CN211827025U - Obstacle avoidance system for unmanned platform - Google Patents
Obstacle avoidance system for unmanned platform Download PDFInfo
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- CN211827025U CN211827025U CN202021058222.6U CN202021058222U CN211827025U CN 211827025 U CN211827025 U CN 211827025U CN 202021058222 U CN202021058222 U CN 202021058222U CN 211827025 U CN211827025 U CN 211827025U
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Abstract
The utility model discloses an obstacle system is kept away to unmanned platform obstacle, the system includes: the unmanned aerial vehicle comprises an aerial controller, an onboard computer and an obstacle avoidance radar, wherein the aerial controller, the onboard computer and the obstacle avoidance radar are carried on the unmanned platform, the obstacle avoidance radar is in communication connection with the onboard computer, and the onboard computer is in two-way communication connection with the aerial controller. The utility model has the advantages that: the sensing data of the obstacle avoidance radar is received through the airborne computer, the flight safety cannot be directly influenced by the operation condition of the airborne computer, the flight controller is only used for issuing flight control commands, and the task logic of the flight controller is simple and reliable, so that the flight reliability of the unmanned platform is guaranteed, and complex and variable tasks can be completed by using a more powerful hardware platform.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field particularly, relates to an obstacle avoidance system for unmanned platform obstacle.
Background
Traditional unmanned aerial vehicle is keeping away the barrier in-process in the realization, all receives the signal of keeping away the barrier sensor based on flight controller, and this makes and need occupy the great hardware resources of flight controller at keeping away the barrier in-process, makes flight controller's stability receive the influence.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, an object of the utility model is to provide an obstacle avoidance system for unmanned platform obstacle improves unmanned platform's stability and scalability.
The utility model provides an obstacle system is kept away to unmanned platform obstacle, the system includes:
the unmanned aerial vehicle comprises an aerial controller, an onboard computer and an obstacle avoidance radar, wherein the aerial controller, the onboard computer and the obstacle avoidance radar are carried on the unmanned platform, the obstacle avoidance radar is in communication connection with the onboard computer, and the onboard computer is in two-way communication connection with the aerial controller.
As a further improvement, the system is still including carrying on stabilize the cloud platform on the unmanned platform, keep away the barrier radar and carry on stabilize on the cloud platform.
As a further improvement, unmanned platform adopts many rotor unmanned aerial vehicle.
As a further improvement of the present invention, the obstacle avoidance radar employs a laser radar.
As a further improvement of the present invention, the obstacle avoidance radar adopts a millimeter wave radar.
As a further improvement of the present invention, the system further includes a motor mounted on the unmanned platform and connected to the flight controller.
As a further improvement of the present invention, the system further comprises a GNSS receiver mounted on the unmanned platform and communicatively connected to the flight controller.
As a further improvement of the present invention, the system further includes a data transmission radio station mounted on the unmanned platform and connected to the flight controller in a two-way communication manner.
As a further improvement of the present invention, the system further includes a power module mounted on the unmanned platform.
As a further improvement of the present invention, the system further includes a battery mounted on the unmanned platform and connected to the power module.
The utility model has the advantages that: the sensing data of the obstacle avoidance radar is received through the airborne computer, the flight safety cannot be directly influenced by the operation condition of the airborne computer, the flight controller is only used for issuing flight control commands, and the task logic of the flight controller is simple and reliable, so that the flight reliability of the unmanned platform is guaranteed, and complex and variable tasks can be completed by using a more powerful hardware platform.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive faculty.
Fig. 1 is a schematic view of an obstacle avoidance system for an unmanned platform according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, in the description of the present invention, the terms used are for illustrative purposes only and are not intended to limit the scope of the present invention. The terms "comprises" and/or "comprising" are used to specify the presence of stated elements, steps, operations, and/or components, but do not preclude the presence or addition of one or more other elements, steps, operations, and/or components. The terms "first," "second," and the like may be used to describe various elements, not necessarily order, and not necessarily limit the elements. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. These terms are only used to distinguish one element from another. These and/or other aspects will become apparent and those skilled in the art will more readily appreciate the description of the embodiments of the present invention presented in conjunction with the following drawings. The drawings are only for purposes of illustrating the described embodiments of the invention. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated in the present application may be employed without departing from the principles of the invention.
The embodiment of the utility model provides an unmanned platform obstacle avoidance system, as shown in figure 1, the system includes:
the unmanned aerial vehicle comprises an aerial controller, an onboard computer and an obstacle avoidance radar, wherein the aerial controller, the onboard computer and the obstacle avoidance radar are carried on the unmanned platform, the obstacle avoidance radar is in communication connection with the onboard computer, and the onboard computer is in two-way communication connection with the aerial controller.
Since the radar data occupies a large hardware resource, if the radar data is received by the flight controller, the stability of the flight controller is adversely affected. The sensing data of the obstacle avoidance radar is received through the airborne computer, the flight safety cannot be directly influenced by the operation condition of the airborne computer, the flight controller is only used for issuing flight control commands, and the task logic of the flight controller is simple and reliable, so that the flight reliability of the unmanned platform is guaranteed, and complex and variable tasks can be completed by using a more powerful hardware platform.
In an alternative embodiment, the drone platform employs a multi-rotor drone.
In an optional implementation manner, the system further includes a stabilizing pan head mounted on the unmanned platform, and the obstacle avoidance radar is mounted on the stabilizing pan head. The stable holder can enable the view field of the obstacle avoidance radar in the pitching direction to be less than or equal to 5 degrees.
The real-time change of posture of organism when unmanned aerial vehicle flies, need maintain stable flying speed (for example 5 ~ 10m/s) when flying forward, need keep the angle of pitch (low head) about 10 degrees, and unmanned aerial vehicle can reduce the angle of pitch when hovering and braking and even can become the new line state, and the angle of pitch change range can reach 20 ~ 30 degrees. However, the view field of the elevation direction of the obstacle avoidance radar is generally less than or equal to 5 degrees, which is to avoid mistakenly identifying the ground as an obstacle avoidance object when the obstacle is avoided. Through stabilizing the cloud platform, will keep away the barrier radar and carry on stabilizing the cloud platform, avoiding the aircraft to survey the ground mistake and be the barrier or lose barrier information, guarantee to keep away the barrier radar and forward directional the same with unmanned aerial vehicle, and the every single move direction who keeps away barrier radar self simultaneously is stable, guarantees to keep away the barrier radar and possesses stable detection precision to the barrier target.
In an optional embodiment, the obstacle avoidance radar is a laser radar.
In an optional implementation manner, the obstacle avoidance radar is a millimeter wave radar.
In the implementation of obstacle avoidance, the unmanned platform has high position precision and good controllability, and needs to have high-precision obstacle detection capability and high-efficiency flight avoidance capability. The obstacle avoidance radar may be, for example, an ultrasonic radar, an infrared radar, a laser radar, a millimeter wave radar, or a visual image sensor. Preferably, a laser radar or a millimeter wave radar is adopted, the device has a long detection distance, a plurality of targets can be detected simultaneously, and the obstacle-free interval is judged according to the distribution condition of detected obstacles, so that the unmanned plane can fly around according to the information of the obstacles.
In an alternative embodiment, the system further comprises: and a motor mounted on the unmanned platform and connected to the flight controller. And the motor receives the control instruction sent by the flight controller, and carries out flight control on the unmanned platform so as to enable the unmanned platform to fly according to the planned path.
In an alternative embodiment, the system further comprises: and the GNSS receiver is carried on the unmanned platform and is in communication connection with the flight controller. And providing navigation data for path planning for the unmanned platform through the GNSS receiver.
In an alternative embodiment, the system further comprises: and the data transmission radio station is carried on the unmanned platform and is in bidirectional communication connection with the flight controller. And providing a wireless transmission signal through a data transmission radio station so as to enable the flight controller to communicate with a ground control system.
In an alternative embodiment, the system further comprises: and the power supply module is carried on the unmanned platform. And supplying power to the flight controller through the power supply module.
In an alternative embodiment, the system further comprises: and the battery is carried on the unmanned platform and is connected with the power supply module. And supplying power to the power supply module through the battery.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those of ordinary skill in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It will be understood by those skilled in the art that while the invention has been described with reference to exemplary embodiments, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An unmanned platform obstacle avoidance system, the system comprising:
the unmanned aerial vehicle comprises an aerial controller, an onboard computer and an obstacle avoidance radar, wherein the aerial controller, the onboard computer and the obstacle avoidance radar are carried on the unmanned platform, the obstacle avoidance radar is in communication connection with the onboard computer, and the onboard computer is in two-way communication connection with the aerial controller.
2. The system of claim 1, further comprising a stabilizing pan head mounted on the unmanned platform, the obstacle avoidance radar being mounted on the stabilizing pan head.
3. The system of claim 1, wherein the drone platform employs a multi-rotor drone.
4. The system of claim 1, wherein the obstacle avoidance radar is a lidar.
5. The system of claim 1, wherein the obstacle avoidance radar is a millimeter wave radar.
6. The system of claim 1, further comprising a motor mounted on the unmanned platform and connected to the flight controller.
7. The system of claim 1, further comprising a GNSS receiver mounted on the unmanned platform and communicatively connected to the flight controller.
8. The system of claim 1, further comprising a data transfer station mounted on the unmanned platform and in bidirectional communication with the flight controller.
9. The system of claim 1, further comprising a power module mounted on the unmanned platform.
10. The system of claim 9, further comprising a battery mounted on the unmanned platform and connected to the power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021058222.6U CN211827025U (en) | 2020-06-10 | 2020-06-10 | Obstacle avoidance system for unmanned platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021058222.6U CN211827025U (en) | 2020-06-10 | 2020-06-10 | Obstacle avoidance system for unmanned platform |
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| CN211827025U true CN211827025U (en) | 2020-10-30 |
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| CN202021058222.6U Active CN211827025U (en) | 2020-06-10 | 2020-06-10 | Obstacle avoidance system for unmanned platform |
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