WO2020143576A1 - 调整机载雷达的主探测方向的方法、装置和无人机 - Google Patents

调整机载雷达的主探测方向的方法、装置和无人机 Download PDF

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Publication number
WO2020143576A1
WO2020143576A1 PCT/CN2020/070480 CN2020070480W WO2020143576A1 WO 2020143576 A1 WO2020143576 A1 WO 2020143576A1 CN 2020070480 W CN2020070480 W CN 2020070480W WO 2020143576 A1 WO2020143576 A1 WO 2020143576A1
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WIPO (PCT)
Prior art keywords
airborne radar
drone
main detection
detection direction
gimbal
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PCT/CN2020/070480
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English (en)
French (fr)
Inventor
梁宏亮
刘康
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深圳市道通智能航空技术有限公司
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Publication of WO2020143576A1 publication Critical patent/WO2020143576A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver

Definitions

  • the embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular, to a method and device for adjusting the main detection direction of an airborne radar and an unmanned aerial vehicle.
  • UAV is an unmanned aircraft that controls flight attitude through radio remote control equipment and built-in programs. Due to its advantages of flexible maneuverability, fast response, unmanned driving, and low operating requirements, it is widely used in aerial photography, Plant protection, power inspection, disaster relief and many other fields.
  • the inventor found that the airborne radar currently on the market is easily affected by the flying attitude of the drone and cannot perform effective obstacle detection.
  • embodiments of the present invention provide a method, device, and drone for adjusting the main detection direction of an airborne radar, so as to more effectively detect obstacles in front of the drone.
  • the embodiments of the present invention provide the following technical solutions:
  • an embodiment of the present invention provides a method for adjusting the main detection direction of an airborne radar, which is applied to an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a gimbal and an airborne radar provided on the gimbal.
  • Methods include:
  • the flight information includes at least one of the current pitch angle and flight height of the drone
  • the main detection direction of the airborne radar is adjusted through the gimbal so that the airborne radar can detect obstacles in the flight direction of the drone.
  • the flight information includes the current pitch angle of the drone; then, according to the flight information, the main detection direction of the airborne radar is adjusted through the gimbal to make the aircraft
  • the onboard radar can detect obstacles in the flying direction of the UAV, including:
  • the main detection direction of the airborne radar is adjusted through the gimbal so that the main detection direction of the airborne radar is parallel to the ground.
  • the flight information further includes a pitch angle command received by the drone, and then, based on the flight information, the main detection direction of the airborne radar is adjusted through the gimbal so that The airborne radar can detect obstacles in the flying direction of the drone, including:
  • the main detection direction of the airborne radar is adjusted through the gimbal according to the flight information, so that the airborne radar can detect obstacles in the flying direction of the drone, Also includes:
  • the main detection direction of the airborne radar is adjusted through the gimbal according to the current pitch angle of the drone, so that the The main detection direction of the airborne radar is parallel to the ground.
  • the flight information includes: a flight height h, then, according to the flight information, the main detection direction of the airborne radar is adjusted through the gimbal, so that the airborne radar can detect
  • the obstacles in the flight direction of the drone include:
  • the flying height h is less than or equal to the altitude threshold H th , according to the flying height h, adjust the main detection direction of the airborne radar through the gimbal to prevent the airborne radar from detecting the ground;
  • the height threshold H th is determined according to the detection distance L and the vertical detection angle ⁇ of the airborne radar.
  • the adjusting the main detection direction of the airborne radar through the gimbal according to the flying height h to prevent the airborne radar from detecting the ground includes:
  • the gimbal includes an electronic governor and a stepper motor, then,
  • adjusting the main detection direction of the airborne radar through the gimbal so that the airborne radar can detect obstacles in the flight direction of the drone includes:
  • the electronic governor instruct the electronic governor to control the stepper motor to adjust the main detection direction of the airborne radar so that the airborne radar can detect obstacles in the flight direction of the drone Thing.
  • an embodiment of the present invention provides a device for adjusting the main detection direction of an airborne radar, which is applied to an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes a gimbal and an airborne radar provided on the gimbal.
  • the device includes:
  • An information acquisition unit configured to acquire flight information of the drone in real time, wherein the flight information includes at least one of the current pitch angle and flight height of the drone;
  • the adjusting unit is configured to adjust the main detection direction of the airborne radar through the gimbal based on the flight information, so that the airborne radar can detect obstacles in the flying direction of the drone.
  • the flight information includes: the current pitch angle of the drone; then, the adjustment unit is specifically used to:
  • the main detection direction of the airborne radar is adjusted through the gimbal so that the main detection direction of the airborne radar is parallel to the ground.
  • the flight information further includes: a pitch angle command received by the drone, and the adjustment unit is specifically configured to:
  • the adjustment unit is also used to:
  • the main detection direction of the airborne radar is adjusted through the gimbal according to the current pitch angle of the drone, so that the The main detection direction of the airborne radar is parallel to the ground.
  • the flight information includes: flight height h
  • the adjustment unit is specifically configured to:
  • the flying height h is less than or equal to the altitude threshold H th , according to the flying height h, adjust the main detection direction of the airborne radar through the gimbal to prevent the airborne radar from detecting the ground;
  • the height threshold H th is determined according to the detection distance L and the vertical detection angle ⁇ of the airborne radar.
  • the adjustment unit is specifically used for:
  • the main detection direction of the airborne radar is adjusted upward through the gimbal so that the angle ⁇ between the main detection direction of the airborne radar and the horizontal plane satisfies :
  • the gimbal includes an electronic governor and a stepper motor, then the adjustment unit is specifically used to:
  • the electronic governor instruct the electronic governor to control the stepper motor to adjust the main detection direction of the airborne radar so that the airborne radar can detect obstacles in the flight direction of the drone Thing.
  • an embodiment of the present invention provides a drone, including:
  • PTZ which is set on the fuselage
  • Airborne radar which is fixedly installed on the gimbal;
  • At least one processor which is disposed in the fuselage and is in communication connection with the gimbal;
  • the device can perform the method of adjusting the main detection direction of the airborne radar as described above;
  • the at least one processor adjusts the main detection direction of the airborne radar by instructing the gimbal.
  • the gimbal includes an electronic governor and a stepper motor, then,
  • the at least one processor adjusting the main detection direction of the airborne radar by instructing the gimbal includes:
  • the at least one processor controls the stepper motor by instructing the electronic governor to adjust the main detection direction of the airborne radar.
  • an embodiment of the present invention further provides a non-transitory computer-readable storage medium.
  • the non-transitory computer-readable storage medium stores computer-executable instructions.
  • the computer-executable instructions are used to make unmanned The aircraft performs the method of adjusting the main detection direction of the airborne radar as described above.
  • an embodiment of the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program When the instruction is executed by the unmanned aerial vehicle, the unmanned aerial vehicle performs the method for adjusting the main detection direction of the airborne radar as described above.
  • the beneficial effects of the embodiments of the present invention are: different from the situation in the prior art, the method, device and drone for adjusting the main detection direction of the airborne radar provided by the embodiments of the present invention can be adapted to different real-time flight states of the drone Adjust the main detection direction of the airborne radar, so that the airborne radar can detect obstacles in the flight direction of the drone, improve the effective detection effect of the airborne radar in the obstacle avoidance system, and complete the obstacle avoidance function more safely .
  • FIG. 1 is a schematic structural diagram of one of the drones provided by an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the internal structure of the fuselage of the drone shown in FIG. 1;
  • FIG. 3 is a schematic flowchart of a method for adjusting a main detection direction of an airborne radar according to an embodiment of the present invention
  • FIG. 4(a) is an exemplary diagram of a flying direction of a drone provided by an embodiment of the present invention.
  • 4(b) is an exemplary diagram of another flying direction of a drone provided by an embodiment of the present invention.
  • FIG. 5 is an example diagram of adjusting the main detection direction of the airborne radar based on the flight direction shown in FIG. 4(a);
  • 6(a) is an exemplary diagram of a drone in a low-altitude flight state provided by an embodiment of the present invention
  • 6(b) is an example diagram of adjusting the main detection direction of the airborne radar based on the low-altitude flight state shown in FIG. 6(a);
  • FIG. 7 is a schematic structural diagram of an apparatus for adjusting a main detection direction of an airborne radar according to an embodiment of the present invention.
  • the obstacles that affect the flight of the drone are mainly obstacles located in the flying direction of the drone (that is, obstacles located in the direction of the target's progress), and deviate Obstacles in the flight direction of the drone have little effect on the flight of the drone. Therefore, in the UAV obstacle avoidance system, detecting obstacles in the flying direction of the UAV and/or removing false obstacle alarms is effective obstacle detection.
  • airborne radars are generally fixedly installed on drones, which are easily affected by the flying attitude of the drones and cannot effectively detect obstacles.
  • the drone has a large pitch angle due to factors such as bumps and high-speed flight during the flight of a horizontal plane (for example, the pitch angle of the drone is ⁇ 20° at this time)
  • the airborne The vertical detection angle of the radar is smaller than the pitch angle (for example, the vertical detection angle of the airborne radar is ⁇ 10°)
  • the main detection direction of the airborne radar will deviate from the flying direction of the drone, so that the flight of the drone cannot be Obstacles in the direction are effectively detected.
  • the airborne radar has a certain vertical detection angle of view, when the drone is flying at low altitude, it is easy to misinterpret the sensed ground clutter as an obstacle, which also reduces the effectiveness of obstacle detection .
  • the embodiments of the present invention provide a method, device and drone for adjusting the main detection direction of an airborne radar.
  • the method and device for adjusting the main detection direction of the airborne radar can be applied to any type of unmanned aerial vehicle, such as: four-rotor unmanned aerial vehicle, fixed-wing unmanned aerial vehicle, tilt-rotor unmanned aerial vehicle, etc.
  • the airborne radar may be installed on the body of the drone through a gimbal.
  • FIG. 1 is a schematic structural diagram of one of the unmanned aerial vehicles according to an embodiment of the present invention.
  • the unmanned aerial vehicle 100 includes: a fuselage 11, a gimbal 12, and an airborne radar 13.
  • the gimbal 12 is disposed on the fuselage 11, and the airborne radar 13 is fixedly installed on the gimbal 12.
  • the fuselage 11 may also be equipped with a power device for providing lift or power to the drone 100, and various sensors (for example, temperature sensors) for acquiring information about the environment in which the drone 100 is located , Wind speed sensor, height sensor, etc.), a camera for collecting image information and other various functional components, which are not limited in the embodiments of the present invention.
  • a power device for providing lift or power to the drone 100
  • various sensors for example, temperature sensors
  • Wind speed sensor for height sensor
  • a camera for collecting image information and other various functional components, which are not limited in the embodiments of the present invention.
  • the inside of the body 11 may be provided with circuit components for realizing various functions.
  • the inside of the body 11 may be provided with at least one processor 101 (a processor is taken as an example in FIG. 2) and a memory 102 that are communicatively connected through a system bus or other means.
  • the processor 101 is used to provide calculation and control capabilities to control the flying of the drone 100 and perform related tasks, for example, to control the drone 100 to execute any adjustment machine provided in the embodiment of the present invention
  • the main detection direction of the radar is used to provide calculation and control capabilities to control the flying of the drone 100 and perform related tasks, for example, to control the drone 100 to execute any adjustment machine provided in the embodiment of the present invention.
  • the memory 102 as a non-transitory computer-readable storage medium can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as adjusting the main detection of the airborne radar in the embodiment of the present invention
  • the processor 101 can implement the method for adjusting the main detection direction of the airborne radar in the following method embodiments by running non-transitory software programs, instructions, and modules stored in the memory 102.
  • the memory 102 may include a high-speed random access memory, and may further include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 102 may further include memories remotely provided with respect to the processor 101, and these remote memories may be connected to the processor 101 through a network.
  • Examples of the above network include but are not limited to the Internet, intranet, local area network, mobile communication network, and combinations thereof.
  • the inside of the fuselage 11 may further include a flight control module for controlling the power device to adjust the flying attitude of the drone, an inertial navigation module for monitoring the flying attitude of the drone 100, and
  • the Beidou module for navigation and the data processing module for processing data acquired by related airborne devices are also not limited in this embodiment of the present invention.
  • the gimbal 12 may be any device capable of adjusting the main detection direction of the airborne radar 13 in real time, and it may specifically include an electronic speed regulator 121 and a stepper motor 122.
  • the electronic governor 121 is in communication with the processor 101, and can control the stepper motor 122 to rotate by a corresponding angle according to the control information (for example, adjusting the angle) sent by the processor 101, thereby realizing the airborne radar 13 Adjustment of the main detection direction.
  • the airborne radar 13 may be any type of radio detection equipment capable of implementing obstacle detection functions, which may include, but is not limited to: millimeter wave radar, microwave radar, digital wave radar, laser radar, and the like. In the embodiments of the present invention, the airborne radar 13 is mainly used to detect obstacles in front of the drone 100 as an example for description.
  • the drone 100 can obtain the flight information of the drone 100 in real time during the flight (for example, a drone Current pitch angle, yaw angle, flight altitude, flight control information, etc.), and according to the flight information, adjust the main detection direction of the airborne radar 13 through the gimbal 12 when necessary, so that all The airborne radar 13 can detect obstacles in the flying direction of the drone 100.
  • the flight information of the drone 100 for example, a drone Current pitch angle, yaw angle, flight altitude, flight control information, etc.
  • the embodiments of the present invention can adapt to the different flying attitudes of the drone to adjust the main detection direction of the airborne radar in real time, so that the airborne radar can detect obstacles in the flying direction of the drone, thereby lifting the aircraft
  • the effective detection effect of the radar carried in the obstacle avoidance system can complete the obstacle avoidance function more safely.
  • the structure of the above-mentioned drone 100 is for illustrative purposes only. In practical applications, the method and related device for adjusting the main detection direction of an airborne radar provided by embodiments of the present invention can be further expanded. In other suitable drones, it is not limited to the drones 100 shown in FIG. 1.
  • the main detection direction of the airborne radar is adjusted by the gimbal mainly because the structure of the gimbal is simple and the controllability is strong; in some other embodiments, the structure can also be adjusted by other structures.
  • the main detection direction of the radar is for illustrative purposes only. In practical applications, the method and related device for adjusting the main detection direction of an airborne radar provided by embodiments of the present invention can be further expanded. In other suitable drones, it is not limited to the drones 100 shown in FIG. 1.
  • the main detection direction of the airborne radar is adjusted by the gimbal mainly because the structure of the gimbal is simple and the controllability is strong; in some other embodiments, the structure can
  • FIG. 3 is a schematic flowchart of a method for adjusting a main detection direction of an airborne radar according to an embodiment of the present invention. Specifically, please refer to FIG. 3, the method may include but not limited to the following steps:
  • Step 110 Obtain the flight information of the drone in real time.
  • the “flight information” refers to information related to the flight status of the drone, for example, the current pitch angle, yaw angle, flight altitude, flight control information, etc. of the drone.
  • the UAV may be subject to various internal/external factors (for example, being in high-speed flight mode, encountering vertical airflow and causing bumps, etc.) to shake up and down, resulting in a certain pitch angle .
  • the pitch angle ⁇ may cause the airborne radar to fail to effectively detect obstacles X in the flying direction of the drone (or directly in front of the drone).
  • the flight information may include the current pitch angle of the drone.
  • the current pitch angle of the drone can be obtained by reading the data of the drone's inertial navigation system. It should be noted that, in the embodiment of the present invention, the "current drone angle of the drone" refers to the actual pitch angle of the drone currently collected.
  • some drones may have an oblique upward/oblique downward flight mode.
  • these drones fly obliquely upward/obliquely downward, their The pitch angle will also change accordingly, but at this time, as shown in FIG. 4(b), the actual flying direction of the drone is no longer on the horizontal plane where the drone is located, but is consistent with the direction of the nose. Therefore, in order to accurately distinguish the actual flight direction of the drone, in this embodiment, the flight information may further include: a pitch angle command received by the drone.
  • the "pitch angle command" is one of the flight control information received by the drone (that is, the relevant control information used to control the drone to fly in a specific attitude), which is used to control the drone to Angle of flight.
  • the pitch angle instruction may be obtained from the flight control module of the drone.
  • the target heading direction of the drone can be accurately determined, thereby determining whether the current pitch angle of the drone is caused by a change in the flight direction, or is due to internal/external factors Interference.
  • Step 120 Adjust the main detection direction of the airborne radar according to the flight information, so that the airborne radar can detect obstacles in the flight direction of the drone.
  • the main detection direction of the airborne radar is adjusted according to the flight information, so that the airborne radar is not affected by the flying attitude of the drone, and continuously monitors and detects obstacles in the flying direction of the drone.
  • the "obstacle in the direction of flight” refers to an obstacle located in the direction of the target's heading, such as obstacle X in Figure 4(a), or, as shown in Figure 4(b) Obstacle Y.
  • this step 120 may be implemented in different ways according to different actual application scenarios or types of drones.
  • the flight information may include only the current pitch angle of the drone. Therefore, in this embodiment, the main detection direction of the airborne radar can be adjusted only according to the current pitch angle of the drone.
  • the main detection direction of the airborne radar can be adjusted according to the current pitch angle of the drone, In order to make the main detection direction of the airborne radar parallel to the ground.
  • the "main detection direction” is the direction where the main beam of the airborne radar is located, and the "ground” is parallel to the plane where the drone is located by default, so that the main detection direction of the airborne radar is The ground is parallel, which means that the main detection direction of the airborne radar is consistent with the target forward direction of the drone.
  • the current pitch angle of the drone can also be determined first
  • the pitch angle adjusts the main detection direction of the airborne radar so that the main detection direction of the airborne radar is parallel to the ground; if not, it means that obstacles in the flying direction of the drone are still within the detection range of the airborne radar In order to avoid frequent adjustment of the main detection direction of the airborne radar, no adjustment is necessary at this time.
  • the factors that cause the drone's pitch angle to change include interference with the flight direction adjustment.
  • the flight information obtained in step 110 above also includes the pitch angle command received by the drone. Therefore, in this embodiment, the main detection direction of the airborne radar can be adjusted in combination with the current pitch angle of the drone and the pitch angle command received by the drone.
  • the drone's current pitch angle is consistent with the pitch angle command (that is, whether the drone's current pitch angle is the same as the adjustment angle specified in the pitch angle command)
  • the actual flight direction is adjusted based on the actual flight direction of the drone.
  • the current pitch angle of the drone is consistent with the pitch angle command, it means that the current pitch angle of the drone is the result of the drone adjusting the flight direction.
  • the actual flight direction of the drone is parallel to the fuselage (As shown in Figure 4(b)); If the current pitch angle of the drone is inconsistent with the pitch angle command, it means that the current pitch angle of the drone is the jitter caused by the interference of internal/external factors. It can be considered that the actual flight direction of the UAV is still on the horizontal plane (as shown in Figure 4(a)).
  • the main detection direction of the airborne radar may not be adjusted; or, in order to correct the main detection direction of the airborne radar at the last moment and the direction of the nose In case of inconsistency, the main detection direction of the airborne radar may also be adjusted so that the main detection direction of the airborne radar is parallel to the body of the drone.
  • the main detection direction of the airborne radar can be adjusted according to the current pitch angle of the drone, so that the main detection direction of the airborne radar Parallel to the ground.
  • the actual flight direction of the drone can be further clarified and the detection can be performed more effectively Obstacles in the actual flight direction of the drone.
  • the flight information may include: flight altitude, and then, adjusting the main detection direction of the airborne radar according to the flight information may specifically be: when the flight altitude is less than or equal to an altitude threshold , Adjust the main detection direction of the airborne radar according to the flying height to avoid the airborne radar from detecting the ground, but can detect obstacles in the flying direction of the drone.
  • the "height threshold” is a boundary line for determining whether the drone enters the low-altitude area, and its value can be determined according to the detection distance and the vertical detection angle of the airborne radar. For example, as shown in FIG. 6(a), assuming that the detection distance of the airborne radar is L and the vertical detection angle of view is ⁇ , then the height threshold H th may be: L tan ⁇ . When the flying height of the drone is less than or equal to the height threshold H th , the detection range of the airborne radar includes the ground, and the clutter reflected by the ground will cause false obstacle alarms. At this time, as shown in FIG. 6(b), the main detection direction of the airborne radar may be adjusted upward according to the current flying height h, so that the angle ⁇ between the main detection direction of the airborne radar and the horizontal plane satisfies:
  • various types of flight information including but not limited to: the current pitch angle of the drone, pitch angle commands, and flight altitude can also be integrated )Adjust the main detection direction of the airborne radar.
  • the drone For example, suppose that the drone is currently flying along a horizontal plane with a height h, the flying height h is lower than the height threshold H th , and the pitch angle of the drone is + ⁇ (where “+” indicates upward tilt and ⁇ is greater than The vertical detection angle ⁇ ) of the airborne radar, the main detection direction of the airborne radar is parallel to the fuselage, then, at this time, the main detection direction of the airborne radar can be adjusted downward as long as the influence of the pitch angle and the flying height is comprehensively considered, as long as Finally, the airborne radar can detect obstacles in the flying direction of the drone and prevent the airborne radar from detecting the ground.
  • the beneficial effect of the embodiment of the present invention is that the method for adjusting the main detection direction of the airborne radar provided by the embodiment of the present invention can be adapted to real-time adjustment of the main detection direction of the airborne radar in different flight states of the drone , So that the airborne radar can detect obstacles in the flying direction of the drone, thereby improving the effective detection effect of the airborne radar in the obstacle avoidance system and completing the obstacle avoidance function more safely.
  • the apparatus 70 is a schematic structural diagram of an apparatus for adjusting the main detection direction of an airborne radar provided by an embodiment of the present invention.
  • the apparatus 70 can be applied to any type of UAV.
  • the UAV includes a gimbal and a The PTZ's airborne radar.
  • the device 70 includes an information acquisition unit 71 and an adjustment unit 72.
  • the information obtaining unit 71 is used to obtain flight information of the drone in real time, wherein the flight information includes at least one of the current pitch angle and flight height of the drone;
  • the adjusting unit 72 is configured to adjust the main detection direction of the airborne radar through the gimbal according to the flight information, so that the airborne radar can detect obstacles in the flying direction of the drone.
  • the gimbal includes an electronic governor and a stepper motor, then, the adjusting unit 72 is specifically configured to instruct the electronic governor to control the step according to the flight information
  • the incoming motor adjusts the main detection direction of the airborne radar, so that the airborne radar can detect obstacles in the flying direction of the drone.
  • the flight information of the drone can be obtained in real time through the information acquisition unit 71; then the adjustment unit 72 can be used to adjust the main detection direction of the airborne radar through the cloud platform based on the flight information, to The airborne radar can detect obstacles in the flying direction of the drone.
  • the flight information includes: the current pitch angle of the drone; the adjustment unit 72 is specifically used to:
  • the main detection direction of the airborne radar is adjusted according to the current pitch angle of the drone, so that the main detection direction of the airborne radar is parallel to the ground.
  • the flight information further includes: a pitch angle command received by the drone.
  • the adjustment unit 72 is specifically configured to:
  • the adjustment unit 72 is further configured to: when the current pitch angle of the drone is inconsistent with the pitch angle command, according to the current pitch angle of the drone, pass The gimbal adjusts the main detection direction of the airborne radar so that the main detection direction of the airborne radar is parallel to the ground.
  • the flight information includes: flight altitude
  • the adjustment unit 72 is specifically configured to: when the flight altitude h is less than or equal to an altitude threshold H th , pass the flight altitude h according to the flight altitude h
  • the gimbal adjusts the main detection direction of the airborne radar to prevent the airborne radar from detecting the ground; wherein the height threshold H th is determined according to the detection distance L and the vertical detection angle ⁇ of the airborne radar.
  • the adjustment unit 72 is specifically used to:
  • the main detection direction of the airborne radar is adjusted upward through the gimbal so that the angle ⁇ between the main detection direction of the airborne radar and the horizontal plane satisfies :
  • the beneficial effect of the embodiment of the present invention is that the device for adjusting the main detection direction of an airborne radar provided in the embodiment of the present invention can be adapted to real-time adjustment of the main detection direction of an airborne radar in different flight states of a drone Therefore, the airborne radar can detect obstacles in the flying direction of the drone, improve the effective detection effect of the airborne radar in the obstacle avoidance system, and complete the obstacle avoidance function more safely.
  • the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units/modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • Embodiments of the present invention also provide a non-transitory computer-readable storage medium.
  • the non-transitory computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, for example , Executed by a processor 101 in FIG. 2, may cause the one or more processors to execute the method for adjusting the main detection direction of the airborne radar in any of the above method embodiments, for example, executing the above-described FIG. 3 Method steps 110 to 120.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • the computer program may be stored in a non-transitory computer.
  • the computer program includes program instructions, and when the program instructions are executed by the drone, the drone may be allowed to execute the processes of the embodiments of the above methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random storage memory (Random Access Memory, RAM), etc.
  • the above product can execute the method for adjusting the main detection direction of the airborne radar provided by the embodiments of the present invention, and has corresponding functional modules and beneficial effects for executing the method for adjusting the main detection direction of the airborne radar.
  • the method for adjusting the main detection direction of the airborne radar provided in this embodiment of the present invention.

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  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

一种调整机载雷达的主探测方向的方法、装置和无人机，该无人机包括云台和设于云台的机载雷达，该方法包括：实时获取无人机的飞行信息（110），其中，该飞行信息包括无人机当前的俯仰角和飞行高度中的至少一种；根据该飞行信息，通过云台调整机载雷达的主探测方向，以使机载雷达能够探测无人机的飞行方向上的障碍物（120）。通过该方法，能够提升机载雷达在避障系统中的有效检测效果，更加安全地完成避障功能。

Description

调整机载雷达的主探测方向的方法、装置和无人机 技术领域
本发明实施例涉及无人机技术领域，尤其涉及一种调整机载雷达的主探测方向的方法、装置和无人机。
背景技术
无人机是一种通过无线电遥控设备和内置的程序来控制飞行姿态的不载人飞机，由于其具有机动灵活、反应快速、无人驾驶、操作要求低等优点，现已广泛应用于航拍、植保、电力巡检、救灾等众多领域。
随着无人机的应用越来越广泛，无人机需要应对的外部环境越来越复杂，无人机可能遇到的障碍也越来越多。当前，为了保障飞行安全，无人机上一般会配置有避障系统。其中，机载雷达因其不受光线、气候等环境因素的影响并且能够进行远距离探测而广泛应用于无人机避障系统。
然而，在实现本发明的过程中，发明人发现：目前市面上的机载雷达容易受无人机的飞行姿态的影响而无法进行有效的障碍物探测。
发明内容
有鉴于此，本发明实施例提供一种调整机载雷达的主探测方向的方法、装置和无人机，以达到更加有效地探测无人机前方的障碍物的目的。
为解决上述技术问题，本发明实施例提供了如下技术方案：
第一方面，本发明实施例提供一种调整机载雷达的主探测方向的方法，应用于无人机，所述无人机包括云台和设于所述云台的机载雷达，所述方法包括：
实时获取无人机的飞行信息，其中，所述飞行信息包括所述无人机当前的俯仰角和飞行高度中的至少一种；
根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
可选地，所述飞行信息包括所述无人机当前的俯仰角；则，所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
可选地，所述飞行信息还包括所述无人机接收到的俯仰角指令，则，所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
当所述无人机当前的俯仰角与所述俯仰角指令一致时，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与所述无人机的机身平行。
可选地，所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，还包括：
当所述无人机当前的俯仰角与所述俯仰角指令不一致时，根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
可选地，所述飞行信息包括：飞行高度h，则，所述根据所述飞 行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
当所述飞行高度h小于或等于高度阈值H th时，根据所述飞行高度h，通过所述云台调整所述机载雷达的主探测方向，以避免所述机载雷达探测到地面；
其中，所述高度阈值H th根据所述机载雷达的探测距离L和垂直探测视角β确定。
可选地，所述根据所述飞行高度h，通过所述云台调整所述机载雷达的主探测方向，以避免所述机载雷达探测到地面，包括：
通过所述云台向上调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与水平面的夹角γ满足：
Figure PCTCN2020070480-appb-000001
可选地，所述云台包括电子调速器和步进电机，则，
所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
根据所述飞行信息，指示所述电子调速器控制所述步进电机调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
第二方面，本发明实施例提供一种调整机载雷达的主探测方向的装置，应用于无人机，所述无人机包括云台和设于所述云台的机载雷达，所述装置包括：
信息获取单元，用于实时获取无人机的飞行信息，其中，所述飞行信息包括所述无人机当前的俯仰角和飞行高度中的至少一种；
调整单元，用于根据所述飞行信息，通过所述云台调整所述机载 雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
可选地，所述飞行信息包括：所述无人机当前的俯仰角；则，所述调整单元具体用于：
根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
可选地，所述飞行信息还包括：所述无人机接收到的俯仰角指令，则，所述调整单元具体用于：
当所述无人机当前的俯仰角与所述俯仰角指令一致时，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与所述无人机的机身平行。
可选地，所述调整单元还用于：
当所述无人机当前的俯仰角与所述俯仰角指令不一致时，根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
可选地，所述飞行信息包括：飞行高度h，则，所述调整单元具体用于：
当所述飞行高度h小于或等于高度阈值H th时，根据所述飞行高度h，通过所述云台调整所述机载雷达的主探测方向，以避免所述机载雷达探测到地面；
其中，所述高度阈值H th根据所述机载雷达的探测距离L和垂直探测视角β确定。
可选地，所述调整单元具体用于：
当所述飞行高度h小于或等于高度阈值H th时，通过所述云台向上调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与水平面的夹角γ满足：
Figure PCTCN2020070480-appb-000002
可选地，所述云台包括电子调速器和步进电机，则，所述调整单元具体用于：
根据所述飞行信息，指示所述电子调速器控制所述步进电机调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
第三方面，本发明实施例提供一种无人机，包括：
机身，
云台，其设置于所述机身；
机载雷达，其固定安装于所述云台；
至少一个处理器，其设置于所述机身内，并与所述云台通信连接；以及，
与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的调整机载雷达的主探测方向的方法；
其中，所述至少一个处理器通过指示所述云台调整所述机载雷达的主探测方向。
可选地，所述云台包括电子调速器和步进电机，则，
所述至少一个处理器通过指示所述云台调整所述机载雷达的主探测方向，包括：
所述至少一个处理器通过指示所述电子调速器控制所述步进电机调整所述机载雷达的主探测方向。
第四方面，本发明实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使无人机执行如上所述的调整机载雷达的主 探测方向的方法。
第五方面，本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被无人机执行时，使所述无人机执行如上所述的调整机载雷达的主探测方向的方法。
本发明实施例的有益效果是：区别于现有技术的情况，本发明实施例提供的调整机载雷达的主探测方向的方法、装置和无人机能够适应于无人机的不同飞行状态实时调整机载雷达的主探测方向，从而使得机载雷达能够针对无人机的飞行方向上的障碍物进行探测，提升机载雷达在避障系统中的有效检测效果，更加安全地完成避障功能。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作简单地介绍。显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的其中一种无人机的结构示意图；
图2是图1所示的无人机的机身的内部结构示意图；
图3是本发明实施例提供的一种调整机载雷达的主探测方向的方法的流程示意图；
图4(a)是本发明实施例提供的一种无人机的飞行方向的示例图；
图4(b)是本发明实施例提供的另一种无人机的飞行方向的示例图；
图5是基于图4(a)所示的飞行方向调整机载雷达的主探测方 向的示例图；
图6(a)是本发明实施例提供的一种无人机处于低空飞行状态的示例图；
图6(b)是基于图6(a)所示的低空飞行状态调整机载雷达的主探测方向的示例图；
图7是本发明实施例提供的一种调整机载雷达的主探测方向的装置的结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
需要说明的是，如果不冲突，本发明实施例中的各个特征可以相互结合，均在本发明的保护范围之内。另外，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。
在实际应用中，会对无人机的飞行产生影响的障碍物主要是位于无人机的飞行方向上的障碍物(亦即，位于无人机的目标前进方向上的障碍物)，而偏离无人机的飞行方向的障碍物实质上对无人机的飞行影响不大。因此，在无人机避障系统中，探测到无人机的飞行方向上的障碍物和/或去除错误的障碍物报警才是有效的障碍物检测。
然而当前，机载雷达一般固定安装在无人机上，容易受无人机的飞行姿态的影响而无法进行有效的障碍物探测。比如，当无人机在某一水平面上飞行的过程中因为颠簸、高速飞行等因素而产生较大的俯仰角时(比如，此时无人机的俯仰角为±20°)，若机载雷达的垂直探 测视角小于该俯仰角(比如，机载雷达的垂直探测视角为±10°)，机载雷达的主探测方向就会偏离无人机的飞行方向，从而无法对无人机的飞行方向上的障碍物进行有效探测。又如，由于机载雷达具有一定的垂直探测视角，从而，当无人机在低空飞行时，容易将感测到的地面杂波误判为障碍物，其同样降低了障碍物探测的有效性。
有鉴于此，本发明实施例提供了一种调整机载雷达的主探测方向的方法、装置和无人机。其中，所述调整机载雷达的主探测方向的方法和装置可以应用于任意类型的无人机，比如：四旋翼无人机、固定翼无人机、倾转旋翼无人机等等。
其中，在本发明实施例中，机载雷达可以通过云台安装在无人机的机身上。在具体实施时，可以通过云台带动机载雷达转动以实现调整机载雷达的主探测方向的目的。
下面结合附图，对本发明实施例作进一步阐述。
图1是本发明实施例提供的其中一种无人机的结构示意图，该无人机100包括：机身11、云台12和机载雷达13。所述云台12设置于所述机身11，所述机载雷达13固定安装在所述云台12上。
具体地，所述机身11还可以搭载有用于为所述无人机100提供升力或动力的动力装置、用于获取所述无人机100所在环境的信息的各种传感器(比如，温度传感器、风速传感器、高度传感器等)、用于采集图像信息的摄像机等各种功能部件，本发明实施例对此不予限定。
所述机身11的内部可以设置有用于实现各种功能的电路组件。比如，如图2所示，所述机身11内部可以设置有：通过系统总线或者其他方式通信连接的至少一个处理器101(图2中以一个处理器为例)和存储器102。
其中，所述处理器101用于提供计算和控制能力，以控制所述无人机100飞行以及执行相关任务，例如，控制所述无人机100执行本 发明实施例提供的任意一种调整机载雷达的主探测方向的方法。
所述存储器102作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态性计算机可执行程序以及模块，如本发明实施例中的调整机载雷达的主探测方向的方法对应的程序指令/模块。所述处理器101通过运行存储在存储器102中的非暂态软件程序、指令以及模块，可以实现下述方法实施例中的调整机载雷达的主探测方向的方法。具体地，所述存储器102可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器102还可以包括相对于处理器101远程设置的存储器，这些远程存储器可以通过网络连接至处理器101。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
当然，在实际应用中，所述机身11的内部还可以包括用于控制动力装置调整无人机飞行姿态的飞行控制模块、用于监测无人机100的飞行姿态的惯性导航模块、用于导航的北斗模块以及用于处理相关机载设备(如：摄像机)所获取的数据的数据处理模块等等，本发明实施例对此同样不予限定。
所述云台12可以是任意能够实时调整机载雷达13的主探测方向的装置，其具体可以包括电子调速器121和步进电机122。所述电子调速器121与所述处理器101通信连接，能够根据所述处理器101发送的控制信息(比如，调整角度)，控制步进电机122转动相应的角度，从而实现对机载雷达13的主探测方向的调整。
所述机载雷达13可以是任意类型的能够实现障碍物探测功能的无线电探测设备，其可以包括但不限于：毫米波雷达、微波雷达、数字波雷达、激光雷达等。其中，在本发明实施例中，主要以所述机载雷达13用于探测所述无人机100的前方的障碍物为例进行说明。
在实际应用中，为了能够针对无人机100的飞行方向上的障碍物进行有效探测，所述无人机100在飞行的过程中可以实时获取无人机100的飞行信息(比如，无人机当前的俯仰角、偏转角、飞行高度、飞控信息等)，并根据所述飞行信息，在有需要的时候通过所述云台 12调整所述机载雷达13的主探测方向，以使所述机载雷达13能够探测所述无人机100的飞行方向上的障碍物。
通过上述方式，本发明实施例能够适应于无人机的不同飞行姿态实时调整机载雷达的主探测方向，使得机载雷达能够针对无人机的飞行方向上的障碍物进行探测，从而提升机载雷达在避障系统中的有效检测效果，更加安全地完成避障功能。
其中，需要说明的是，上述无人机100的结构仅是为了进行示例性说明，在实际应用中，本发明实施例提供的调整机载雷达的主探测方向的方法和相关装置还可以进一步拓展到其他合适的无人机中，而不限于如图1所示的无人机100。比如，在本实施例中，通过云台调整机载雷达的主探测方向主要是因为云台的结构简单且可控性较强；在其他的一些实施例中，也可以通过其他的结构调整机载雷达的主探测方向。
图3是本发明实施例提供的一种调整机载雷达的主探测方向的方法的流程示意图。具体的，请参阅图3，该方法可以包括但不限于如下步骤：
步骤110：实时获取无人机的飞行信息。
在本实施例中，所述“飞行信息”是指与无人机的飞行状态相关的信息，比如，无人机当前的俯仰角、偏转角、飞行高度、飞控信息等等。
其中，对于常用的无人机(比如，旋翼无人机)来说，通常只会在某一水平面或者垂直平面上飞行(比如，垂直上升/下降到某一高度后，在该高度所在水平面上飞行)，而不存在斜向上/斜向下飞行的模式，因此，可以认为：在理想状态下，无人机大多数时间在水平面上运动，无人机的俯仰角始终为0，并且只需关注无人机的正前方是否存在障碍物即可。然而，在实际飞行的过程中，无人机有可能会受到各种内/外界因素(比如，处于高速飞行模式、遇到垂直气流而产生颠簸等)的干扰而上下抖动，从而产生一定俯仰角。如图4(a)所示，该俯仰角α有可能会导致机载雷达无法有效探测无人机的飞行 方向上(或者说，无人机的正前方)的障碍物X。
由此可见，无人机当前的俯仰角是影响机载雷达有效探测障碍物的重要因素。因此，在一些实施例中，所述飞行信息可以包括无人机当前的俯仰角。具体地，在该实施例中，可通过读取无人机的惯性导航系统的数据，获取该无人机当前的俯仰角。其中，需要说明的是，在本发明实施例中，所述“无人机当前的俯仰角”是指当前采集到的无人机的实际俯仰角度。
进一步地，在另一些实施例中，一些无人机(比如，固定翼无人机)可能具备斜向上/斜向下的飞行模式，这些无人机在斜向上/斜向下飞行时，其俯仰角也会相应改变，但此时，如图4(b)所示，无人机的实际飞行方向不再位于无人机所在的水平面上，而是与机头方向一致。因此，为了能够准确分辨无人机的实际飞行方向，在该实施例中，所述飞行信息还可以包括：无人机接收到的俯仰角指令。
其中，所述“俯仰角指令”为无人机接收到的飞控信息(即，用于控制无人机以特定姿态飞行的相关控制信息)中的一种，用于控制无人机以特定的俯仰角飞行。在具体实施时，可以从无人机的飞控模块获取所述俯仰角指令。
在该实施例中，通过所述俯仰角指令，可准确地确定无人机的目标前进方向，进而确定无人机当前的俯仰角是因飞行方向发生改变而产生，还是因为受到内/外因素干扰而产生。
步骤120：根据所述飞行信息调整机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
在本实施例中，根据飞行信息调整机载雷达的主探测方向，以使机载雷达能够不受无人机的飞行姿态的影响，持续关注和探测无人机的飞行方向上的障碍物。其中，所述“飞行方向上的障碍物”即位于无人机的目标前进方向上的障碍物，比如，如图4(a)中的障碍物X，或者，如图4(b)中的障碍物Y。
在实际应用中，可以根据不同的实际应用场景或者无人机类型，采用不同的方式实现本步骤120。
比如，针对只有水平飞行和垂直飞行模式的无人机，可以默认该 无人机的实际飞行方向始终在一水平面上(比如，如图4(a)所示的情况)，只要无人机的俯仰角不为0，都认为该俯仰角是因为受到干扰而产生的。从而，所述飞行信息可以仅包括无人机当前的俯仰角。因此，在该实施例中，可以仅根据无人机当前的俯仰角调整机载雷达的主探测方向。
具体地，为了使得机载雷达能够更加准确地探测到无人机的飞行方向上的障碍物X，如图5所示，可以根据无人机当前的俯仰角调整机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。其中，所述“主探测方向”即所述机载雷达的主波束所在的方向，所述“地面”默认与所述无人机所在平面平行，从而，所述机载雷达的主探测方向与地面平行，即说明所述机载雷达的主探测方向与无人机的目标前进方向一致。
进一步地，考虑到机载雷达在水平和垂直方向上都具有一定的探测视角，即，水平探测视角和垂直探测视角，在一些实施例中，也可以首先判断无人机当前的俯仰角|±α|是否大于机载雷达的垂直探测视角|±β|，若是，则说明此时无人机的飞行方向上的障碍物已超出机载雷达的探测范围，此时可以根据无人机当前的俯仰角调整机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行；若否，则说明无人机的飞行方向上的障碍物仍处于机载雷达的探测范围内，为了避免频繁调整机载雷达的主探测方向，此时可以不作调整。
在该实施例中，通过根据无人机当前的俯仰角调整机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行，能够保证机载雷达始终针对所述无人机的飞行方向上的障碍物进行探测，提升障碍物探测的有效性。
又如，针对另一些无人机，尤其是具备斜向上/斜向下飞行模式的无人机，引起无人机俯仰角产生变化的因素除了受到干扰之外，还包括飞行方向的调整。为了准确判断无人机的实际飞行方向，上述步骤110获取到的飞行信息还包括无人机接收到的俯仰角指令。从而，在该实施例中，可以结合无人机当前的俯仰角和无人机接收到的俯仰角指令调整机载雷达的主探测方向。
具体地，可以首先通过判断无人机当前的俯仰角与所述俯仰角指令是否一致(即，无人机当前的俯仰角与俯仰角指令中指定的调整角度是否相同)来确定无人机的实际飞行方向；然后，基于无人机的实际飞行方向调整机载雷达的主探测方向。其中，如果无人机当前的俯仰角与所述俯仰角指令一致，则说明无人机当前的俯仰角是无人机调整飞行方向的结果，此时无人机的实际飞行方向与机身平行(如图4(b)所示)；如果无人机当前的俯仰角与所述俯仰角指令不一致，则说明无人机当前的俯仰角是受内/外因素干扰而产生的抖动，此时，可以认为无人机的实际飞行方向仍在水平面上(如图4(a)所示)。
从而，当无人机当前的俯仰角与所述俯仰角指令一致时，可以不对机载雷达的主探测方向进行调整；或者，为了修正机载雷达的主探测方向在上一时刻与机头方向不一致的情况，也可以调整机载雷达的主探测方向，以使所述机载雷达的主探测方向与所述无人机的机身平行。而当无人机当前的俯仰角与所述俯仰角指令不一致时，则可以根据所述无人机当前的俯仰角调整机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
在该实施例中，通过结合无人机当前的俯仰角和无人机接收到的俯仰角指令来调整机载雷达的主探测方向，能够进一步明确无人机的实际飞行方向，更加有效地探测无人机的实际飞行方向上的障碍物。
此外，无人机在低空飞行时容易将感测到的地面杂波误判为障碍物，而这类错误的障碍物报警同样会影响障碍物探测的有效性。因此，在一些实施例中，所述飞行信息可以包括：飞行高度，则，所述根据所述飞行信息调整机载雷达的主探测方向具体可以为：当所述飞行高度小于或等于高度阈值时，根据所述飞行高度调整机载雷达的主探测方向，以避免所述机载雷达探测到地面，但能够探测所述无人机的飞行方向上的障碍物。
其中，所述“高度阈值”是判定无人机是否进入低空区域的分界线， 其值可以根据机载雷达的探测距离和垂直探测视角确定。比如，如图6(a)所示，假设机载雷达的探测距离为L，垂直探测视角为β，那么该高度阈值H th可以为：L tanβ。当无人机的飞行高度小于或等于该高度阈值H th时，机载雷达的探测范围包括地面，而地面反射回来的杂波会引起错误的障碍物报警。此时，如图6(b)所示，可以根据当前的飞行高度h向上调整机载雷达的主探测方向，以使所述机载雷达的主探测方向与水平面的夹角γ满足：
Figure PCTCN2020070480-appb-000003
再者，应当理解的是，在实际应用中，为了进一步提高障碍物检测的有效性，还可以综合各类飞行信息(包括但不限于：无人机当前的俯仰角、俯仰角指令以及飞行高度)调整机载雷达的主探测方向。比如，假设无人机当前沿某一高度为h的水平面飞行，飞行高度h低于高度阈值H th，并且，无人机的俯仰角为+α(其中，“+”表示向上倾斜，α大于机载雷达的垂直探测视角β)，机载雷达的主探测方向与机身平行，那么，此时，综合考虑俯仰角和飞行高度的影响，可以向下调整机载雷达的主探测方向，只要最后使得机载雷达能够探测所述无人机的飞行方向上的障碍物并且避免所述机载雷达探测到地面即可。
通过上述技术方案可知，本发明实施例的有益效果在于：本发明实施例提供的调整机载雷达的主探测方向的方法能够适应于无人机的不同飞行状态实时调整机载雷达的主探测方向，使得机载雷达能够针对无人机的飞行方向上的障碍物进行探测，从而提升机载雷达在避障系统中的有效检测效果，更加安全地完成避障功能。
图7是本发明实施例提供的一种调整机载雷达的主探测方向的装置的结构示意图，该装置70可以应用于任意类型的无人机，所述无人机包括云台和设于所述云台的机载雷达。
具体地，请参阅图7，该装置70包括：信息获取单元71以及调 整单元72。
其中，所述信息获取单元71用于实时获取无人机的飞行信息，其中，所述飞行信息包括所述无人机当前的俯仰角和飞行高度中的至少一种；
所述调整单元72用于根据所述飞行信息，通过所述云台调整机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。其中，在一些实施例中，所述云台包括电子调速器和步进电机，则，所述调整单元72具体用于：根据所述飞行信息，指示所述电子调速器控制所述步进电机调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
在本实施例中，可以首先通过信息获取单元71实时获取无人机的飞行信息；然后利用所述调整单元72根据所述飞行信息，通过所述云台调整机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
具体地，在一些实施例中，所述飞行信息包括：无人机当前的俯仰角；所述调整单元72具体用于：
根据所述无人机当前的俯仰角调整机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
在另一些实施例中，所述飞行信息还包括：无人机接收到的俯仰角指令，则，所述调整单元72具体用于：
当所述无人机当前的俯仰角与所述俯仰角指令一致时，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与所述无人机的机身平行。
进一步地，在又一些实施例中，所述调整单元72还用于：当所述无人机当前的俯仰角与所述俯仰角指令不一致时，根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使 所述机载雷达的主探测方向与地面平行。
此外，在一些实施例中，所述飞行信息包括：飞行高度，所述调整单元72具体用于：当所述飞行高度h小于或等于高度阈值H th时，根据所述飞行高度h，通过所述云台调整所述机载雷达的主探测方向，以避免所述机载雷达探测到地面；其中，所述高度阈值H th根据所述机载雷达的探测距离L和垂直探测视角β确定。
其中，在一些实施例中，所述所述调整单元72具体用于：
当所述飞行高度h小于或等于高度阈值H th时，通过所述云台向上调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与水平面的夹角γ满足：
Figure PCTCN2020070480-appb-000004
需要说明的是，由于所述调整机载雷达的主探测方向的装置与上述实施例中的调整机载雷达的主探测方向的方法基于相同的发明构思，因此，上述方法实施例中的相应内容同样适用于装置实施例，此处不再详述。
通过上述技术方案可知，本发明实施例的有益效果在于：本发明实施例提供的调整机载雷达的主探测方向装置能够适应于无人机的不同飞行状态实时调整机载雷达的主探测方向，从而使得机载雷达能够针对无人机的飞行方向上的障碍物进行探测，提升机载雷达在避障系统中的有效检测效果，更加安全地完成避障功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元/模块来实现本实施例方案的目的。
本发明实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如，被图2中的一个处理器101执行，可使得上述一个或多个处理器执行上述任意方法实施例中的调整机载雷达的主探测方向的方法，例如，执行以上描述的图3中的方法 步骤110至120。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序产品中的计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非暂态计算机可读取存储介质中，该计算机程序包括程序指令，当所述程序指令被无人机执行时，可使所述无人机执行上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
上述产品可执行本发明实施例所提供的调整机载雷达的主探测方向的方法，具备执行调整机载雷达的主探测方向的方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本发明实施例所提供的调整机载雷达的主探测方向的方法。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

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  1. 一种调整机载雷达的主探测方向的方法，应用于无人机，其特征在于，所述无人机包括云台和设于所述云台的机载雷达，所述方法包括：
    实时获取无人机的飞行信息，其中，所述飞行信息包括所述无人机当前的俯仰角和飞行高度中的至少一种；
    根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
  2. 根据权利要求1所述的方法，其特征在于，所述飞行信息包括所述无人机当前的俯仰角；则，所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
    根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
  3. 根据权利要求1或2所述的方法，其特征在于，所述飞行信息还包括所述无人机接收到的俯仰角指令，则，所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
    当所述无人机当前的俯仰角与所述俯仰角指令一致时，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与所述无人机的机身平行。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，还包括：
    当所述无人机当前的俯仰角与所述俯仰角指令不一致时，根据所 述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述飞行信息包括：飞行高度h，则，所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
    当所述飞行高度h小于或等于高度阈值H th时，根据所述飞行高度h，通过所述云台调整所述机载雷达的主探测方向，以避免所述机载雷达探测到地面；
    其中，所述高度阈值H th根据所述机载雷达的探测距离L和垂直探测视角β确定。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述飞行高度h，通过所述云台调整所述机载雷达的主探测方向，以避免所述机载雷达探测到地面，包括：
    通过所述云台向上调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与水平面的夹角γ满足：
    Figure PCTCN2020070480-appb-100001
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述云台包括电子调速器和步进电机，则，
    所述根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物，包括：
    根据所述飞行信息，指示所述电子调速器控制所述步进电机调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
  8. 一种调整机载雷达的主探测方向的装置，应用于无人机，其特征在于，所述无人机包括云台和设于所述云台的机载雷达，所述装置包括：
    信息获取单元，用于实时获取无人机的飞行信息，其中，所述飞行信息包括所述无人机当前的俯仰角和飞行高度中的至少一种；
    调整单元，用于根据所述飞行信息，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
  9. 根据权利要求8所述的装置，其特征在于，所述飞行信息包括：所述无人机当前的俯仰角；则，所述调整单元具体用于：
    根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
  10. 根据权利要求8或9所述的装置，其特征在于，所述飞行信息还包括：所述无人机接收到的俯仰角指令，则，所述调整单元具体用于：
    当所述无人机当前的俯仰角与所述俯仰角指令一致时，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与所述无人机的机身平行。
  11. 根据权利要求10所述的装置，其特征在于，所述调整单元还用于：
    当所述无人机当前的俯仰角与所述俯仰角指令不一致时，根据所述无人机当前的俯仰角，通过所述云台调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与地面平行。
  12. 根据权利要求8-11任一项所述的装置，其特征在于，所述飞行信息包括：飞行高度h，则，所述调整单元具体用于：
    当所述飞行高度h小于或等于高度阈值H th时，根据所述飞行高 度h，通过所述云台调整所述机载雷达的主探测方向，以避免所述机载雷达探测到地面；
    其中，所述高度阈值H th根据所述机载雷达的探测距离L和垂直探测视角β确定。
  13. 根据权利要求12所述的装置，其特征在于，所述调整单元具体用于：
    当所述飞行高度h小于或等于高度阈值H th时，通过所述云台向上调整所述机载雷达的主探测方向，以使所述机载雷达的主探测方向与水平面的夹角γ满足：
    Figure PCTCN2020070480-appb-100002
  14. 根据权利要求8-13任一项所述的装置，其特征在于，所述云台包括电子调速器和步进电机，则，所述调整单元具体用于：
    根据所述飞行信息，指示所述电子调速器控制所述步进电机调整所述机载雷达的主探测方向，以使所述机载雷达能够探测所述无人机的飞行方向上的障碍物。
  15. 一种无人机，其特征在于，包括：
    机身，
    云台，其设置于所述机身；
    机载雷达，其固定安装于所述云台；
    至少一个处理器，其设置于所述机身内，并与所述云台通信连接；以及，
    与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求1-6任一项所述的方法；
    其中，所述至少一个处理器通过指示所述云台调整所述机载雷达 的主探测方向。
  16. 根据权利要求15所述的无人机，其特征在于，所述云台包括电子调速器和步进电机，则，
    所述至少一个处理器通过指示所述云台调整所述机载雷达的主探测方向，包括：
    所述至少一个处理器通过指示所述电子调速器控制所述步进电机调整所述机载雷达的主探测方向。
  17. 一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使无人机执行如权利要求1-7任一项所述的方法。
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