WO2018010164A1 - Procédé de détection d'évitement d'obstacle, appareil mobile et véhicule aérien sans pilote - Google Patents

Procédé de détection d'évitement d'obstacle, appareil mobile et véhicule aérien sans pilote Download PDF

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Publication number
WO2018010164A1
WO2018010164A1 PCT/CN2016/090132 CN2016090132W WO2018010164A1 WO 2018010164 A1 WO2018010164 A1 WO 2018010164A1 CN 2016090132 W CN2016090132 W CN 2016090132W WO 2018010164 A1 WO2018010164 A1 WO 2018010164A1
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WIPO (PCT)
Prior art keywords
obstacle
motion
obstacle avoidance
moving direction
current
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PCT/CN2016/090132
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English (en)
Chinese (zh)
Inventor
曾华均
张柱
孙天瑞
Original Assignee
深圳飞豹航天航空科技有限公司
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Application filed by 深圳飞豹航天航空科技有限公司 filed Critical 深圳飞豹航天航空科技有限公司
Priority to PCT/CN2016/090132 priority Critical patent/WO2018010164A1/fr
Publication of WO2018010164A1 publication Critical patent/WO2018010164A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

Definitions

  • the invention relates to the field of automatic control, in particular to an obstacle avoidance detecting method, a moving device and a drone.
  • driverless control technology One problem with driverless control technology is that unmanned machinery faces security threats to tangible obstacles such as mountains, buildings, trees, rocks, corals, transmission lines, as well as no-fly zones, no-fly zones, and dangers. Constraints of invisible obstacles such as zones. Therefore, it is of great practical significance to study the automatic avoidance mechanism of obstacles for the safety protection of driverless control technology during driving.
  • the obstacle detecting device is fixedly disposed on the unmanned driving device, that is, the detecting horizon of the obstacle detecting device is always fixed to the driving direction of the unmanned driving device, and the detection technique is limited.
  • the unmanned device has a unique "head” that is always oriented in the direction of the unmanned vehicle.
  • some of the unmanned devices do not have a uniquely set "head”, such as drones and spherical robots.
  • Such unmanned devices do not have a "head” that always faces the direction of travel, ie Unmanned devices can be moved in all directions without steering. It can be seen from this that the fixed obstacle detecting device in the prior art is not suitable for use in an unmanned device without a fixed traveling direction.
  • the prior art also provides an unmanned obstacle avoidance detecting device, which is provided with an obstacle detecting device capable of 360° rotation on the drone, and the obstacle detecting device rotates the drone in a horizontal plane in a uniform rotating manner.
  • the environment is monitored 360°.
  • the obstacle avoidance reaction time for example, when the vision rotation of the obstacle detecting device deviates from the moving direction, an obstacle suddenly appears in the direction of the drone movement, and when the obstacle detecting device rotates the detection horizon to the direction of the drone movement and detects After the obstacles exist, the obstacle avoidance reaction time of the drone is correspondingly reduced, and the drone is likely to crash in an emergency.
  • the rotation detection of the obstacle detecting device increases the workload of obstacle recognition and increases the power consumption of the drone.
  • the technical problem to be solved by the present invention is to provide an obstacle avoidance detecting method, which overcomes the prior art by making the detection horizon of the obstacle avoidance detecting device rotatable and making the detection horizon always face the current moving direction or the pre-moving direction.
  • the fixed "head" unmanned device has short reaction time and high power consumption during movement.
  • a technical solution adopted by the embodiment of the present invention is to provide an obstacle avoidance detecting method, and the method includes the following steps:
  • the obstacle when the obstacle is avoided, it moves in the vertical direction of the current moving direction or the pre-moving direction.
  • the obstacle avoidance detecting method further includes: a preset motion path;
  • Moving along the preset path detecting that there is an obstacle on the preset motion path, moving in a vertical direction of the current motion direction or the pre-motion direction.
  • the motion continues along the set path.
  • the motion is stopped or stopped in the opposite direction of the current motion direction or the pre-motion direction.
  • the obstacle avoidance detecting method further includes: a preset safety distance threshold;
  • the motion is stopped or stopped in the opposite direction of the current motion direction or the pre-motion direction.
  • the detection horizon points to the front of the current motion direction or the pre-motion direction.
  • the detection horizon points to the front of the current motion direction or the pre-motion direction, including:
  • the tilt amount of the drone body is detected, and the detection horizon is angularly compensated according to the tilt amount such that the detection horizon points to the front of the current motion direction or the pre-motion direction.
  • Another technical solution adopted by the embodiment of the present invention is to provide a motion device, the motion device comprising:
  • An obstacle avoidance unit for detecting an obstacle, and the detection horizon is rotatable
  • the obstacle avoidance unit rotates the detection horizon to a current motion direction or a pre-motion direction of the motion unit, and the obstacle avoidance unit detects whether there is an obstacle in the current motion direction or the spatial environment in the pre-motion direction, when an obstacle is detected When present, the motion unit stops moving or avoids the obstacle.
  • Another technical solution adopted by the embodiment of the present invention is to provide a drone, the drone comprising:
  • An obstacle avoidance detecting device configured to be rotatable and mounted on the body of the drone
  • the obstacle avoidance detecting device rotates the detection horizon to a current motion direction or a pre-motion direction of the UAV body, and the obstacle avoidance detecting device detects whether a current motion direction of the UAV body or a space environment in a pre-motion direction exists An obstacle, the drone body hovering or avoiding the obstacle when an obstacle is detected.
  • the obstacle avoidance detecting device includes:
  • a base the mounting on the body of the drone
  • the rotating member is mounted on the base at one end;
  • a detecting member connected to the other end of the rotating member.
  • one end of the base mounted on the main body of the drone is provided with a snap joint, and the The human body is provided with a card interface that cooperates with the card connector.
  • one end of the base mounted on the main body of the drone is provided with a transfer terminal, and the UAV body is provided with a transfer port that cooperates with the transfer terminal.
  • a sliding ring is disposed in the base, one end of the sliding ring is connected to the adapter terminal through a first wire, and the other end of the sliding ring is respectively connected to the rotating member and the detecting member through the second wire.
  • the present invention has the beneficial effects that the present invention can rotate in different directions even if the unmanned driving device does not need to turn, by making the detection horizon of the obstacle avoidance detecting device rotatable and making the detection horizon always face the current moving direction or the pre-moving direction.
  • the detection horizon can also always face the current direction of motion or the pre-movement direction of the unmanned device, which better ensures the safety of the unmanned equipment.
  • FIG. 1 is a flow chart of a method for detecting obstacles in the present invention
  • Figure 2 is a block diagram showing the structure of the motion device of the present invention.
  • FIG. 3 is a schematic view showing the overall structure of the drone of the present invention.
  • FIG. 4 is a schematic view showing the overall structure of an obstacle avoidance detecting device of the present invention.
  • Figure 5 is a block diagram showing the structure of the main body of the unmanned aerial vehicle
  • FIG. 6 is an exploded perspective view of the obstacle avoidance detecting device of the present invention.
  • Figure 7 is a schematic structural view of a base of the present invention.
  • FIG. 8 is a schematic structural view of a transition terminal of the present invention.
  • Figure 9 is a schematic view showing the structure of the stent of the present invention.
  • an obstacle avoidance detection method includes the following steps:
  • the detection horizon is rotated to the current motion direction or the pre-motion direction.
  • An obstacle avoidance detecting device is arranged on the unmanned device, and a light entrance and exit is left on the side of the obstacle avoidance detecting device, and a path region of the detected light and the incident reflected light emitted from the light entrance and exit is detected by the obstacle avoidance detecting device. Horizon.
  • the obstacle avoidance detecting device is provided with a light entrance and exit, but is not limited to, according to the specific application scenario, the obstacle avoidance detecting device is provided with (not limited to): two, three, four or For more light entrances and exits, the more the number of light entrances and exits, the wider the coverage of the obstacle avoidance detection device is, the better the obstacle avoidance performance, but the more the number of corresponding light entrances and exits, the power consumption of the obstacle avoidance detection device The larger, because each light inlet and outlet is correspondingly provided with a set of detection sensors.
  • the detection horizon of the obstacle avoidance detecting device is rotatable relative to the unmanned device.
  • the rotation method includes (not limited to): the obstacle avoidance detecting device as a whole rotates relative to the unmanned device; and the obstacle avoidance detecting device can be rotated at a local position.
  • the principle that the obstacle avoidance detecting device rotates relative to the unmanned device is that a rotating device is provided at one end of the obstacle avoidance detecting device and the unmanned device, and the rotating device can drive the obstacle avoiding detecting device to rotate as a whole.
  • the power of the rotating device is required to be large due to the large torque during rotation.
  • the obstacle avoidance detecting device is capable of rotating at a local position.
  • the principle that the obstacle avoidance detecting device can be rotated at a local position is that the obstacle avoidance detecting device is divided into two segments, respectively a seat segment and a detecting segment, wherein one end of the base segment is connected to the unmanned device, and the other end is connected to the detecting segment by a rotating device, and the detecting segment is rotated relative to the base end by the rotating device, and the rotating method is adopted
  • the turning torque is small, and the rotating device can achieve precise control of the rotation at a small power.
  • the detection horizon of the obstacle avoidance detecting device always points to the current moving direction of the unmanned driving device
  • the unmanned device is provided with a control unit, and the control unit comprises: a control module, a wireless communication module and a storage module.
  • the control unit controls the unmanned device to fly through a preset motion route, or controls the unmanned device to perform motion by receiving a wireless control command.
  • the following describes the adjustment manner of the obstacle detection device in the two different flight modes. .
  • the control unit determines the motion path through the electronic map pre-existing therein, and then determines the position of the unmanned device in the electronic map through the GPS positioning system.
  • the control unit controls the obstacle-free detecting device to rotate while controlling the direction of the unmanned device, so that the detected vision is synchronously rotated to the backward moving direction.
  • the control unit receives the wireless control command to control the unmanned device to perform motion
  • the unmanned device is controlled by a person by wireless remote control, and the control unit receives the wireless control command and responds to the control command to change direction and change direction.
  • the control unit controls the obstacle avoidance detecting device to rotate so that the detected visual field is synchronously rotated to the moving direction after the reverse direction.
  • the detection horizon of the obstacle avoidance detecting device always points to the current pre-moving direction of the unmanned driving device, and the control unit is provided in the unmanned driving device.
  • the control unit controls the unmanned device to move through a preset motion route, or controls the unmanned device to perform motion by receiving a wireless control command.
  • the following describes the adjustment methods of the detection horizon of the obstacle avoidance detection device in two different modes of motion.
  • the control unit determines the motion path through the electronic map pre-existing therein, and then determines the position of the unmanned device in the electronic map through the GPS positioning system.
  • the rotation angle of the obstacle avoidance detecting device is sent to the rotating device, and the obstacle avoiding detecting device is firstly driven by the rotating device
  • the inspection angle is adjusted to the direction in which the driver's equipment is pre-moved.
  • control unit When the control unit receives the wireless control command to control the unmanned device to perform motion, the unmanned device is controlled by a person by wireless remote control, and the control unit receives the wireless control command and controls the obstacle avoidance detecting device to rotate to the first in response to the control command. Pre-movement direction, then control the unmanned device to change direction.
  • the obstacle avoidance detecting device After the detection horizon of the obstacle avoidance detecting device is adjusted to the current moving direction or the pre-moving direction of the unmanned driving device, the obstacle avoidance detecting device starts detecting the obstacle in the current moving direction or the pre-moving direction, and the obstacle is The object information is sent to the control unit, and the control unit controls the unmanned device to avoid the obstacle information.
  • An infrared sensor is provided in the obstacle detecting device to detect obstacles by TOF technology, and TOF is an abbreviation of Time of Flight technology.
  • the specific detection principle is: the infrared sensor emits modulated near-infrared light, and after the object is reflected, the infrared sensor converts the distance of the captured scene by calculating the time difference or phase difference of the light emission and reflection to generate depth information, in some options.
  • the obstacle detecting device is provided with an infrared sensor and a camera, and the infrared sensor is used.
  • the three-dimensional contours in the current moving direction of the unmanned driving device or the spatial environment in the pre-moving direction can be presented in different topographic maps representing different distances.
  • the control unit controls the unmanned device to be away from obstacles according to the topographic map, and to avoid sudden obstacles in the moving direction or the pre-moving direction.
  • the obstacle detecting device in the present embodiment is not limited thereto, and the infrared sensor provided in the obstacle detecting device can be replaced by a laser sensor or an ultrasonic sensor depending on a specific application scenario.
  • the obstacle detecting device is provided with only an infrared sensor, and the infrared sensor emits modulated near-infrared light, which is reflected after the object is encountered, and the infrared sensor converts the obstacle by calculating the time difference or phase difference between the light emission and the reflection.
  • the control unit controls the unmanned device to move away from the obstacle according to the depth information, and avoid the sudden occurrence of obstacles in the moving direction or the pre-moving direction.
  • the obstacle detecting device in the present embodiment is not limited thereto, and the infrared sensor provided in the obstacle detecting device can be replaced by a laser sensor or an ultrasonic sensor depending on a specific application scenario.
  • the detection horizon of the obstacle avoidance detecting device rotatable and making the detection horizon always face the current moving direction or the pre-moving direction, even if the unmanned driving device can move in different directions without steering, the detection horizon can also Always facing the current direction of motion or pre-movement direction of the driver's equipment, it better guarantees the safety of the unmanned equipment.
  • the obstacle avoidance measure adopted by the unmanned driving device is: moving in the vertical direction along the current moving direction or the pre-moving direction, that is, along the edge
  • the upper or lower direction of the current direction of motion or the direction of the pre-motion is performed, and the different directions of motion represent different unmanned devices.
  • An unmanned device that detects that the obstacle carrier moves upward in the current moving direction or the pre-moving direction is a drone; the unmanned device that detects the obstacle carrying the lower moving in the current moving direction or the pre-moving direction is Unmanned submarine.
  • the obstacle avoidance mode is moved in the vertical direction along the current moving direction or the pre-moving direction, and is applied to the unmanned device pre-set with the motion path.
  • a preset motion path is loaded in the control unit, and the unmanned device moves along the path.
  • the obstacle avoidance measure adopted by the unmanned driving device is: moving in the vertical direction along the current moving direction or the pre-moving direction, that is, along the edge
  • the upper or lower direction of the current direction of motion or the direction of the pre-motion is performed, and the different directions of motion represent different unmanned devices.
  • An unmanned device that detects that the obstacle carrier moves upward in the current moving direction or the pre-moving direction is a drone; the unmanned device that detects the obstacle carrying the lower moving in the current moving direction or the pre-moving direction is Unmanned submarine.
  • This obstacle avoidance mode of the unmanned device is not limited to the preset path. In some alternative embodiments, the obstacle avoidance method can also be employed when the unmanned device is in the following mode.
  • the unmanned device moves in the vertical direction of the current moving direction or the pre-moving direction until the unmanned driving device passes over the obstacle, the unmanned device continues to move along the preset motion route, or continues to follow the user to exercise.
  • the drone when the unmanned aerial vehicle is a drone, the drone has a tendency to tilt forward during the flight avoidance process, and when the drone is tilted toward the flight direction, the detection horizon is simultaneously Tilting forward makes it easy for the drone to lose the detection horizon directly in front of the current direction of motion, and thus cannot detect obstacles directly in front of the moving direction.
  • the drone is damaged or flying at low altitude, the ground is detected and the ground is used as an obstacle. The object is misjudged.
  • the gyroscope is set on the drone, the tilt amount of the drone is detected, and the detection horizon is angularly compensated according to the tilt amount, so that the detection horizon points to the current motion direction or the pre-motion direction. In front of.
  • another obstacle avoiding measure adopted by the unmanned driving device is: moving in the opposite direction to the current moving direction or the pre-moving direction.
  • the obstacle is obstacle
  • the unmanned driving device moves in the opposite direction of the current moving direction or the pre-moving direction or stops the emergency braking.
  • the obstacle avoidance mode in the present embodiment is not limited to the unmanned device responding to the obstacle avoidance reaction in an emergency situation, and can also be applied to a narrow motion space or a motion loop. In a more complex sports environment.
  • the obstacle avoidance mode in the present embodiment adopts a bionic obstacle avoidance mode, and the imitation organisms can avoid obstacles at the fastest speed to ensure the safety of the unmanned device.
  • the unmanned device control unit presets the safety distance threshold, that is, the shortest distance to the obstacle, and the distance of the unmanned device from the obstacle is less than the safety threshold, the unmanned device makes an obstacle avoidance reaction.
  • the safety distance threshold is set to two meters, but is not limited thereto, and the safety distance threshold can be modified correspondingly according to the movement speed of the unmanned driving device.
  • the unmanned device moves in the opposite direction of the current moving direction or the pre-moving direction, and after the reverse movement reaches the safe distance threshold, the unmanned device resumes normal motion, and it should be noted that even when the user is controlled by radio Underneath, the unmanned equipment will not cross the safety distance threshold and be close to obstacles.
  • the obstacle avoidance method in the present embodiment is not limited to the unmanned driving device responding to the obstacle avoidance reaction in an unexpected situation, and can also be applied to a sports environment in which the motion space is relatively small or the motion environment is relatively complicated.
  • the obstacle avoidance mode in the present embodiment adopts a bionic obstacle avoidance mode, and the imitation organisms can avoid obstacles at the fastest speed to ensure the safety of the unmanned device.
  • the obstacle detecting device when the obstacle detecting device detects the presence of an obstacle, it moves in the vertical direction of the current moving direction or the pre-moving direction, or moves in the opposite direction of the current moving direction or the pre-moving direction, and the two obstacle avoiding modes are not According to the specific application scenarios, the above two obstacle avoidance methods are used flexibly.
  • the obstacle includes, in addition to the visible physical obstacle, a prohibited entry area.
  • No entry areas include (not limited to): no-fly zone, danger zone or no-fly zone.
  • the control unit of the driverless device is loaded with an electronic map, and the electronic map is marked with a coordinate range prohibiting the entry area.
  • the control unit continuously acquires the driverless driving.
  • the GPS coordinate signal of the device when detecting that the distance of the unmanned device from the boundary of the forbidden entry reaches the safety distance threshold, the unmanned device stops moving or returns to the original path.
  • the unmanned devices described in this embodiment include, without limitation, drones, unmanned vehicles, unmanned vehicles, RC airplanes, or land robots.
  • a motion device includes: an obstacle avoidance unit 2 and a motion unit 1.
  • the obstacle avoidance unit 2 is configured to detect an obstacle, and the detection horizon of the obstacle avoidance unit 2 is rotatable; the motion unit 1 is configured to carry the obstacle avoidance unit 2 for motion; and the obstacle avoidance unit 2 rotates the detection horizon to the motion unit After the current moving direction or the pre-moving direction, the obstacle avoiding unit 2 detects whether there is an obstacle in the current moving direction or the spatial environment in the pre-moving direction, and when detecting the presence of the obstacle, the moving unit 1 avoids the obstacle. .
  • the obstacle avoidance unit 2 includes: a detecting module 21 and a rotating module 22, wherein the detecting module 21 is configured to detect whether there is an obstacle in the current moving direction or the spatial environment in the pre-moving direction; the rotating module 22 is configured to drive the detecting module 21 to rotate.
  • the detection horizon of the detection module 21 is rotated to the current direction of motion or the direction of pre-motion.
  • the motion unit 1 includes a motion carrier 11, a control module 12, a wireless communication module 13, and a storage module 14.
  • the motion carrier 11 is a hardware structure in which the obstacle avoidance unit 2 is mounted and mechanically moved.
  • the control module 12 and the storage module 14 are both disposed in the body. It should be noted that the storage module 14 can be integrated on the control module 12.
  • the components can also be two different devices having a connection relationship, and the methods respectively expressed in the present embodiment are used for convenience of description.
  • the storage module 14 is configured to store an instruction for controlling the motion of the motion carrier 11 and the motion environment information collected by the detection module 21, and the control module 12 is respectively connected to the motion carrier 11, the wireless communication module 13, the storage module 14, and the rotation module 22, and the control module 12 passes
  • the wireless communication module 13 receives the wireless control command or controls the motion carrier 11 through a preset motion path stored in the storage module 14, and simultaneously controls the rotating device, and the rotating device drives the detecting module 21 to rotate, so that the detection horizon of the detecting module 21 is rotated. To the current direction of motion or pre-motion direction.
  • the exercise device described in this embodiment includes (not limited to): drone, unmanned vehicle, unmanned ship, navigation On a die or land robot.
  • a drone includes a drone body 3 and an obstacle avoidance detecting device 4.
  • the obstacle avoidance detecting device 4 is configured as a rotatable structure, and the obstacle avoidance detecting device 4 is mounted on the unmanned vehicle body 3; in use, the obstacle avoidance detecting device 4 rotates the detecting horizon to the current moving direction of the drone body 3. Or the pre-movement direction, the obstacle avoidance detecting device 4 detects whether there is an obstacle in the current moving direction of the UAV body 3 or the space environment in the pre-moving direction, and when the obstacle is detected, the UAV body 3 avoids the obstacle. obstacle.
  • the obstacle avoidance detecting device 4 includes: a first base 41, a rotating member 46 and a detecting member 48, wherein the rotating member 46 is a rotating motor, and specifically, the rotating motor is selected (not limited to) without brush The motor is used as a power source.
  • One end of the first base 41 is mounted on the UAV body 3 and the other end is suspended.
  • One end of the rotating member 46 is mounted on the other end of the hanging end of the first base 41 and connected to the detecting member 48.
  • the control module 32, the storage module 31, the wireless communication module 33 and the power source 34 are disposed inside the UAV body 3.
  • the storage module 31 and the detecting component 48 are connected by a first wire (not shown), and the control module 32 passes through the second wire (
  • the control module 32 is also connected to the storage module 31, the wireless communication module 33, and the power source 34, and the power source 34 and the obstacle avoidance device 4 and the power devices in the drone body 3 have connection.
  • one end of the first base 41 in contact with the UAV body 3 is a cylindrical body. During the upward extension of the cylindrical body, the edges thereof are spread to the periphery to form a flared floating end, and the shape of the floating end is quadrangular.
  • the first base 41 is hollow inside, and one end end of the first base 41 contacting the UAV body 3 is provided with a seal, and the seal is provided with three through holes, and the three through holes are sequentially arranged as follows: The hole 411, the second through hole 412 and the third through hole 413. As shown in FIG.
  • the first base 41 is internally provided with a transfer terminal 42 fixed to one end end of the first base 41 contacting the UAV body 3 , and the adapter of the transfer terminal 42
  • the 421 is protruded from the second through hole 412.
  • the upper surface of the drone body 3 is indented to form a first
  • the base of the base 41 is grooved, and the central position of the bottom of the slot of the first base 41 is raised to form a transfer port that cooperates with the transfer terminal 42.
  • the transfer terminal 42 is connected to the third wire (not shown), and the other end of the third wire is connected.
  • the rotating member 46 is connected, and the transfer port is connected to the control module 32 and the storage module 31, respectively.
  • the first base 41 is further provided with a bracket 43.
  • the first claw 431 and the second claw 432 are formed at the side of the bracket 43.
  • the first claw 431 and the second claw 432 are at the end.
  • the bending deformation shortens the distance between the first claw 431 and the second claw 432, and the first claw 431 and the second claw 432 respectively protrude from the first through hole 411 and the second through hole 412, and no one
  • the machine body 3 is provided with a latching interface with the card connector on both sides of the slot of the first base 41.
  • the bracket 43 is hollow inside, and a first opening (not labeled) is disposed on a side of the first base 41 , a slip ring 44 is mounted in the first opening, and a third ring is connected to one end of the slip ring 44 .
  • the wire is connected to the other end with a second wire.
  • One end of the bracket 43 is provided with a PCB circuit board 45 fixed at one end end thereof, a rotating motor is fixed on the PCB circuit board 45, a second base 5 is connected to the other end of the rotating motor, and the other end of the second wire is connected to the PCB. On the circuit board 45.
  • the two terminals of the rotary motor are fixed to the PCB circuit board 45 by soldering, one end of the first wire is also connected to the PCB circuit board 45, and the other end of the first wire is connected to the detecting member 48.
  • the PCB circuit board 45 serves as a carrier of the rotary motor control circuit in the present embodiment, and the control module 32 is connected to the adapter plate of the detecting member 48.
  • the first base plate 41 is provided with a first cover plate 47.
  • the first cover plate 47 is provided with a circular through hole (not labeled), and one end of the rotary motor connected to the detecting member 48 protrudes from the circular through hole.
  • the obstacle avoidance detecting device 4 includes: a second base 5, one end of which is connected above the first base, the other end is suspended, the second base 5 is U-shaped, and the detecting member 48 is disposed at Inside the second pedestal.
  • the detecting member 48 includes a detecting housing 481, a detecting sensor 49 disposed inside the detecting housing 481, and a steering gear 485, wherein the detecting housing is a spherical housing.
  • the detecting sensor 49 is an infrared sensor, an ultrasonic sensor or a laser sensor, and the detecting sensor 49 is configured to detect whether there is an obstacle or a distance between the obstacle and the unmanned body 3 in the current moving path or the pre-moving path of the drone body 3. .
  • the detecting sensor 49 is not limited thereto, and in some alternative embodiments, the detecting sensor 49 is a combination of a camera and any one of an infrared sensor, an ultrasonic sensor, or a laser sensor.
  • the inside of the detection housing is fixed, and at least one end of the steering gear protrudes from the detection housing and is connected with the second base.
  • the steering gear is used to control the detection housing for rotation, and the drone has a forward in the process of flight obstacle avoidance.
  • the detection horizon of the detecting sensor 49 is simultaneously tilted forward, and the detecting sensor 49 is easily lost to the detection horizon directly in front of the current moving direction, and thus the front of the moving direction cannot be detected.
  • Obstructions when damage is caused to the drone or when flying at low altitude, the ground is detected and the ground is misjudged as an obstacle.
  • the steering gear is used to rotate the detecting housing 481 to compensate for the amount of forward tilt during the flight of the drone, so that the detection horizon of the detecting sensor 49 always points directly in front of the moving direction.
  • the detecting member 48 is coupled to the second shaft of the second base shaft.
  • the detecting housing 481 includes a first housing 482 and a second housing 483.
  • the second housing 486 is defined in a side of the first housing.
  • the detecting interface of the detecting sensor 49 is directed to the second opening, and the second opening 486 is provided with a lens 484.
  • the direction in which the lens 484 is located is the direction in which the detecting interface 48 of the detecting member 48 is oriented.
  • the detection horizon of the detecting member 48 always points to the current moving direction of the UAV body 3.
  • the control module 32 provided in the UAV body 3 reads the preset flight path in the storage module 31, and the control module 32 passes the preset The motion path controls the drone body 3 to fly, or controls the drone body 3 to move by receiving a wireless control command.
  • the adjustment method of detecting the visual field of the detecting member 48 in two different flight mode situations is separately discussed below.
  • the control module 32 controls the rotation of the UAV body 3 while controlling the rotation motor to drive the detecting member 48 to rotate, so that the detecting member 48 is detected.
  • the horizon is rotated synchronously to the direction of motion after the change.
  • the control module 32 receives the wireless control command by the wireless communication module 33 to control the drone body 3 to perform motion
  • the drone body 3 is controlled by a person by wireless remote control, and the control module 32 receives the wireless control command and responds to the control.
  • the command is changed in direction, and the control module 32 controls the rotation motor to drive the detecting member 48 to rotate, so that the detection horizon of the detecting member 48 is synchronously rotated to the backward moving direction.
  • the detection horizon of the detecting member 48 always points to none.
  • the current pre-movement direction of the human-machine body 3 the control module 32 provided in the UAV body 3 reads the preset flight path in the storage module 31, and the control module 32 controls the UAV body 3 through the preset motion route. The flight is performed, or the drone body 3 is controlled to move by receiving a wireless control command.
  • the adjustment manner of detecting the visual field of the detecting member 48 in two different motion mode situations is separately discussed below.
  • the control module 32 controls the UAV body 3 to move through the preset motion route, the control module 32 determines the motion path through the electronic map pre-existing therein, and then determines the UAV body 3 in the electronic map through the GPS positioning system.
  • the position of the detecting unit 48 is sent to the rotating motor by the rotating motor before the control module 32 adjusts the moving direction of the drone body 3 when the drone body 3 is in the position in the moving path that needs to be changed in the traveling direction.
  • the detection angle of the detecting member 48 is adjusted to the direction in which the unmanned body 3 is pre-moved by rotating.
  • the control module 32 receives the wireless control command to control the UAV body 3 to perform motion
  • the UAV body 3 is controlled by a person by wireless remote control
  • the control module 32 receives the wireless control command and controls the rotation motor to drive in response to the control command.
  • the detecting member 48 is first rotated to the pre-moving direction, and then the drone body 3 is controlled to be redirected.
  • the UAV body 3 can be moved in different directions without turning, detecting The horizon can also always face the current moving direction or the pre-moving direction of the drone body 3, which better ensures the safety of the drone.
  • the obstacle detecting device described in this embodiment can be used not only for the drone, but also for the obstacle detecting device according to the specific application environment (not limited to): an unmanned vehicle, an unmanned ship, a model airplane or a land. On the robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de détection d'évitement d'obstacle comprenant les étapes suivantes : la rotation d'un champ de vision de détection dans une direction de mouvement actuelle ou une direction de mouvement préliminaire (S1); la détection de l'existence d'un obstacle dans un environnement spatial dans la direction de mouvement actuelle ou dans la direction de mouvement préliminaire, et l'arrêt du déplacement ou l'évitement de l'obstacle lorsqu'il est détecté que l'obstacle existe (S2). En faisant en sorte que le champ de vision de détection d'un appareil de détection d'évitement d'obstacle soit rotatif et en faisant en sorte que le champ de vision de détection soit toujours tourné vers la direction de mouvement actuelle ou la direction de mouvement préliminaire, un dispositif aérien sans pilote peut se déplacer dans différentes directions sans pilotage, et le champ de vision de détection peut également toujours être tourné vers la direction de mouvement actuelle ou la direction de mouvement préliminaire du dispositif aérien sans pilote, et par conséquent, la sécurité de mouvement du dispositif aérien sans pilote est mieux assurée.
PCT/CN2016/090132 2016-07-15 2016-07-15 Procédé de détection d'évitement d'obstacle, appareil mobile et véhicule aérien sans pilote WO2018010164A1 (fr)

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CN110386230A (zh) * 2019-08-20 2019-10-29 广州拓浪智能应急科技有限公司 一种雷达避障装置和系统
FR3087134A1 (fr) * 2018-10-10 2020-04-17 Parrot Drones Ensemble de detection d'obstacle pour drone, drone equipe d'un tel ensemble de detection d'obstacle et procede de detection d'obstacle
CN112306093A (zh) * 2020-10-30 2021-02-02 卓旺(安徽)航空科技产业股份有限公司 特高压电网无人机自主自动通道巡检系统
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CN113910223A (zh) * 2021-09-29 2022-01-11 广东核电合营有限公司 核电站空中巡查系统、方法、机器人及存储介质
CN117428774A (zh) * 2023-11-23 2024-01-23 中国船舶集团有限公司第七一六研究所 一种用于船舶巡检的工业机器人控制方法及系统

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FR3087134A1 (fr) * 2018-10-10 2020-04-17 Parrot Drones Ensemble de detection d'obstacle pour drone, drone equipe d'un tel ensemble de detection d'obstacle et procede de detection d'obstacle
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CN113903154A (zh) * 2021-10-20 2022-01-07 广东电网有限责任公司惠州供电局 一种防触碰输电线的报警方法及系统
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CN117428774A (zh) * 2023-11-23 2024-01-23 中国船舶集团有限公司第七一六研究所 一种用于船舶巡检的工业机器人控制方法及系统

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