CN220948564U

CN220948564U - Movable platform and sensing system

Info

Publication number: CN220948564U
Application number: CN202321932339.6U
Authority: CN
Inventors: 金聪; 吴琼伟; 黄兴鸿; 刘冲; 张超
Original assignee: Shenzhen Shanzhi Technology Co Ltd
Current assignee: Shenzhen Shanzhi Technology Co Ltd
Priority date: 2023-07-20
Filing date: 2023-07-20
Publication date: 2024-05-14
Anticipated expiration: 2033-07-20

Abstract

The utility model provides a movable platform and a perception system, wherein the movable platform comprises a main body and four visual sensors; the four visual sensors are arranged on the main body, any two adjacent visual sensors form a binocular system, and the four visual sensors are used for collecting environment images in five directions of the surrounding environment of the main body; the optical axis of each vision sensor is inclined towards the same side relative to the first preset plane. According to the movable platform and the sensing system, the obstacle in the five directions of the main body can be effectively sensed through the four visual sensors, so that the movable platform can effectively avoid the obstacle in the five directions, and the safety of the movable platform in the operation process is improved.

Description

Movable platform and sensing system

Technical Field

The present utility model relates to the field of mobile platforms, and in particular, to a mobile platform and a sensing system.

Background

The movable platform of the aircraft and the like is widely applied to the fields of shooting, mapping, disaster relief, agriculture and the like. When the movable platform works, the movable platform may encounter an obstacle, if the movable platform does not avoid the obstacle, the movable platform is easy to damage due to collision with the obstacle, and the safety of the movable platform in the work is difficult to guarantee. Therefore, it is necessary to design an obstacle avoidance scheme to improve the safety of the movable platform during operation.

Disclosure of utility model

The utility model provides a movable platform and a sensing system, which aim to improve the safety of the movable platform in the operation process.

An embodiment of the present utility model provides a movable platform, including:

A main body;

The four visual sensors are arranged on the main body, any two adjacent visual sensors form a binocular system, and the four visual sensors are used for collecting environment images in five directions of the surrounding environment of the main body; the optical axis of each vision sensor is inclined towards the same side relative to the first preset plane.

Another embodiment of the present utility model also provides a perception system for a movable platform, the perception system configured to be mounted to or attached to a body of the movable platform, the perception system comprising:

four visual sensors, wherein any two adjacent visual sensors form a binocular system, and the four visual sensors are used for collecting environment images in five directions of the surrounding environment of the main body; the optical axis of each vision sensor is inclined towards the same side relative to the first preset plane.

A further embodiment of the present utility model provides a movable platform comprising:

A main body;

The at least two visual sensors are arranged on the main body, two adjacent visual sensors in the at least two visual sensors form a binocular system, and the two adjacent visual sensors are used for acquiring environment images in sensing ranges of three directions of the surrounding environment of the main body; the optical axis of each vision sensor inclines towards the same side relative to a first preset plane;

wherein the three directions of the surrounding environment of the main body include at least one of an upper side and a lower side of the main body, and a range of at least 180 ° sideways of the main body.

Yet another embodiment of the present utility model provides a perception system for a movable platform, the perception system configured to be mounted to or attached to a body of the movable platform, the perception system comprising:

The at least two visual sensors are arranged on the main body, two adjacent visual sensors in the at least two visual sensors form a binocular system, and the two adjacent visual sensors are used for collecting environment images in sensing ranges of three directions of the surrounding environment of the main body; the optical axis of each vision sensor inclines towards the same side relative to a first preset plane;

According to the movable platform and the sensing system provided by the embodiment of the utility model, as the movable platform comprises the four visual sensors, any two adjacent visual sensors form a binocular system, and the four visual sensors are used for collecting the environment images of the surrounding environment of the main body in five directions, so that the obstacles in the five directions of the main body are effectively sensed, the movable platform 100 can effectively avoid the obstacles in the five directions, and the safety of the movable platform in the operation process is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the utility model.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a movable platform according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a movable platform according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a movable platform according to an embodiment of the present utility model;

FIG. 4 is a schematic diagram of a movable platform according to an embodiment of the present utility model;

FIG. 5 is a schematic diagram of a movable platform according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of a movable platform according to an embodiment of the present utility model;

Fig. 7 is a schematic diagram of a movable platform according to an embodiment of the present utility model.

Reference numerals illustrate:

100. A movable platform;

10. a main body; 11. a body; 111. an upper cover; 112. a lower cover; 12. a horn assembly; 121. a horn; 122. a power device; 1221. a power motor; 1222. a propeller;

20. A visual sensor; 21. a first vision sensor; 22. a second vision sensor;

30. A sensing module.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

It is also to be understood that the terminology used in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

The movable platform of the aircraft and the like is widely applied to the fields of shooting, mapping, disaster relief, agriculture and the like. When the movable platform works, the movable platform may encounter an obstacle, if the movable platform does not avoid the obstacle, the movable platform is easy to damage due to collision with the obstacle, and the safety of the movable platform in the work is difficult to guarantee.

The application of machine vision techniques on a mobile platform significantly enhances the security of the mobile platform. In the related art, in order to realize omnidirectional environmental perception, a perception system of a movable platform usually realizes obstacle avoidance in front, back, left and right directions through two groups of binocular vision modules, and then realizes visual obstacle avoidance in upper and lower directions through a group of wide-angle lens modules and a group of binocular vision modules respectively. In the sensing system, a total of 8 vision sensors of three groups of binocular vision modules and one group of wide-angle lens modules are required to realize vision obstacle avoidance in six directions (namely, an omnidirectional obstacle avoidance function); the vision sensor needs to be arranged in a large number, has a complex structure and causes great burden on the aspects of system operation capability, cost, weight, space volume of the whole machine and the like.

Therefore, the embodiment of the utility model provides a movable platform and a sensing system so as to improve the safety of the movable platform in the operation process.

Some embodiments of the present utility model are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, the present utility model provides a movable platform 100, which includes a main body 10 and four vision sensors 20. Four vision sensors 20 are arranged on the main body 10, any two adjacent vision sensors 20 form a binocular system, the four vision sensors 20 are used for collecting environment images in five directions of the surrounding environment of the main body 10, and the optical axes of the vision sensors 20 are inclined towards the same side relative to a first preset plane.

In the movable platform 100 of the above embodiment, since the movable platform 100 includes four visual sensors 20, and any two adjacent visual sensors 20 form a binocular system, the four visual sensors 20 are used for collecting environmental images in five directions of the surrounding environment of the main body 10, so that the obstacle in the five directions of the main body 10 is effectively perceived, the movable platform 100 can effectively avoid the obstacle in the five directions, the safety and the operation accuracy in the operation process of the movable platform 100 are improved, and a guarantee is provided for the movable platform 100 to safely, reliably and accurately operate. In addition, since the four vision sensors 20 are used for collecting the environment images in five directions of the surrounding environment of the main body 10, the environment in five directions of the main body 10 is effectively perceived, so that the multi-directional sensing and obstacle avoidance can be realized through a small number of vision sensors 20, the system operation mode is simplified, the occupation of hardware resources and the whole machine space is reduced, meanwhile, the weight of the whole machine is reduced, the cost and the complexity of the movable platform 100 are reduced, and the structure of the movable platform 100 is simplified.

On the other hand, since the optical axes of the vision sensors 20 are inclined toward the same side with respect to the first preset plane, the sensing directions of the four vision sensors can all be inclined toward the same side of the plane, so that the sensing range of the fifth direction (common direction) is enlarged, the visual field blind area of the fifth direction is reduced, and the four vision sensors 20 can realize the sensing function of the fourth direction and also can consider the sensing function of the fifth direction without additionally arranging the vision sensors 20 in the fifth direction. In addition, since the optical axes of the vision sensors 20 are inclined towards the same side relative to the first preset plane, the assembly of the vision sensors 20 and the main body 10 is simple, convenient and easy, the problem that the assembly difficulty of the movable platform 100 is increased due to the inclination of the optical axes of the at least two vision sensors 20 towards different sides relative to the first preset plane is avoided, and the improvement of the assembly efficiency is facilitated.

As can be appreciated, the two vision sensors 20 of each binocular system can simultaneously acquire environmental images of the surrounding environment of the movable platform 100, and the relative distance between the targets such as obstacles and the vision sensors 20 can be determined by the principle of triangulation, so as to realize the perception of the targets; each monocular vision sensor in the binocular system is also capable of determining the distance to the target by means of multi-frame image recognition, without limitation.

Illustratively, the mobile platform 100 may include at least one of: aircraft, robots, vehicles, boats, etc. The aircraft may include a rotorcraft, a fixed-wing aircraft, a helicopter, or a fixed-wing-rotor hybrid aircraft, among others. Wherein, the rotor craft includes many rotor craft. The multi-rotor unmanned aerial vehicle comprises a two-rotor unmanned aerial vehicle, a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, a ten-rotor unmanned aerial vehicle or a twelve-rotor unmanned aerial vehicle and the like. In the following, the movable platform 100 is taken as an example of an aircraft, and it should be noted that this is not a limitation on the scope of the present utility model, and any embodiment applying the principles of the embodiments of the present utility model will fall within the scope of the present utility model.

It will be appreciated that the aircraft may include unmanned aircraft or the like. The aircraft can be applied to various fields of shooting, mapping, disaster relief, agriculture, personal consumption and the like. Safety problems of the aircraft are particularly important, and the aircraft can encounter obstacles in the flight direction during flight operation, and if the obstacles are not avoided, the aircraft can be damaged due to collision with the obstacles. Therefore, in the aircraft of this embodiment, by providing four visual sensors 20, two visual sensors 20 arbitrarily adjacent to each other in the four visual sensors 20 form a binocular system, and the four visual sensors 20 are used for collecting environmental images in five directions of the surrounding environment of the main body 10, so that the five-direction obstacles of the aircraft are effectively perceived, the aircraft can effectively avoid the obstacles in the five directions, and the safety and the operation accuracy in the operation process of the aircraft are improved.

Referring to fig. 1, in some embodiments, a body 10 of a mobile platform 100 includes a fuselage 11 and a horn assembly 12. For example, the four vision sensors 20 may be all disposed on the machine body 11, so that when the vision sensors 20 are disposed on the arm 121, the arm 121 vibrates to cause the relative pose between the different vision sensors 20 to change, so that the sensing accuracy is reduced; meanwhile, the four visual sensors 20 can be reduced or avoided from interfering with the folding of at least part of the horn assembly 12 as much as possible, so that the folding of at least part of the horn assembly 12 is facilitated, the storage portability of the movable platform 100 is improved, and the volume of the movable platform 100 after storage is reduced. In other embodiments, four vision sensors 20 may also be provided on the horn assembly 12 to increase the baseline length of the binocular system, thereby increasing the sensed distance; or one part of the four visual sensors 20 is arranged on the machine body 11, and the other part is arranged on the horn assembly 12.

Referring to fig. 1, the horn assembly 12 includes a horn 121 and a power device 122, the horn 121 is connected to the fuselage 11, the power device 122 is disposed at an end of the horn 121 away from the fuselage 11, and the power device 122 is used to provide working power or flight power for the movable platform 100.

Referring to FIG. 1, power plant 122 illustratively includes a power motor 1221 and a propeller 1222, with power motor 1221 coupled to horn 121. The power motor 1221 is drivingly connected to the propeller 1222 to drive the rotation of the propeller 1222 to provide operational or flight power to the movable platform 100. For example, at least one of the four vision sensors 20 may be provided to a fixed portion of the power motor 1221 or the horn 121.

In some embodiments, the roll axis (roll axis), pitch axis (Pitch axis), and heading axis (Yaw axis) of the mobile platform 100 are defined in the body coordinate system. Referring to fig. 1, in a machine body coordinate system, defining a Z axis as a machine body up-down direction, pointing from bottom to top; the X axis is the front-back direction of the machine body and points forwards from the back; the Y axis is the left-right direction of the machine body, and the specific direction is obtained according to the XZ plane. Referring to fig. 1, illustratively, the roll, pitch and heading axes are the X, Y and Z axes, respectively, in the machine body coordinate system.

In some embodiments, the first predetermined plane is perpendicular to the heading axis of the movable platform 100.

In some embodiments, the first predetermined plane is a plane formed by a pitch axis and a yaw axis of the movable platform 100.

Referring to fig. 1, in some embodiments, the movable platform 100 includes an aircraft, and the first predetermined plane is parallel to a paddle plane of the aircraft. Illustratively, the aircraft includes a single rotor aircraft, and the plane of the aircraft may be a plane passing through the midpoint of the propeller 1222 and perpendicular to the axis of rotation of the propeller 1222. Since the plane of the propeller is generally substantially parallel to the horizontal plane in the windless hovering state of the aircraft, the 4 vision sensors 20 of the aircraft are all disposed toward the same side of the plane of the propeller, so that the perception of the tilting direction can be further realized while the perception of the looking-around direction of the aircraft in the flying state can be realized through the 4 vision sensors 20.

Referring to fig. 5, in some embodiments, the first predetermined plane is shown as ω in fig. 5 and the plane of the propeller of the aircraft is shown as η in fig. 5. The optical center of the vision sensor 20 is M, the optical axis of the vision sensor 20 is h, and the inclination angle of the optical axis h of the vision sensor 20 with respect to the first preset plane ω is epsilon. Illustratively, the inclination angle ε may be α or β according to any of the following embodiments.

Illustratively, the aircraft includes a multi-rotor aircraft, and the plane of the aircraft may be a plane formed by a line connecting the centers of the plurality of propellers 1222. In some embodiments, the plane of the propeller of the aircraft is perpendicular to the normal plane of the heading axis of the aircraft. In other embodiments, the plane of the propeller of the aircraft may also be non-orthogonal to the normal plane of the heading axis of the aircraft.

In some embodiments, the movable platform 100 comprises an aircraft, and the first preset plane may be parallel to the horizontal plane in the event that the aircraft is windless hovering.

In some embodiments, when the movable platform 100 is placed on a horizontal plane, the first preset plane may be parallel to the horizontal plane, and the optical axis of each vision sensor 20 is inclined toward the same side with respect to the horizontal plane.

Illustratively, the optical center of at least one vision sensor 20 of the four vision sensors 20 is located in a first preset plane.

In some embodiments, the angle of inclination of the vision sensor 20 may also be associated with a maximum angle of inclination of the aircraft; the maximum angle of inclination of the aircraft, i.e. the maximum angle of inclination of the plane of the paddles with respect to the horizontal during flight of the aircraft. For example, in the case of the aircraft being at the maximum inclination angle in the flight state, the optical axes of the vision sensors 20 may still be inclined toward the same side of the horizontal plane, so that it may be ensured that during the running of the aircraft, when the pitch angle is generated between the paddle plane and the horizontal plane, any vision sensor 20 may realize the perception of directly above or directly below the aircraft.

Referring to fig. 1 and 2, in some embodiments, the optical axis of each vision sensor 20 is non-orthogonal simultaneously with respect to at least two of the heading, pitch, and yaw axes of the movable platform 100. It will be appreciated that the dashed line in fig. 1 represents the optical axis of the vision sensor 20. Illustratively, the optical axis of each vision sensor 20 is non-orthogonal simultaneously with respect to two of the heading, pitch, and yaw axes of the movable platform 100. For example, the optical axis of each vision sensor 20 is simultaneously non-orthogonal with respect to the yaw and pitch axes of the movable platform 100. As another example, the optical axis of each vision sensor 20 is non-orthogonal simultaneously with respect to both the heading axis and the yaw axis of the movable platform 100. For another example, the optical axis of each vision sensor 20 is non-orthogonal simultaneously with respect to two of the pitch and yaw axes of the movable platform 100. Illustratively, the optical axis of each vision sensor 20 is simultaneously non-orthogonal with respect to the heading, pitch, and roll axes of the movable platform 100.

It will be appreciated that four vision sensors 20 may be used to capture images of the environment in any five of the front, rear, left, right, up, down six directions of the subject 10. For example, the four vision sensors 20 are used for collecting the environmental images of the main body 10 in the front, rear, left, right and upper five directions, so that the obstacles in the front, rear, left, right and upper five directions are effectively perceived to perform precise obstacle avoidance, and the safety and the operation accuracy in the operation process of the movable platform 100 are improved; and can reduce or avoid the main body 10 or the main body 11 from blocking the perceived view of the four vision sensors 20 in the front, rear, left, right, and upper five directions as much as possible.

Referring to fig. 2, in some embodiments, the four visual sensors 20 are inclined upward relative to the first preset plane to increase the sensing range, especially the sensing range of the upper direction, so that the four visual sensors 20 can realize the sensing functions of the front, rear, left and right directions, and also can consider the sensing function of the upper direction, thereby improving the sensing capability and obstacle avoidance capability of the movable platform 100; the number of the vision sensors 20 is reduced, the system operation capability is simplified, the occupied space and weight of the whole machine are reduced, and the cost and complexity of the movable platform 100 are reduced. In other embodiments, the four visual sensors 20 may also be inclined downward relative to the first predetermined plane.

It can be appreciated that, for different situations that the horn assembly 12 is distributed above and below the fuselage 11, the inclination directions and/or inclination angles of the four vision sensors 20 are different, and specifically, the inclination directions and/or inclination angles can be set according to practical situations, so as to reduce or avoid the horn assembly 12 from shielding the perception field of the vision sensors 20, increase the perception range of the four vision sensors 20, and improve the overall perception capability and obstacle avoidance capability of the movable platform 100.

Referring to fig. 1, in some embodiments, two visual sensors 20 are disposed on one side of the main body 10, and two other visual sensors 20 are disposed on the other opposite side of the main body 10, so that four visual sensors 20 are used for collecting environmental images in five directions of the surrounding environment of the main body 10, thereby effectively sensing obstacles in five directions of the main body 10, so that the movable platform 100 can effectively avoid the obstacle in the five directions, and safety in the operation process of the aircraft is ensured.

Referring to fig. 3, two of the vision sensors 20 are illustratively disposed at a distance from the front side of the main body 10. Referring to fig. 4, two other visual sensors 20 are spaced apart from the rear side of the main body 10.

Illustratively, two of the visual sensors 20 are spaced apart on the left side of the main body 10, and the other two visual sensors 20 are spaced apart on the right side of the main body 10.

Referring to fig. 1, in some embodiments, four vision sensors 20 are respectively disposed at four opposite angles of the main body 10, so as to reduce or avoid the shielding of the sensing vision of the vision sensors 20 by the horn assembly 12, reduce the vision blind areas of the movable platform 100 in five directions, improve the overall sensing capability and obstacle avoidance capability of the movable platform 100, and improve the safety of the movable platform 100.

Referring to fig. 5, the body 11 illustratively includes an upper cover 111, and four vision sensors 20 are respectively disposed at four opposite corners of the upper cover 111 to reduce or avoid the main body 10 from blocking the perceived view of the vision sensors 20 as much as possible. In other embodiments, the body 11 further includes a lower cover 112 (see fig. 5), the lower cover 112 is connected to the upper cover 111, and the four visual sensors 20 may be disposed on the lower cover 112, respectively; or four visual sensors 20 are provided at the junction of the upper cover 111 and the lower cover 112.

Further, the vision sensor 20 may select the upper cover 111 or the lower cover 112 provided to the body 11 according to the inclination angle of the horn 121. Referring to fig. 3, in fig. 3, the arm 121 is inclined downward with respect to the horizontal plane, in order to reduce the shielding of the vision sensor 20 by the arm 121, at this time, four vision sensors 20 may be disposed on the upper cover 111. In other embodiments, if the arm 232 is tilted upward relative to the horizontal, then the four visual sensors 20 may all be disposed on the lower cover 111.

Referring to fig. 1, in some embodiments, in a case where two vision sensors 20 are provided at the front side of the main body 10 and two other vision sensors 20 are provided at the rear side of the main body 10, the vision sensors 20 satisfy at least one of the following: the included angles of the optical axes of the two vision sensors 20 on the front side are the same compared with the heading axis; the projections of the optical axes of the two vision sensors 20 on the front side in the plane formed by the heading axis and the pitching axis are symmetrically arranged relative to the heading axis; the projections of the optical axes of the two vision sensors 20 on the front side in the plane formed by the roll axis and the pitch axis are symmetrically arranged relative to the roll axis; the included angles of the optical axes of the two visual sensors 20 at the rear side are the same compared with the heading axis; the projections of the optical axes of the two visual sensors 20 on the rear side in the plane formed by the heading axis and the pitching axis are symmetrically arranged relative to the heading axis; the projections of the optical axes of the two visual sensors 20 on the rear side in the plane formed by the roll axis and the pitch axis are symmetrically arranged relative to the roll axis; the projection of the optical axes of the two vision sensors 20 on the front side and the optical axes of the two vision sensors 20 on the rear side in a plane formed by the heading axis and the roll axis is asymmetrically arranged relative to the heading axis; the optical axes of the front two vision sensors 20 and the optical axes of the rear two vision sensors 20 are symmetrically arranged with respect to the roll axis and/or the pitch axis in a plane formed by the roll axis and the pitch axis. In this way, the sensing ranges of the four visual sensors 20 can be increased as much as possible, the overall sensing capability and obstacle avoidance capability of the movable platform 100 in five directions can be improved as much as possible, and the safety of the movable platform 100 in the operation process can be improved.

Illustratively, in the case where two vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the included angles of the optical axes of the two vision sensors 20 on the front side are the same as compared with the heading axis.

Illustratively, in a case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the projections of the optical axes of the two vision sensors 20 on the front side in the plane formed by the heading axis and the pitch axis are symmetrically arranged with respect to the heading axis.

Illustratively, in a case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the projections of the optical axes of the two vision sensors 20 on the front side in a plane formed by the roll axis and the pitch axis are symmetrically arranged with respect to the roll axis.

Illustratively, in the case where two vision sensors 20 are provided on the front side of the main body 10 and two other vision sensors 20 are provided on the rear side of the main body 10, the included angles of the optical axes of the two vision sensors 20 on the rear side are the same as compared with the heading axis.

Illustratively, in the case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the projections of the optical axes of the two vision sensors 20 on the rear side in the plane formed by the heading axis and the pitch axis are symmetrically arranged with respect to the heading axis.

Illustratively, in the case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the projections of the optical axes of the two vision sensors 20 on the rear side in the plane formed by the roll axis and the pitch axis are symmetrically arranged with respect to the roll axis.

Illustratively, in a case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the projections of the optical axes of the two vision sensors 20 on the front side and the optical axes of the two vision sensors 20 on the rear side in a plane formed by the heading axis and the roll axis are asymmetrically arranged with respect to the heading axis.

Illustratively, in a case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the optical axes of the two vision sensors 20 on the front side and the projections of the optical axes of the two vision sensors 20 on the rear side in a plane formed by the roll axis and the pitch axis are symmetrically arranged with respect to the roll axis and/or the pitch axis. For example, in a case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the projections of the optical axes of the two vision sensors 20 on the front side and the optical axes of the two vision sensors 20 on the rear side in a plane formed by the roll axis and the pitch axis are symmetrically arranged with respect to the roll axis. For another example, in a case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the projections of the optical axes of the two vision sensors 20 on the front side and the optical axes of the two vision sensors 20 on the rear side in a plane formed by the roll axis and the pitch axis are symmetrically arranged with respect to the pitch axis. For another example, in a case where two of the vision sensors 20 are provided on the front side of the main body 10 and the other two vision sensors 20 are provided on the rear side of the main body 10, the optical axes of the two vision sensors 20 on the front side and the projections of the optical axes of the two vision sensors 20 on the rear side in a plane formed by the roll axis and the pitch axis are symmetrically arranged with respect to the roll axis and the pitch axis.

In some embodiments, the optical axis of the vision sensor 20 is inclined at an angle ranging from (0 °,75 ° ], such as an angle of inclination of 5 °, 10 °, 15 °, 20 °, 30 °, 45 °, 60 °, or 75 °, or any other suitable angle between greater than 0 ° and less than 75 °, to the first predetermined plane.

In some embodiments, the angle of inclination of the vision sensor 20 with respect to the first preset plane may be greater than the maximum angle of inclination of the aircraft.

As can be appreciated, the Field of View (FOV) of the vision sensor 20 includes both a horizontal Field of View and a vertical Field of View.

In some embodiments, the overlapping angle range of the vertical view angles of the two adjacent vision sensors 20 is (0 °,15 ° ], such as the overlapping angle is 1 °, 5 °, 10 °, or 15 °, or any other suitable angle between greater than 0 ° and less than 15 °, so that the upper boundaries of the vertical view angles of the two adjacent vision sensors 20 can overlap, reducing or avoiding vision dead zones in the vertical direction, achieving omnidirectional coverage in the vertical direction, and avoiding the problem of wasting view angles due to excessive overlapping angles of the vertical view angles of the two adjacent vision sensors 20, and in addition, even if assembly and manufacturing errors exist when the vision sensors 20 are assembled with the body 10, the upper boundaries of the vertical view angles of the two adjacent vision sensors 20 can overlap, and the four vision sensors 20 can achieve omnidirectional coverage in the vertical direction, illustratively, the vertical direction is perpendicular to the first preset plane, see fig. 2, and the four vision sensors 20 include two vision sensors 21 and two vision sensors 21, and two vision sensors 22 are positioned on opposite sides of the vertical boundaries of the first vision sensor 21, and the second vision sensor 22, and the vertical sensor 22 are positioned on the boundaries of the second vision sensor 10.

In other embodiments, the overlapping angle of the vertical field angles of adjacent two vision sensors 20 may also be greater than 15 ° and less than 90 °.

Referring to fig. 2, in some embodiments, the four vision sensors 20 include two first vision sensors 21 and two second vision sensors 22, wherein a vertical viewing angle of the first vision sensors 21 is F1, an inclination angle of an optical axis h1 of the first vision sensors 21 with respect to a first preset plane ω is α, a vertical viewing angle of the second vision sensors 22 is F2, and an inclination angle of an optical axis h2 of the second vision sensors 22 with respect to the first preset plane ω is β.

Wherein, (alpha+beta) > [180 degrees- (F1+F2)/2 ] is adopted to ensure that the upper boundaries of the vertical field angles of the adjacent vision sensors 20 can be overlapped, and the perception ranges of the four vision sensors 20 are increased, so that the four vision sensors 20 can realize the perception functions of four directions and also can realize the perception function of a fifth direction, and effectively perceive the environment of the main body 10 in five directions; it is also ensured that the lower boundary of the vertical field angle of the vision sensor 20 can overlap with another sensing module 30 (see fig. 5), and the omni-directional sensing in the vertical direction can be realized by combining four vision sensors 20 with another sensing module 30, so that the number of sensor settings is reduced. Referring to FIG. 2, for example, (α+β) > [180 ° - (F1+F2)/2 ] is performed to at least ensure that the boundary DF of F1 and the boundary GH of F2 can overlap, and the sensing range of the four vision sensors 20 is increased, so that the four vision sensors 20 can realize the sensing functions in the front, rear, left and right directions, and also can consider the sensing function in the upper direction.

Illustratively, the vertical field angle F1 of the first vision sensor 21 is shown as +.edf in fig. 2, and the vertical field angle F2 of the second vision sensor 22 is shown as +.hgi in fig. 2.

Referring to fig. 2, the angles of the front upper FOV, the front lower FOV, the back upper FOV, and the back lower FOV are illustratively represented by a, b, c, d, respectively. It should be appreciated that the front upper FOV and the front lower FOV may respectively belong to FOVs of different portions of the same vision sensor 20, and that the same vision sensor 20 may be specifically divided into a plurality of FOVs by means of a software algorithm; the visual sensor 20 may be configured to divide one visual field into a plurality of FOVs by hardware, a configuration, or the like, and the embodiments are not limited thereto, for example, an optical system is provided for each FOV, and hardware is provided for each FOV.

The overlap angle between the 5 vertical FOVs is denoted below by v, y, z, where v is the overlap angle of the front upper FOV and the front lower FOV, y is the overlap angle of the back upper FOV and the back lower FOV, and z is the overlap angle of the front upper FOV and the back upper FOV. It is understood that the front upper FOV, the front lower FOV, the back upper FOV, and the back lower FOV are all perpendicular angles of view.

Illustratively, a=b, c=d.

Illustratively, (α+β) > [180 ° - (a+b+c+d-v-y)/2 ].

Illustratively, [180 ° - (a+b+c+d-v-y)/2 ] = [180 ° - (f1+f2)/2 ].

Illustratively, if α=β, α > [ (180 ° -F1)/2 ].

Referring to fig. 6, in some embodiments, the optical axis of the vision sensor 20 is inclined with respect to a second predetermined plane, and the second predetermined plane is perpendicular to the first predetermined plane. And, the second preset plane is parallel to the handpiece direction of the main body 10; or the second preset plane is perpendicular to the first preset plane, and the second preset plane is parallel to the rolling axis direction of the main body 10; or the second preset plane is perpendicular to the heading axis of the main body 10 and parallel to the roll axis of the main body 10. The optical axis of the vision sensor 20 is inclined at an angle ranging from (0 °,90 °) to the second preset plane, such as 5 °, 10 °, 30 °, 40 °, 45 °, 50 ° or 80 °, or any other suitable angle between greater than 0 ° and less than 90 °; to ensure that the four vision sensors 20 are able to look around the movable platform 100 to achieve omni-directional coverage in a first predetermined plane or horizontal direction.

In some embodiments, the optical axis of the vision sensor 20 is inclined at an angle ranging from [40 °,50 ° ], such as 40 °, 45 °, or 50 °, or any other suitable angle between 40 ° -50 ° with respect to the second predetermined plane. As shown in fig. 6, the boundaries of the FOVs of the adjacent two vision sensors 20 may be disposed substantially vertically, where the FOV angle range of the common view area is [80 °,100 ° ], and the inclination angle range of the boundary of the common view area with respect to the second preset plane is [40 °,50 ° ], so that the sensing distance of the common view area of the adjacent two vision sensors 20 may be increased while ensuring that the overlapping angle range of the common view area is large.

In some embodiments, the sum of the horizontal angles of view of four vision sensors 20 is greater than 360 ° and the overlap angle of the horizontal angles of view of two adjacent vision sensors 20 is greater than 0 °, to achieve omnidirectional coverage in the horizontal (or look-around) direction. Illustratively, the overlapping angle of the horizontal angles of view of any adjacent two vision sensors 20 is greater than 0 ° and less than 180 °, such as 5 °,10 °,30 °, 60 °, 90 °, 120 °, or 170 °, or any other suitable angle between greater than 0 ° and less than 180 °. Illustratively, the sum of the horizontal angles of view of the four vision sensors 20 is greater than 360 ° and less than 1440 °.

Referring to fig. 6 in combination with fig. 2, the four vision sensors 20 illustratively include two first vision sensors 21 and two second vision sensors 22, the two first vision sensors 21 being 21a and 21b, respectively, and the two second vision sensors 22 being 22a and 22b, respectively. The horizontal angles of view of sensor 21a, sensor 21b, sensor 22a, and sensor 22b are F3, F4, F5, and F6, respectively. The sum of F3, F4, F5 and F6 is larger than 360 degrees, and the overlapping angle of any two of F3, F4, F5 and F6 is larger than 0 degrees.

Referring to fig. 6, the sensor 21a and the sensor 22b are exemplarily disposed diagonally to the main body 10. The sensor 21b and the sensor 22a are provided diagonally to the main body 10.

Referring to fig. 6, in some embodiments, the boundaries of the horizontal angles of view of the two adjacent vision sensors 20 are perpendicular to each other, so as to reduce the blind area of the view as much as possible, and reduce or avoid the problem of wasting the angles of view due to the excessive overlapping angle of the horizontal angles of view of the two adjacent vision sensors 20. Illustratively, the boundaries of the horizontal angles of view of any two adjacent vision sensors 20 are perpendicular to each other. In other embodiments, the boundaries of the horizontal angles of view of adjacent two vision sensors 20 may also be non-orthogonal.

Referring to fig. 6, in some embodiments, the boundaries of the horizontal angles of view of two vision sensors 20 disposed diagonally are parallel.

In some embodiments, the visual sensor 20 includes at least one of: fish eye lenses, wide angle lenses, and the like. It will be appreciated that the visual sensor 20 comprises a fisheye lens having a wide field of view, typically up to 180 ° or more, which increases the overall perceived range of the four visual sensors 20.

Referring to fig. 5, in some embodiments, the mobile platform 100 further includes a sensing module 30, where the sensing module 30 is configured to collect environmental information in another direction different from the collection direction of the four visual sensors 20, so as to implement omni-directional coverage. In addition, when the vision sensor 20 is assembled with the main body 10, even if there is an error in assembly and manufacturing, it is possible to ensure that the movable platform 100 can achieve omni-directional coverage through the four vision sensors 20 and the sensing module 30.

In some embodiments, the range of overlapping angles of the vertical view angles of the sensing module 30 and the vision sensor 20 is (0 °,15 ° ], such as 2 °,5 °,10 °, or 15 °, or any other suitable angle between greater than 0 ° and less than 15 °, to ensure that the vertical view angles of the sensing module 30 and the vision sensor 20 can overlap, reduce or avoid vision dead zones in the vertical direction, achieve omnidirectional coverage in the vertical direction, and avoid the problem of wasting view angles due to excessive overlapping angles of the vertical view angles of the vision sensor 20 and the sensing module 30.

Referring to fig. 7, in some embodiments, the four vision sensors 20 include two first vision sensors 21 and two second vision sensors 22, wherein the vertical view angle of the first vision sensor 21 is F1, the tilt angle of the optical axis of the first vision sensor 21 with respect to the first preset plane is α, the vertical view angle of the second vision sensor 22 is F2, the tilt angle of the optical axis of the second vision sensor 22 with respect to the first preset plane is β, and the view angle of the sensing module 30 is F3. Wherein [ F1/2-alpha+F3/2 ] > 90 DEG; the angle of view of [ F2/2-beta+F3/2 ] > 90 degrees, so that the vertical angle of view of the visual sensor 20 can be overlapped with the vertical angle of view of the perception module 30, the visual blind area is reduced, and the movable platform 100 can realize omnidirectional coverage in the vertical direction through the four visual sensors 20 and the perception module 30; in addition, when the vision sensor 20 is assembled with the main body 10, even if there is an error in assembly and manufacturing, it is possible to ensure that the movable platform 100 can achieve omnidirectional coverage.

Illustratively, (α+β) < [ (F1+F2+2F3-360 °)/2 ].

Illustratively, if α=β, α < [ (f1+f2+2f3-360 °)/4 ].

Referring to fig. 7, angles of the front upper FOV, the front lower FOV, the rear upper FOV, the rear lower FOV, and the lower FOV are exemplarily indicated by a, b, c, d, e, respectively. Let v, w, x, y, z denote the 5 vertical FOV overlap angles, where v is the overlap angle of the front upper FOV and the front lower FOV, w is the overlap angle of the front lower FOV and the lower FOV, x is the overlap angle of the rear lower FOV and the lower FOV, y is the overlap angle of the rear upper FOV and the rear lower FOV, and z is the overlap angle of the front upper FOV and the rear upper FOV. It is understood that the front upper FOV, front lower FOV, back upper FOV, back lower FOV, and lower FOV are all perpendicular field angles.

It should be noted that, the front upper FOV and the front lower FOV are both from the same vision sensor 20, i.e., the imaging frames of the front upper FOV and the front lower FOV are divided from the whole imaging frame of the vision sensor 20. Illustratively, since the imaging peripheral edge of the vision sensor 20 (such as a fisheye lens) is low, it is difficult to satisfy the requirement of sensing obstacle avoidance, so that when the vision sensor 20 is used for sensing, it is required to ensure that the imaging of the sensed object is within the acceptable imaging quality region R1 of the vision sensor 20. Assuming that the vertical angles of view of the first vision sensor 21 and the second vision sensor 22 corresponding to this region R1 are F1 and F2, respectively, (a+b-v). Ltoreq.F1, (c+d-y). Ltoreq.F2, the imaging of the perceived object is ensured within the acceptable imaging quality region R1 of the vision sensor 20.

Illustratively, to achieve omni-directional coverage in the vertical direction, there is the following relationship:

a+b+c+d+e＝v+w+x+y+z+360°。

illustratively, v, w, x, y, z are each greater than 0 °.

Referring to FIG. 7, the first vision sensor 21 has a vertical field angle F1, F1. Gtoreq.a. (a+b-v). The vertical field angle of the second vision sensor 22 is F2, and if f1= (a+b-v), f2= (c+d-y). Illustratively, the vertical field angle of the sensing module 30 is F3, and F3 is equal to e.

It will be appreciated that F1 may be substantially the same as F2 or may be different.

Illustratively, F3 is equal to or less than F1 and F2. In other embodiments, F3 may also be greater than F1 or F2.

Illustratively, if f1=f2, 2f1= (360 ° -f3+w+x+z).

Illustratively, F1 and F2 range from (90, 180), i.e., greater than 90 and less than 180. For example, F1 or F2 ranges from [120, 150 ].

Illustratively, F3 ranges from [90, 180 ], i.e., greater than or equal to 90 and less than 180. For example, F3 ranges from [100 °,150 ° ].

Referring to fig. 7, illustratively, taking forward vision as an example, the optical axis of the first vision sensor 21 is inclined at an angle α with respect to the first preset plane, and the optical axis of the second vision sensor 22 is inclined at an angle β with respect to the first preset plane. α= [ a+b-v-2 ((180-e)/2+w) ]/2; beta= [ c+d-y-2 ((180-e)/2+x) ]/2.

In some embodiments, the sensing module 30 includes at least one of: laser radar, millimeter wave radar, binocular vision perception module 30, ultrasonic sensor, TOF sensor, infrared sensor etc.. The binocular vision perception module 30 includes at least one of: wide angle lenses, fish-eye lenses, etc.

It will be appreciated that the arrangement of the visual sensors 20 may be set according to actual requirements. Illustratively, the vision sensor 20 may be fixedly mounted on the movable platform 100. Illustratively, the vision sensor 20 may be movably connected with the movable platform 100, for example, the orientation or angle of the vision sensor 20 may be adjusted by a structure such as a pan-tilt, and different vision sensors may be further multiplexed.

It will be appreciated that the schematic illustrations of the body 10 in fig. 1-7 are exemplary only, and are not limiting as to the shape and/or configuration of the body 10. In the actual application process, the shape and/or structure of the main body 10 may be changed according to the actual application scenario.

It will be appreciated that the visual sensor 20 of fig. 1-7 is merely exemplary, but is not limiting of the placement, manner of placement, shape, and/or configuration of the visual sensor 20. In the actual application process, the arrangement position, arrangement mode, shape and/or structure of the vision sensor 20 may be changed according to the actual application scene.

Referring to fig. 1, the embodiment of the present utility model further provides a sensing system for a movable platform 100, where the sensing system is configured to be mounted on or connected to a main body 10 of the movable platform 100, and the sensing system includes four vision sensors 20, where any two adjacent vision sensors 20 form a binocular system, and the four vision sensors 20 are used to collect environmental images in five directions of an environment surrounding the main body 10; the optical axes of the vision sensors 20 are inclined toward the same side with respect to the first preset plane.

In the sensing system of the above embodiment, since the sensing system includes four visual sensors 20, and any two adjacent visual sensors 20 form a binocular system, the four visual sensors 20 are used for collecting environmental images in five directions of the surrounding environment of the main body 10, so that the obstacle in the five directions of the main body 10 is effectively sensed, the movable platform 100 including the sensing system can effectively avoid the obstacle in the five directions, the safety and the operation accuracy in the operation process of the movable platform 100 are improved, and a guarantee is provided for the movable platform 100 to safely, reliably and accurately operate. In addition, since the four vision sensors 20 are used for collecting the environment images of the environment around the main body 10 in five directions, the environment of the main body 10 in five directions is effectively perceived, so that the multi-directional sensing and obstacle avoidance can be realized through a small number of vision sensors 20, the system operation capability is simplified, the occupied space and weight of the whole machine are reduced, the cost and complexity of the movable platform 100 are reduced, and the movable platform 100 is simple in structure.

On the other hand, since the optical axes of the vision sensors 20 are inclined toward the same side with respect to the first preset plane, the sensing range of the fifth direction can be increased, and the visual field blind area of the fifth direction is reduced, so that the four vision sensors 20 can realize the sensing function of the four directions and also can consider the sensing function of the fifth direction. In addition, since the optical axes of the vision sensors 20 are inclined towards the same side relative to the first preset plane, the assembly of the vision sensors 20 and the main body 10 is simple, convenient and easy, the problem that the assembly difficulty of the movable platform 100 is increased due to the inclination of the optical axes of the at least two vision sensors 20 towards different sides relative to the first preset plane is avoided, and the improvement of the assembly efficiency is facilitated.

It will be appreciated that the connection of the sensing system to the body 10 may comprise at least one of: mechanical connections, electrical connections, communication connections, and the like.

It will be appreciated that the sensing system may be provided as an accessory to the mobile platform 100 for use in mounting the sensing system to the mobile platform 100 when desired, and that the sensing system may be fixedly mounted to the mobile platform 100.

Illustratively, the movable platform 100 includes the movable platform 100 of any of the embodiments described above. The body 10 includes the body 10 of any of the embodiments described above. The vision sensor 20 includes the vision sensor 20 of any of the embodiments described above.

Referring to fig. 1, an embodiment of the present utility model provides a movable platform, which includes a main body 10 and at least two vision sensors 20, wherein the at least two vision sensors 20 are disposed on the main body 10, two adjacent vision sensors 20 of the at least two vision sensors 20 form a binocular system, and the two adjacent vision sensors 20 are used for acquiring environmental images in sensing ranges of three directions of an environment around the main body 10; the optical axes of the vision sensors 20 are inclined towards the same side relative to the first preset plane; wherein the three directions of the surrounding environment of the main body 10 include at least one of the upper and lower sides of the main body 10, and the lateral sides of the main body 10 are at least 180 deg..

In the movable platform of the above embodiment, since the movable platform 100 includes at least two vision sensors 20, two adjacent vision sensors 20 of the at least two vision sensors 20 are used to acquire environmental images within a sensing range of three directions of the surrounding environment of the main body 10, so that the movable platform 100 can effectively avoid obstacles in three directions, safety and operation accuracy in the operation process of the movable platform 100 are improved, and a guarantee is provided for the movable platform 100 to safely, reliably and accurately operate. In addition, since two adjacent vision sensors 20 in the at least two vision sensors 20 form a binocular system, the two adjacent vision sensors 20 are used for acquiring environmental images in the sensing range of the surrounding environment of the main body 10 in three directions, so that multidirectional sensing and obstacle avoidance can be realized through a small number of vision sensors 20, the system operation mode is simplified, the occupation of hardware resources and the whole machine space is reduced, meanwhile, the weight of the whole machine can be reduced, the cost and the complexity of the movable platform 100 are reduced, and the structure of the movable platform 100 is simplified.

On the other hand, since the optical axes of the vision sensors 20 are inclined toward the same side with respect to the first preset plane, the sensing directions of at least two vision sensors 20 can each be inclined toward the same side of the plane, so that the sensing range of the third direction (common orientation) is enlarged, the blind area of the third direction is reduced, and the sensing function of the third direction can be considered in addition to the sensing function of the two directions of the adjacent vision sensors 20. In addition, since the optical axes of the vision sensors 20 are inclined towards the same side relative to the first preset plane, the assembly of the vision sensors 20 and the main body 10 is simple, convenient and easy, the problem that the assembly difficulty of the movable platform 100 is increased due to the inclination of the optical axes of the at least two vision sensors 20 towards different sides relative to the first preset plane is avoided, and the improvement of the assembly efficiency is facilitated.

Illustratively, the three directions of the environment surrounding the body 10 include a range of at least 180 ° laterally of the body 10, and above the body 10. Illustratively, the three directions of the environment surrounding the body 10 include a range of at least 180 ° laterally of the body 10, and below the body 10. Illustratively, the three directions of the environment surrounding the main body 10 include the upper and lower sides of the main body 10, and the lateral sides of the main body 10 are at least 180 °. Illustratively, the sides of the body 10 include orientations other than above and below the body 10.

Illustratively, the movable platform 100 comprises an aircraft, with the upper and lower sides of the main body 10 referring to the upper and lower sides of the main body 10 in a windless hovering state of the aircraft. Illustratively, above the body 10 refers to above and below the body 10 with the movable platform 100 placed on a horizontal surface.

Illustratively, the sides of the body 10 are at least 180 °, including 180 °, 240 °, 270 °, 360 °, or any other suitable angle between 180 ° -360 ° of the sides of the body 10.

In some embodiments, the number of visual sensors 20 may be set according to actual needs, such as being designed as two, three or more. Illustratively, the number of the vision sensors 20 is two, and two adjacent vision sensors 20 form a binocular system, and the two adjacent vision sensors 20 are used for acquiring environmental images in sensing ranges of three directions of the surrounding environment of the main body 10; the optical axes of the vision sensors 20 are inclined toward the same side with respect to the first preset plane. For another example, the number of the vision sensors 20 is three, two adjacent vision sensors 20 form a binocular system, and the two adjacent vision sensors 20 are used for acquiring environmental images in sensing ranges of three directions of the surrounding environment of the main body 10; the optical axes of the vision sensors 20 are inclined toward the same side with respect to the first preset plane. For another example, the number of the vision sensors 20 is four, two adjacent vision sensors 20 form a binocular system, and the two adjacent vision sensors 20 are used for acquiring environmental images in sensing ranges of three directions of the surrounding environment of the main body 10; the optical axes of the vision sensors 20 are inclined toward the same side with respect to the first preset plane.

Illustratively, the movable platform 100 includes the movable platform 100 of any of the embodiments described above.

Illustratively, the body 10 includes the body 10 of any of the embodiments described above. The vision sensor 20 includes the vision sensor 20 of any of the embodiments described above. The first preset plane comprises the first preset plane of any one of the embodiments described above.

Referring to fig. 1, still another embodiment of the present utility model provides a sensing system for a movable platform 100, the sensing system being configured to be mounted on or connected to a main body 10 of the movable platform 100, the sensing system including at least two vision sensors 20, the vision sensors 20 being disposed on the main body 10, two adjacent vision sensors 20 of the at least two vision sensors 20 forming a binocular system, the two adjacent vision sensors 20 being configured to acquire environmental images within a sensing range of three directions of an environment surrounding the main body 10; the optical axes of the vision sensors 20 are inclined towards the same side relative to the first preset plane; wherein the three directions of the surrounding environment of the main body 10 include at least one of the upper and lower sides of the main body 10, and the lateral sides of the main body 10 are at least 180 deg..

In the sensing system of the above embodiment, since the sensing system includes at least two vision sensors 20, two adjacent vision sensors 20 of the at least two vision sensors 20 are used to acquire the environmental images in the sensing range of the three directions of the surrounding environment of the main body 10, so as to effectively sense the three-directional obstacles of the surrounding environment of the main body 10, so that the movable platform 100 can effectively avoid the obstacles in the three directions, the safety and the operation accuracy in the operation process of the movable platform 100 are improved, and the guarantee is provided for the movable platform 100 to safely, reliably and accurately operate. In addition, since two adjacent vision sensors 20 in the at least two vision sensors 20 form a binocular system, the two adjacent vision sensors 20 are used for acquiring environmental images in the sensing range of the surrounding environment of the main body 10 in three directions, so that multidirectional sensing and obstacle avoidance can be realized through a small number of vision sensors 20, the system operation mode is simplified, the occupation of hardware resources and the whole machine space is reduced, meanwhile, the weight of the whole machine can be reduced, the cost and the complexity of the movable platform 100 are reduced, and the structure of the movable platform 100 is simplified.

In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "mechanically coupled," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The mechanical coupling or coupling of the two components includes direct coupling as well as indirect coupling, e.g., direct fixed connection, connection through a transmission mechanism, etc. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The above disclosure provides many different embodiments, or examples, for implementing different structures of the utility model. The foregoing description of specific example components and arrangements has been presented to simplify the present disclosure. They are, of course, merely examples and are not intended to limit the utility model. Furthermore, the present utility model may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present utility model provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular method step, feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While the utility model has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims

1. A movable platform, comprising:

A main body;

2. The mobile platform of claim 1, wherein the first predetermined plane is perpendicular to a heading axis of the mobile platform; or the movable platform comprises an aircraft, the first preset plane being parallel to a paddle plane of the aircraft.

3. The movable platform according to claim 1, wherein the movable platform comprises an aircraft, and the optical axis of each of the vision sensors is disposed toward the same side of the horizontal plane when the aircraft is at a maximum tilt angle in a flight state; and/or the number of the groups of groups,

The optical axis of each vision sensor is simultaneously non-orthogonal with respect to at least two of the yaw axis, pitch axis, and roll axis of the movable platform.

4. The mobile platform of claim 1, wherein four of the vision sensors are used to capture images of the environment in five directions, front, rear, left, right, and top of the subject; and/or the number of the groups of groups,

Four visual sensors are inclined upwards relative to the first preset plane.

5. A movable platform according to claim 3, wherein two of the visual sensors are provided on one side of the body and two other visual sensors are provided on the other opposite side of the body; or alternatively

Wherein two visual sensors are arranged at intervals on the front side of the main body, and the other two visual sensors are arranged at intervals on the rear side of the main body; or alternatively

Wherein two visual sensors are arranged on the left side of the main body at intervals, and the other two visual sensors are arranged on the right side of the main body at intervals; or alternatively

The four visual sensors are respectively arranged at four opposite angles of the main body.

6. The movable platform of claim 5, wherein in a case where two of the vision sensors are provided on a front side of the main body and two other vision sensors are provided on a rear side of the main body, the vision sensors satisfy at least one of:

The included angles of the optical axes of the two visual sensors at the front side are the same compared with the heading axis;

The projections of the optical axes of the two vision sensors on the front side in a plane formed by the course axis and the pitching axis are symmetrically arranged relative to the course axis;

the projections of the optical axes of the two vision sensors on the front side in the plane formed by the transverse rolling shaft and the pitching shaft are symmetrically arranged relative to the transverse rolling shaft;

the included angles of the optical axes of the two visual sensors at the rear side are the same compared with the heading axis;

The projections of the optical axes of the two visual sensors at the rear side in a plane formed by the course axis and the pitching axis are symmetrically arranged relative to the course axis;

The projections of the optical axes of the two visual sensors at the rear side in a plane formed by the transverse rolling shaft and the pitching shaft are symmetrically arranged relative to the transverse rolling shaft;

The projection of the optical axes of the two visual sensors on the front side and the optical axes of the two visual sensors on the rear side in a plane formed by the course axis and the roll axis is asymmetrically arranged relative to the course axis;

And the projection of the optical axes of the two vision sensors on the front side and the optical axes of the two vision sensors on the rear side in a plane formed by the transverse rolling shaft and the pitching shaft is symmetrically arranged relative to the transverse rolling shaft and/or the pitching shaft.

7. The mobile platform of claim 1, wherein the vision sensor comprises a fisheye lens; and/or the number of the groups of groups,

The optical axis of the vision sensor is inclined in an angle range (0 DEG, 75 DEG) relative to the first preset plane.

8. The movable platform of claim 1, wherein the movable platform comprises a plurality of movable platforms,

The overlapping angle range of the vertical field angles of the adjacent two visual sensors is (0 °,15 ° ].

9. The movable platform of claim 1, wherein the four vision sensors comprise two first vision sensors and two second vision sensors, the first vision sensors having a vertical angle of view F1, the first vision sensors having an optical axis inclined at an angle α with respect to the first predetermined plane, the second vision sensors having a vertical angle of view F2, the second vision sensors having an optical axis inclined at an angle β with respect to the first predetermined plane; wherein, (α+β) > [180 ° - (F1+F2)/2 ].

10. The movable platform according to claim 1, wherein the optical axis of the vision sensor is inclined with respect to a second preset plane, the second preset plane is perpendicular to the first preset plane, the second preset plane is parallel to the handpiece direction of the main body, and the inclination angle range of the optical axis of the vision sensor with respect to the second preset plane is (0 °,90 °).

11. The movable platform of claim 10, wherein the optical axis of the vision sensor is inclined at an angle ranging from [40 °,50 ° ] to the second predetermined plane.

12. The movable platform of claim 1, wherein the sum of the horizontal angles of view of four of the vision sensors is greater than 360 ° and the overlapping angle of the horizontal angles of view of two adjacent vision sensors is greater than 0 °.

13. The mobile platform of any one of claims 1-12, further comprising:

And the sensing module is used for acquiring environmental information in another direction different from the acquisition directions of the four visual sensors so as to realize omnidirectional coverage.

14. The mobile platform of claim 13, wherein the angle of overlap of the perception module with the vertical field angle of the vision sensor is in the range of (0 °,15 ° ].

15. The movable platform of claim 13, wherein the four vision sensors include two first vision sensors and two second vision sensors, the first vision sensors have a vertical field angle F1, the first vision sensors have an optical axis inclined at an angle α with respect to the first preset plane, the second vision sensors have a vertical field angle F2, the second vision sensors have an optical axis inclined at an angle β with respect to the first preset plane, and the sensing module has a field angle F3; wherein [ F1/2-alpha+F3/2 ] > 90 DEG; [ F2/2-beta+F3/2 ] > 90 deg.

16. A perception system for a mobile platform, wherein the perception system is configured to be mounted to or attached to a body of the mobile platform, the perception system comprising:

17. A movable platform, comprising:

A main body;

18. A perception system for a mobile platform, wherein the perception system is configured to be mounted to or attached to a body of the mobile platform, the perception system comprising: