CN206147345U - Barrier system is kept away to real -time range finding of many rotor unmanned aerial vehicle and vision - Google Patents
Barrier system is kept away to real -time range finding of many rotor unmanned aerial vehicle and vision Download PDFInfo
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- CN206147345U CN206147345U CN201621129232.8U CN201621129232U CN206147345U CN 206147345 U CN206147345 U CN 206147345U CN 201621129232 U CN201621129232 U CN 201621129232U CN 206147345 U CN206147345 U CN 206147345U
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Abstract
The utility model provides a barrier system is kept away to real -time range finding of many rotor unmanned aerial vehicle and vision, this system comprises unmanned aerial vehicle organism, base and depth of field image acquisition device, depth of field image acquisition device pass through the base and be connected with the unmanned aerial vehicle organism, still be provided with airborne terminal in the base, depth of field image acquisition device be regular triangle in three group's image acquisition devices and be formed by connecting, adopt many rotor unmanned aerial vehicle of this kind of structure, can carry out real -time detection at low latitude flight environment, the accuracy recognises the barrier around the unmanned aerial vehicle to obtain unmanned aerial vehicle to the distance and the barrier size information of barrier, provide decision support for the unmanned aerial vehicle automatic obstacle avoiding system. Depth of field image data real time transport between depth of field image acquisition device and the airborne terminal has reduced the delay that long distance transmission caused, makes the system response of many rotor unmanned aerial vehicle automatic obstacle avoiding rapider.
Description
Technical field
The utility model is related to unmanned plane field, and in particular to a kind of multi-rotor unmanned aerial vehicle real time distance and vision avoidance system
System.
Background technology
With the development of microelectric technique and sensor technology, the growth momentum of unmanned plane is swift and violent.Make in complicated low latitude
Under industry environment, unmanned plane is frequently encountered the threat of burst or obstacle in flight course, when unmanned plane and operator's distance
When too remote, the mode that operating unmanned plane only by operator carries out avoidance is undesirable, it is therefore desirable to which unmanned plane possesses
The function of real time distance and avoidance.
In order to realize unmanned plane this function, it is necessary to select suitable sensor to detect the operation ring around unmanned plane
Border.There are ultrasonic sensor, laser and vision camera etc. using more sensor at present.Vision camera low cost, weight compared with
Gently, and imaging and passive imaging, the bulk information around in unmanned plane during flying environment can be included.Therefore vision camera is used as biography
Sensor obtains information and has clear advantage.Although computer vision is quite ripe through the development of decades, nobody
Used as a brand-new application platform, have more practical problem has to be solved to machine, such as due to the figure that flight vibrations cause
As fuzzy, because flying speed comparatively fast needs visual processes to have stronger real-time.How low-latitude flying is accurately and real-time detected
Barrier in environment becomes the study hotspot and difficult point in unmanned plane avoidance field.
The content of the invention
For many weak points that prior art is present, the utility model is surveyed in real time there is provided a kind of multi-rotor unmanned aerial vehicle
Away from vision obstacle avoidance system, the system is made up of unmanned plane body, pedestal and depth image harvester, described depth image
Harvester is connected by pedestal with unmanned plane body, and Airborne Terminal is additionally provided with the pedestal, and described depth image is adopted
Acquisition means are formed by connecting by three groups of image collecting devices in equilateral triangle, using the multi-rotor unmanned aerial vehicle of this structure, can be low
Empty flight environment of vehicle carries out detecting real-time, is recognized accurately the barrier around unmanned plane, and obtain unmanned plane to barrier away from
From with barrier dimension information, provide decision support for unmanned plane automatic obstacle avoiding system.Depth image harvester and airborne end
Depth of field image data real-time Transmission between end, reduces the delay that long-distance transmissions are caused, and makes multi-rotor unmanned aerial vehicle automatic obstacle avoiding
System response is rapider.
The concrete technical scheme that the utility model is adopted is：
A kind of multi-rotor unmanned aerial vehicle real time distance and vision obstacle avoidance system, the system is by unmanned plane body, pedestal and the depth of field
Image collecting device is constituted, and described depth image harvester is connected by pedestal with unmanned plane body, in the pedestal also
Airborne Terminal is provided with, described depth image harvester is formed by connecting by three groups of image collecting devices in equilateral triangle, and
Middle setting has the connecting hole coordinated with pedestal；
The infrared laser projector, infrared receiver camera and image procossing are provided with wherein described image collecting device
Device；The above-mentioned infrared laser projector, infrared receiver camera and image processor are horizontally set on from left to right harvester face
On plate, three groups of image collecting devices are fixed into into equilateral triangle installed in the underface of unmanned plane in the utility model, are formed
360 °, without dead angle depth image harvester, are realized comprehensive detecting.
The infrared laser projector is by infrared laser maker, diffractive-optical element (DOE) and filter set into optics
Diffraction element (DOE) and optical filter are placed sequentially in the front of infrared laser maker, and infrared laser maker projects collimation
Laser beam afterwards, Jing after diffractive-optical element (DOE) is scattered and is filtered with optical filter, projects covering infrared receiver camera
The IR of visual range, reflects when IR runs into the various barriers in environment；
The infrared receiver camera is used to receive the refraction IR that the infrared laser projector is projected on object,
The infrared coding image for receiving passes to image processor.
Described image processor is used to process infrared coding image, accurate depth of field image is then generated frame by frame, in real time
Depth of field image data is transmitted out to Airborne Terminal.
The Airborne Terminal is arranged in pedestal, real-time processing analysis can be carried out to depth of field image, in identifying image
Barrier, three-dimensional reconstruction is carried out to barrier according to 3D structured light techniques, calculate multi-rotor unmanned aerial vehicle flight to barrier
Distance and barrier dimension information, and built-in automatic obstacle avoiding system and the control of multi-rotor unmanned aerial vehicle are transferred to by above- mentioned information
Device processed, realizes the automatic obstacle avoiding of unmanned plane.
Above-mentioned data transfer is using data wire connection transmission；And each equipment is on market directly buying and obtains；
The multi-rotor unmanned aerial vehicle body built-in power module, typically adopts Large Copacity chargeable lithium cell group, for giving
A whole set of UAS is powered.
In sum, using the multi-rotor unmanned aerial vehicle of this structure, detecting real-time can be carried out in low-latitude flying environment, accurately
The barrier around unmanned plane is identified, and obtains unmanned plane to the distance and barrier dimension information of barrier, be unmanned plane
Automatic obstacle avoiding system provides decision support.Depth of field image data real-time Transmission between depth image harvester and Airborne Terminal,
The delay that long-distance transmissions are caused is reduced, makes multi-rotor unmanned aerial vehicle automatic obstacle avoiding system response rapider.
Description of the drawings
Fig. 1 is the structural representation of multi-rotor unmanned aerial vehicle real time distance described in the utility model and vision obstacle avoidance system；
Fig. 2 is the structural representation of the depth image harvester；
Fig. 3 is the structural representation of described image harvester；
1 is unmanned plane body in figure, and 2 is pedestal, and 3 is depth image harvester, and 4 is connecting hole, and 5 is image collector
Put, 6 is optical filter, and 7 is diffractive-optical element, and 8 is infrared laser maker, and 9 is the infrared laser projector, and 10 is infrared receiver
Camera, 11 is image processor.
Specific embodiment
A kind of multi-rotor unmanned aerial vehicle real time distance and vision obstacle avoidance system, the system is by unmanned plane body 1, pedestal 2 and scape
Deep image collecting device 3 is constituted, and described depth image harvester 3 is connected by pedestal 2 with unmanned plane body 1, the base
Airborne Terminal is additionally provided with seat 2, described depth image harvester 3 is connected by three groups of image collecting devices 5 in equilateral triangle
Connect and form, and middle setting has the connecting hole 4 coordinated with pedestal 2；
The infrared laser projector 9, infrared receiver camera 10 and image are provided with wherein described image collecting device 5
Processor 11；The above-mentioned infrared laser projector 9, infrared receiver camera 10 and image processor 11 are horizontally set on from left to right
On image collecting device panel, three groups of image collecting devices are fixed into into equilateral triangle installed in unmanned plane in the utility model
Underface, forms 360 ° without dead angle depth image harvester, realizes comprehensive detecting.
The infrared laser projector 9 is made up of infrared laser maker 8, diffractive-optical element (DOE) 7 and optical filter 6,
Diffractive-optical element 7 and optical filter 6 are placed sequentially in the front of infrared laser maker 8, and infrared laser maker projects accurate
Laser beam after straight, Jing after diffractive-optical element (DOE) is scattered and is filtered with optical filter, projects covering infrared receiver shooting
The IR of head visual range, reflects when IR runs into the various barriers in environment；
The infrared receiver camera 10 is used to receive the refraction IR that the infrared laser projector is projected on object,
The infrared coding image for receiving is passed to image processor.
Described image processor 11 is used to process infrared coding image, accurate depth of field image is then generated frame by frame, in real time
Depth of field image data is transferred to into Airborne Terminal.
The Airborne Terminal is arranged in pedestal, real-time processing analysis can be carried out to depth of field image, in identifying image
Barrier, three-dimensional reconstruction is carried out to barrier according to 3D structured light techniques, calculate multi-rotor unmanned aerial vehicle flight to barrier
Distance and barrier dimension information, and built-in automatic obstacle avoiding system and the control of multi-rotor unmanned aerial vehicle are conducted to by above- mentioned information
Device processed, realizes the automatic obstacle avoiding of unmanned plane.
Above-mentioned data transfer is using data wire connection transmission；And each equipment is on market directly buying and obtains；
The multi-rotor unmanned aerial vehicle built-in power module, typically adopts Large Copacity chargeable lithium cell group, for the whole series
UAS is powered.
Claims (3)
1. a kind of multi-rotor unmanned aerial vehicle real time distance and vision obstacle avoidance system, it is characterised in that：The system is by unmanned plane body
(1), pedestal (2) and depth image harvester (3) are constituted, and described depth image harvester (3) is by pedestal (2) and nothing
Man-machine body (1) connection, in the pedestal (2) Airborne Terminal is additionally provided with, and described depth image harvester (3) is by three groups
Image collecting device (5) is formed by connecting in equilateral triangle, and middle setting has the connecting hole (4) coordinated with pedestal (2)；
The infrared laser projector (9), infrared receiver camera (10) and figure are provided with wherein described image collecting device (5)
As processor (11)；The above-mentioned infrared laser projector (9), infrared receiver camera (10) and image processor (11) are from left to right
It is horizontally set on image collecting device (5) panel.
2. multi-rotor unmanned aerial vehicle real time distance according to claim 1 and vision obstacle avoidance system, it is characterised in that：It is described red
Outer laser projecting apparatus (9) is made up of infrared laser maker (8), diffractive-optical element (7) and optical filter (6), optical diffraction unit
Part (7) and optical filter (6) are placed sequentially in the front of infrared laser maker (8).
3. multi-rotor unmanned aerial vehicle real time distance according to claim 1 and vision obstacle avoidance system, it is characterised in that：The nothing
Man-machine body (1) built-in power module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621129232.8U CN206147345U (en) | 2016-10-18 | 2016-10-18 | Barrier system is kept away to real -time range finding of many rotor unmanned aerial vehicle and vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621129232.8U CN206147345U (en) | 2016-10-18 | 2016-10-18 | Barrier system is kept away to real -time range finding of many rotor unmanned aerial vehicle and vision |
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| CN206147345U true CN206147345U (en) | 2017-05-03 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108318706A (en) * | 2017-12-29 | 2018-07-24 | 维沃移动通信有限公司 | The speed-measuring method and device of mobile object |
| CN108445905A (en) * | 2018-03-30 | 2018-08-24 | 合肥赛为智能有限公司 | A kind of UAV Intelligent avoidance regulator control system |
| CN108802563A (en) * | 2018-04-10 | 2018-11-13 | 南京南瑞继保电气有限公司 | A kind of both-end travelling wave ranging method not depending on clock synchronization |
| CN110663246A (en) * | 2017-05-24 | 2020-01-07 | 深圳市大疆创新科技有限公司 | Method and system for processing images |
| WO2020019345A1 (en) * | 2018-07-27 | 2020-01-30 | 合刃科技（深圳）有限公司 | Coherent light-based obstacle avoidance device and method |
-
2016
- 2016-10-18 CN CN201621129232.8U patent/CN206147345U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110663246A (en) * | 2017-05-24 | 2020-01-07 | 深圳市大疆创新科技有限公司 | Method and system for processing images |
| CN110663246B (en) * | 2017-05-24 | 2021-08-06 | 深圳市大疆创新科技有限公司 | Method and system for processing images |
| CN108318706A (en) * | 2017-12-29 | 2018-07-24 | 维沃移动通信有限公司 | The speed-measuring method and device of mobile object |
| CN108445905A (en) * | 2018-03-30 | 2018-08-24 | 合肥赛为智能有限公司 | A kind of UAV Intelligent avoidance regulator control system |
| CN108802563A (en) * | 2018-04-10 | 2018-11-13 | 南京南瑞继保电气有限公司 | A kind of both-end travelling wave ranging method not depending on clock synchronization |
| WO2020019345A1 (en) * | 2018-07-27 | 2020-01-30 | 合刃科技（深圳）有限公司 | Coherent light-based obstacle avoidance device and method |
| CN111213069A (en) * | 2018-07-27 | 2020-05-29 | 合刃科技（深圳）有限公司 | Obstacle avoidance device and method based on coherent light |
| CN111213069B (en) * | 2018-07-27 | 2023-09-12 | 合刃科技（深圳）有限公司 | Obstacle avoidance device and method based on coherent light |
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| GR01 | Patent grant | ||
| 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: 20170503 Termination date: 20171018 |