultural plant protection unmanned plane are but not yet popularized.But, the agriculture of China
Industry plant protection unmanned plane market is on the occasion of ascent stage, just because of not yet popularization is so market is fully developed talents.Chinese annual needs are a large amount of
Personnel be engaged in agriculture plant protection operation, and the annual pesticide intoxication number of China has 100,000 crowd, meanwhile, rural area person between twenty and fifty labour force
Gradually rare, human cost increasingly increases.Plant protection unmanned plane then can long-distance remote control operation, it is to avoid spraying operation personnel exposure
In the danger of pesticide, the safety of spraying operation has been ensured.
Plant protection unmanned plane, is the UAV that operation is protected for agriculture and forestry plant, and the type unmanned aerial vehicle is flat by flying
Platform, GPS fly control, three part of spraying mechanism composition, fly control by ground remote control or GPS, realize spraying operation, can spray medicine
Agent, seed, powder etc.., using efficient brushless electric machine as power, fuselage shaking is little, can carry accurate instrument for plant protection unmanned plane
Device, sprays insecticide etc. more accurate；Meanwhile, the requirement of vegetation landform is low, and operation is not limited by height above sea level；Plant protection unmanned plane takes off adjustment
Short, efficiency high, the rate of attendance are high；Plant protection unmanned plane has environmental protection, without waste gas, meets national energy-saving environmental protection and green organic agricultural is sent out
Exhibition is required.
Plant protection unmanned plane is constantly popularized, and starts to come into the life of ordinary people.But plant protection unmanned plane is not due to adopting
Protected with related anticollision, cause plant protection unmanned plane in operation process, increased many restrictions, such as operation field circumference
The room lived without personnel, unshielded woods, high voltage transmission line tower, electric pole etc. in the range of 10 meters of operation field circumference are required in the range of 10 meters
Barrier, the barrier without the barrier or impact flight sight line for affecting flight safety in the middle of operation field, plant height should be low
In the sight line of operator, operator be able to observe that aircraft flight attitude etc. require, these restriction will cause plant protection without
Man-machine use is subject to certain regional limitation, is unfavorable for comprehensive popularization of plant protection unmanned plane.
Utility model content
There is disadvantages mentioned above for prior art, this utility model provides a kind of fault avoidnig device and plant protection unmanned plane, leads to
The application of multisensor is crossed, the protective measure of anticollision is provided for fixed-wing plant protection unmanned plane, improve the application of plant protection unmanned plane
Security performance during scope and use.
This utility model provides a kind of fault avoidnig device, including：
Radar altitude sensor, measures to relative altitude of the unmanned plane with ground；
GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed etc.；
AHRS modules, gather unmanned plane during flying attitude data；
Borne Millimeter Wave Collision Avoidance Radars sensor, gathers relative velocity, relative distance and the azimuth of unmanned plane and barrier
Deng；
Ultrasonic radar sensor, for being acquired to the relative distance of barrier；
Master controller, when judging that the data that each sensor is obtained exceed threshold value, control unmanned plane to left and right, after hovering
Carry out flight of turning back, and then avoiding barrier；
The master controller is prevented with radar altitude sensor, GPS/ Big Dipper alignment sensors, AHRS modules, millimeter wave respectively
Hit radar sensor, ultrasonic radar sensor to be connected.
Preferably, the borne Millimeter Wave Collision Avoidance Radars sensor, ultrasonic radar sensor are arranged in front of unmanned plane.
Preferably, ultrasonic radar sensor carries out the range finding of 0～10 meter of scope, and borne Millimeter Wave Collision Avoidance Radars sensor is carried out
Range finding in the range of 1～50m.
Preferably, the unmanned plane during flying attitude data, including：Unmanned plane during flying course, roll and rollover information.
Preferably, AHRS modules, including the three-axis gyroscope of MEMS, accelerometer and gaussmeter, output data are three-dimensional
Acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity.
A kind of plant protection unmanned plane, including：Above-mentioned fault avoidnig device.
This utility model is due to using above technical scheme, obtaining following technique effect：The application can be effective
Perceive the plant protection unmanned plane of single rotor to the high accuracy of its flight environment of vehicle and obstacle target and accurately obtain, drop
The factors such as the related data information disappearance and deficiency of low single-sensor presence.
By the application of multisensor, provide the protective measure of anticollision for fixed-wing plant protection unmanned plane, improve plant protection without
Security performance during man-machine range of application and use.
Description of the drawings
For clearer explanation embodiment of the present utility model or the technical scheme of prior art, below will be to embodiment
Or accompanying drawing to be used needed for description of the prior art does one and simply introduces, it should be apparent that, drawings in the following description are only
Only it is some embodiments of the present utility model, for those of ordinary skill in the art, before creative work is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is fault avoidnig device structural representation；
Fig. 2 is fault avoidnig device using method flow chart.
Specific embodiment
It is to make purpose, technical scheme and the advantage of embodiment of the present utility model clearer, new with reference to this practicality
Accompanying drawing in type embodiment, carries out clearly complete description to the technical scheme in this utility model embodiment：
The application is the plant protection unmanned plane for single rotor, and single rotor plant protection unmanned plane rotor is big, flight stability, wind resistance bar
Part is good, and wind field is stable, and atomizing effect is good, and lower cyclonic wind is big, and penetration power is strong, and pesticide can get to the rhizome position of crops；Core
Center portion part is import motor, and component is aircraft aluminum, and carbon fibre material is durable, stable performance；Flight plant protection operation lasts 2
Nian Duo, more than 100,000 mu/time of continuous plant protection, without significant trouble, flight management is simple and convenient and easy to study, the flight control system of stable intelligence, stupidly
The operator scheme of melon formula can left-hand seat through simple training.
Embodiment 1
A kind of plant protection unmanned plane obstacle avoidance system of single rotor is present embodiments provided, including：
Radar altitude sensor, measures vertical dimension of the unmanned plane to ground；
GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed；
AHRS modules, collection unmanned plane during flying course, roll and rollover information；AHRS modules, including the three axle tops of MEMS
Spiral shell instrument, accelerometer and gaussmeter, output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity；
Borne Millimeter Wave Collision Avoidance Radars sensor, gathers relative velocity, relative distance and the azimuth of unmanned plane and barrier；
Borne Millimeter Wave Collision Avoidance Radars sensor carries out the range finding in the range of 1～50m；
Ultrasonic radar sensor, for realizing barrier to the close-in measurement of unmanned plane, ultrasonic radar sensor
Carry out the range finding of 0～10 meter of scope；
Master controller, by being analyzed to the data that each sensor is obtained, control unmanned plane completes avoidance action；
The master controller is prevented with radar altitude sensor, GPS/ Big Dipper alignment sensors, AHRS modules, millimeter wave respectively
Hit radar sensor, ultrasonic radar sensor to be connected.
Preferably, the borne Millimeter Wave Collision Avoidance Radars sensor, ultrasonic radar sensor are arranged in front of unmanned plane.
Embodiment 2
A kind of Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method is present embodiments provided, including：
S1. borne Millimeter Wave Collision Avoidance Radars sensor carries out the acquisition of obstacle target feature in medium and long distance environment；Due to milli
Metre wave radar operation wavelength compared with other detection modes, mainly has that detection performance is stable, ring between 1mm～10mm
Border is well-adjusted, size is little, price is low, can be the advantages of the sleety weather of rather harsh is used, and millimeter wave anticollision thunder
Operating distance up to sensor is remote, can reach 50m or farther distance, is vision sensor, infrared sensor and super
The be beyond one's reach distance of the avoidance sensor such as sound radar sensor, makes quick avoidance for unmanned plane and provides enough keeping away
Hinder the response time, and borne Millimeter Wave Collision Avoidance Radars sensor can be realized endangering in environment in front of the plant protection unmanned plane during flying of single rotor
The relative distance of the accurate acquisition of dangerous target signature information, such as obstacle target and unmanned plane, relative velocity and deflection etc.
Feature；
S2. ultrasonic sensor carries out the acquisition of closely interior barrier target characteristic：As borne Millimeter Wave Collision Avoidance Radars are passed
Sensor is certain fuzzy for closely existing, in order that unmanned plane closely has higher range accuracy, so every
One ultrasonic radar to be installed on one millimetre-wave radar side, the range finding of 0～10 meter of scope is carried out, millimetre-wave radar carries out 1～
Range finding work in the range of 50m.
S3. radar altitude sensor carries out the measurement of unmanned plane distance perpendicular to the ground；Radar altitude sensor is realized single
The measurement of the plant protection unmanned plane distance to the ground of rotor, the relative flying height being accurately controlled between unmanned plane and ground so that
Unmanned plane keeps carrying out the smooth flight of certain altitude with ground, so that unmanned plane is protected in agriculture effectively can spray pesticide etc.
It is spread across on crops.
S4.GPS/ Big Dipper alignment sensors, it is possible to achieve the measurement of unmanned plane location data, for unmanned plane anticollision, enter
The measurement of row height above sea level and the measurement of unmanned motor speed.
S5.AHRS carries out the measurement of unmanned plane navigation attitude data.AHRS is referred to as attitude heading reference system, including three based on MEMS
Axle gyroscope, accelerometer and gaussmeter, output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity, are led to
Cross these data and course, roll and rollover information can be provided for aircraft, for providing accurately and reliably attitude for aircraft
With sail information.
S6. master controller, control unmanned plane carry out flight of turning back, and then avoiding barrier to left and right, after hovering；
Embodiment 3
The present embodiment is the further supplementary notes to embodiment 2：
Specifically, it is to complete avoidance as follows in step S6：
P1, first determines whether the relative distance of unmanned plane and barrier, and relative distance is carried out the division of three parts:It is less than
Three distance ranges of 10m, 10m to 20m, 20m to 50m；
P2, after distance has been divided, carries out the division of danger classes according to the relative velocity of unmanned plane and barrier:
When distance is less than 10m, speed is more than 3m/s, then belongs to danger classes, need avoidance；
When apart from 10m≤R<20m, when speed is more than 6m/s, in danger classes, needs avoidance；
When apart from 20m≤R<During 50m, when speed is more than 16m/s, in danger classes, avoidance is needed；
P3, then carries out unmanned plane and the azimuthal judgement of barrier according to borne Millimeter Wave Collision Avoidance Radars：Barrier is at nobody
The left side, the right, or dead ahead are obtained in machine flight course.If the left side of the barrier in unmanned plane during flying, controls nobody
Machine carries out right avertence flight, avoiding barrier, if be on the right of unmanned plane in the same manner, control unmanned plane carries out left avertence flight, hides
Barrier.If dead ahead of the barrier in unmanned plane during flying, unmanned plane is needed to carry out avoidance of turning back after promptly hovering.
The application can effectively perceive unmanned plane to its flight environment of vehicle and the high accuracy and standard of obstacle target
True acquisition, reduces the factors such as the related data information disappearance and deficiency of single-sensor presence.
The above, only this utility model preferably specific embodiment, but protection domain of the present utility model is not
Be confined to this, any those familiar with the art in the technical scope that this utility model is disclosed, according to this practicality
New technical scheme and its utility model design in addition equivalent or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (6)
1. a kind of fault avoidnig device, it is characterised in that include：
Radar altitude sensor, measures to relative altitude of the unmanned plane with ground；
GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed；
AHRS modules, gather unmanned plane during flying attitude data；
Borne Millimeter Wave Collision Avoidance Radars sensor, gathers relative velocity, relative distance and the azimuth of unmanned plane and barrier；
Ultrasonic radar sensor, for being acquired to the relative distance of barrier；
Master controller, when judging that the data that each sensor is obtained exceed threshold value, control unmanned plane is carried out to left and right, after hovering
Turn back flight, and then avoiding barrier；
The master controller respectively with radar altitude sensor, GPS/ Big Dipper alignment sensors, AHRS modules, millimeter wave anticollision thunder
It is connected up to sensor, ultrasonic radar sensor.
2. a kind of fault avoidnig device according to claim 1, it is characterised in that the borne Millimeter Wave Collision Avoidance Radars sensor, ultrasound
Ripple radar sensor is arranged in front of unmanned plane.
3. a kind of fault avoidnig device according to claim 1, it is characterised in that ultrasonic radar sensor carries out 0～10 meter of model
The range finding enclosed, borne Millimeter Wave Collision Avoidance Radars sensor carry out the range finding in the range of 1～50m.
4. a kind of fault avoidnig device according to claim 1, it is characterised in that the unmanned plane during flying attitude data, including：Nothing
Man-machine flight course, roll and rollover information.
5. a kind of fault avoidnig device according to any one of claim 1-3, it is characterised in that AHRS modules, including the three of MEMS
Axle gyroscope, accelerometer and gaussmeter, output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity.
6. plant protection unmanned plane, it is characterised in that include：Above-mentioned fault avoidnig device.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873916A (en) * | 2017-05-11 | 2018-11-23 | 圣速医疗器械江苏有限公司 | A kind of flight control method of intelligent balance aircraft |
| CN109032154A (en) * | 2017-06-08 | 2018-12-18 | 徐海东 | Control system based on four axis unmanned planes |
| CN109154831A (en) * | 2017-12-18 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Flight control method, radar system and the agriculture unmanned plane of agriculture unmanned plane |
| CN109720557A (en) * | 2017-10-27 | 2019-05-07 | 极翼机器人(上海)有限公司 | A kind of unmanned vehicle and its flight control method |
| CN110308681A (en) * | 2019-06-21 | 2019-10-08 | 中国农业大学 | A kind of plant protection drone job parameter detection method and system |
| CN111722640A (en) * | 2019-03-21 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Control method and device of unmanned aerial vehicle and computer readable storage medium |
| CN111781950A (en) * | 2020-07-06 | 2020-10-16 | 杭州电子科技大学 | Safety monitoring method and system for plant protection unmanned aerial vehicle |
| WO2021081930A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Mobile platform |
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2016
- 2016-08-25 CN CN201620943795.4U patent/CN206057975U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873916A (en) * | 2017-05-11 | 2018-11-23 | 圣速医疗器械江苏有限公司 | A kind of flight control method of intelligent balance aircraft |
| CN109032154A (en) * | 2017-06-08 | 2018-12-18 | 徐海东 | Control system based on four axis unmanned planes |
| CN109720557A (en) * | 2017-10-27 | 2019-05-07 | 极翼机器人(上海)有限公司 | A kind of unmanned vehicle and its flight control method |
| CN109154831A (en) * | 2017-12-18 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Flight control method, radar system and the agriculture unmanned plane of agriculture unmanned plane |
| CN109154831B (en) * | 2017-12-18 | 2023-08-29 | 深圳市大疆创新科技有限公司 | Flight control method of agricultural unmanned aerial vehicle, radar system and agricultural unmanned aerial vehicle |
| CN111722640A (en) * | 2019-03-21 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Control method and device of unmanned aerial vehicle and computer readable storage medium |
| CN111722640B (en) * | 2019-03-21 | 2024-04-09 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle control method, unmanned aerial vehicle control device and computer readable storage medium |
| CN110308681A (en) * | 2019-06-21 | 2019-10-08 | 中国农业大学 | A kind of plant protection drone job parameter detection method and system |
| WO2021081930A1 (en) * | 2019-10-31 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Mobile platform |
| CN111781950A (en) * | 2020-07-06 | 2020-10-16 | 杭州电子科技大学 | Safety monitoring method and system for plant protection unmanned aerial vehicle |
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Effective date of registration: 20211203 Address after: 116000 room 7218, No. 9-1, Haifu Road, Dalian Free Trade Zone, Dalian pilot Free Trade Zone, Liaoning Province Patentee after: Dalian Poseidon Automotive Electronic Technology Co.,Ltd. Address before: 116023 11th floor, phase 2, take off Park, No.7 Huixian Park, Dalian hi tech park, Liaoning Province Patentee before: DALIAN ROILAND TECHNOLOGY Co.,Ltd. |
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