WO2021120224A1 - Appareil de détection d'aire de stationnement et procédé de commande - Google Patents

Appareil de détection d'aire de stationnement et procédé de commande Download PDF

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Publication number
WO2021120224A1
WO2021120224A1 PCT/CN2019/127201 CN2019127201W WO2021120224A1 WO 2021120224 A1 WO2021120224 A1 WO 2021120224A1 CN 2019127201 W CN2019127201 W CN 2019127201W WO 2021120224 A1 WO2021120224 A1 WO 2021120224A1
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WIPO (PCT)
Prior art keywords
apron
target object
lidar
detection device
processor
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Application number
PCT/CN2019/127201
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English (en)
Chinese (zh)
Inventor
薛金言
宋强
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/127201 priority Critical patent/WO2021120224A1/fr
Priority to CN201980052026.1A priority patent/CN112639526A/zh
Publication of WO2021120224A1 publication Critical patent/WO2021120224A1/fr

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves

Definitions

  • This application relates to the technical field of object detection, and in particular to an apron detection device and control method.
  • Robot technology is the mainstream cutting-edge technology in today's world. After years of development, it has ushered in a new era. Robot competitions have also gradually become hot.
  • the format of the competition is that the two parties each manufacture multiple tanks, drones and other equipment, and compete with each other in a complex venue. For example, a parking apron for drones to land is set up in the competition venue. The props are ultimately judged by the electronic referee system.
  • the pressure sensor (weighing) solution is to install the pressure sensor on the surface of the apron.
  • the output weight information of the pressure sensor changes, and the weight information is used to determine whether there is an aircraft.
  • the aircraft and the sensor are measured through contact. Because the landing of the aircraft collides with the surface of the apron, it is easy to damage the surface of the apron where the pressure sensor is installed, so the structure of this solution is easy to damage and has a short life. In addition, when other physical locations are on the surface of the apron, it will also cause the pressure sensor to misidentify.
  • the solution adopting the wind sensor is to install the wind sensor on the surface of the apron, and the structure is easy to damage like the solution using the pressure sensor.
  • the wind sensor judges whether there is an airplane based on the magnitude of the wind. The magnitude of the wind is different each time the airplane lands. Therefore, when the processor finally judges whether the airplane is in the state, the relative position of the airplane from the surface of the apron is different (the relative height is uncertain) , Resulting in a difference in each test result.
  • the infrared pair tube scheme is adopted, similar to the principle of elevator doors.
  • An infrared emitting tube is installed on one side of the apron and an infrared receiving tube is installed on the other side of the apron.
  • the infrared receiving tube cannot receive the information from the infrared emitting tube, the two are judged. If it is blocked by an object, it is determined that an aircraft has landed on the apron. Because the plan requires the structural design of the infrared emitting tube and the infrared receiving tube to be on the same plane, the plan has higher requirements for structural accuracy and strength.
  • the infrared receiving tube and the infrared emitting tube are blocked by other physics, it will also cause the pressure sensor to misidentify.
  • the camera solution uses the camera to collect the surface image information of the apron to determine whether there is a plane landing, but the camera is greatly affected by the ambient light, and the solution is not very adaptable.
  • This application provides an apron detection device and control method.
  • an apron detection device including: a mounting bracket and at least two lidars, the at least two lidars are arranged on the mounting bracket and located at different levels; Lidar is used to detect whether there is a target object landing on the apron.
  • a control method applied to an apron detection device includes at least two lidars for detecting whether a target object has landed on the apron, the at least two Two lidars are installed at different levels; the control method includes: when the at least two lidars both detect the target object, judging that the target object landed on the apron.
  • this application provides at least two lidars on the mounting bracket, and each lidar is set at a different level. When all lidars detect the target object, It is judged that the target object has landed on the apron.
  • the application of lidar technology to apron detection has the advantages of low structural accuracy, good stability, unaffected by ambient light, long life, and high detection accuracy.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of an apron detection device in an embodiment of the present application.
  • Fig. 2 is a schematic front view of an apron detection device in an embodiment of the present application.
  • Fig. 3 is a schematic front view of the apron detection device in an embodiment of the present application after the outer shell is removed.
  • Fig. 4 is a side cross-sectional view of an apron detection device in an embodiment of the present application.
  • Fig. 5 is a schematic diagram of the three-dimensional structure of the apron detection device and the apron in an embodiment of the present application.
  • Fig. 6 is a schematic diagram of the connection between the processor and the apron detection device in an embodiment of the present application.
  • Fig. 7 is a schematic flowchart of a control method in an embodiment of the present application.
  • an embodiment of the present application provides an apron detection device 100, which is suitable for robot competitions and is used to detect whether a drone has landed on the apron 90 set in the competition arena.
  • the apron detection device 100 includes a mounting bracket 10 and at least two lidars 20.
  • the at least two lidars 20 are arranged on the mounting bracket 10 and are located at different levels, that is, at least two lidars 20 are installed at Different levels of mounting bracket 10.
  • the lidar 20 is used to detect whether a target object has landed on the apron 90.
  • the mounting bracket 10 can be placed at the corner of the apron 90 to obtain the maximum detection angle and detection range.
  • the target object is an unmanned aerial vehicle as an example, and the apron detection device 100 and the control method of the present application are introduced in detail.
  • the mounting bracket 10 may be a tripod type structure, which is more suitable to be placed at the corner of the apron 90 without occupying the space of the apron 90.
  • Lidar generally includes a transmitting end and a receiving end.
  • the transmitting end emits a modulated infrared laser signal.
  • the reflected light generated by the laser signal after being irradiated on the UAV is received by the receiving end and processed by the processor inside the laser radar.
  • the information of the distance and angle between the irradiated UAV and the lidar can be transmitted through the communication interface, indicating that the UAV is detected.
  • UAVs usually have a certain height. In order to ensure the accuracy of detection, at least two lidars are installed at different levels according to the height of the drone, and the distance between the two lidars 20 that are farthest apart is not greater than The height of the drone allows the detection range to completely cover the entire drone in the vertical direction.
  • the number of lidar 20 is two. In other examples, the number of lidars can be set according to actual needs, which is not limited in this application.
  • lidars are installed on the mounting bracket, and each lidar is set at a different level.
  • each lidar is set at a different level.
  • the application of lidar technology to apron detection has beneficial effects such as low structural accuracy, good stability, unaffected by ambient light, long life, and high detection accuracy.
  • the mounting bracket 10 is provided with at least two mounting portions 11 in the same number as the lidar 20 at intervals along the vertical direction, and the lidar 20 is installed in the same number one by one. ⁇ installation part 11.
  • the mounting portion 11 may be fixed on the mounting bracket 10 by fasteners such as screws, and the lidar 20 may also be fixed on the mounting portion 11 by fasteners such as screws.
  • at least two mounting parts 11 are arranged along the same vertical direction, and then at least two lidars 20 are arranged along the same vertical direction, so that the detection directions of the at least two lidars 20 are kept as the same as possible. In the direction, the detection accuracy can be guaranteed.
  • At least two lidars 20 are installed at different levels according to the height of the drone, the distance between two adjacent lidars 20 is not greater than 200mm, and the distance between the two most distant lidars 20 is not greater than that of unmanned
  • the height of the aircraft allows the detection range to completely cover the entire UAV in the vertical direction.
  • the height of the drone is generally within 500mm.
  • two lidars 20 are set as an example.
  • the lidar 20 located above is installed at a position 350mm above the ground height of the apron 90, which can achieve more stability. Reliable detection ensures that the judgment will not be wrong.
  • the lidar 20 located below is installed at a position 150 mm above the ground height of the apron 90 to avoid other foreign objects on the surface of the apron 90.
  • the distance between the two lidars 20 is 150 mm.
  • the bottom of the mounting bracket 10 may be provided with a connecting plate 13, and the connecting plate 13 is provided with a connecting hole 14 for fixed connection with the apron 90.
  • the mounting bracket 10 can be fixedly installed on the surface of the apron 90 after a fastener such as a screw passes through the connection hole 14 and then is fixedly connected to the surface of the apron 90.
  • the number of connecting plates 13 is two, which are symmetrically arranged on both sides of the bottom of the mounting bracket 10.
  • Each connecting plate 13 is provided with two connecting holes 14 to ensure that the mounting bracket 10 and the apron 90 are mutually connected. The firmness of the connection.
  • the outer cover of the mounting bracket 10 is provided with an outer shell 30, and the at least two lidars 20 are located between the mounting bracket 10 and the outer shell 30, and the outer shell 30 may Play a protective role for the lidar 20.
  • a window 31 is opened on the surface of the outer housing 30 corresponding to the position of the lidar 20.
  • the lidar 20 can transmit infrared laser signals and receive infrared laser signals outward through the corresponding window 31 to detect whether there is a drone landing on the apron 90.
  • the mounting bracket 10 adopts a tripod type structure
  • the outer shell 30 adopts a three-folded plate type structure, which can be understood as a splicing of three plates of different planes, wherein the plates on both sides are symmetrically arranged On both sides of the plate in the middle, the opening area and angle of the window 31 can be enlarged, so that the lidar 20 can obtain a larger detection angle and ensure the accuracy of the detection.
  • the lidar 20 includes a main body and a rotatable detection head 21, and the detection head 21 is arranged on the main body corresponding to the position of the window 31, and can achieve the effect of scanning the angle and distance information of the target object by 360 degree rotation.
  • the lidar 20 needs to be connected to a power source and connected to an external processor.
  • the mounting bracket 10 is provided with a through hole 12, the lidar 20 includes a data line 22, and the data line 22 passes through the through hole 12.
  • the bracket 10 can be connected to a power source or to an external processor. In this embodiment, in order to facilitate wire routing, the through hole 12 is opened at a position near the bottom of the mounting bracket 10.
  • the parking apron detection device 100 of the present application may further include a processor and an indicator, and the processor is electrically connected to the at least two lidars 20 and the indicator.
  • the lidar 20 detects a target object, it sends a detection signal to the processor, and when the processor receives the detection signal of each lidar 20 at the same time, it is determined that there is a target object (that is, a drone) Landing on the apron 90, the processor controls the indicator to be turned on to indicate that a target object has landed on the apron 90.
  • the processor can control the detection angle and rotation speed of the lidar 20.
  • a single-chip microcomputer 40 with a model of STM32F427 may be used.
  • the data line 22 of the lidar 20 may include an external interface terminal 23, the PWM pin of the single-chip 40 is connected to the MOTOCTL pin of the lidar 20, and the single-chip 40 outputs PWM through the PWM pin
  • the waveform controls the speed of the lidar. Different duty cycle PWM waveforms correspond to different speeds of the lidar.
  • the TX pin of the single-chip microcomputer 40 is connected to the RX pin of the lidar, and the RX pin of the single-chip 40 is connected to the TX pin of the lidar to receive the target object angle and distance information packets fed back by the lidar.
  • the single-chip microcomputer 40 receives the angle and distance information data packet of the target object fed back by the lidar through the serial port (USART) pin, and the single-chip microcomputer 40 analyzes the data packet to obtain the true angle and distance information of the target object.
  • the VCC GND pins of the single-chip microcomputer 40 are the positive and negative poles of the power supply.
  • the indicator includes a first indicator light.
  • the first indicator light is installed on the mounting bracket 10 and can be installed in a prominent position on the mounting bracket 10, such as the top of the mounting bracket 10.
  • the processor receives the detection signal of each of the lidar 20 at the same time, it is determined that a drone has landed on the apron 90, and the processor controls the first indicator light to turn on to indicate that there is a target object (I.e. drones) land on the apron 90, which can act as a reminder to the operators, referees and spectators.
  • the indicator may also include a buzzer.
  • the processor When the processor receives the detection signal of each of the lidar 20 at the same time, it is determined that a drone has landed on the apron 90, and the processor controls The buzzer sounds to indicate that a target object (that is, a drone) has landed on the apron 90, and can also serve as a reminder to the operator, the referee, and the audience.
  • the processor is in communication connection with the server, and when the processor receives the detection signal of each of the lidar 20 at the same time, it is determined that a target object (that is, a drone) has landed on On the apron 90, the processor sends a state change instruction for the target object to the server, which can enhance the fun and competitive nature of the robot game.
  • the state change instruction includes one or more of a charge instruction, a recovery instruction, an ability gain instruction, and a state restoration instruction.
  • the charging instruction can refer to the ability to supplement the drone (such as restoring the ability to move or recover the ability to launch ammunition)
  • the reply instruction can refer to returning the blood to the drone
  • the ability gain instruction can refer to The drone increases the buff (buff effect)
  • the state restoration command can refer to the negative buff for the drone.
  • the indicator may further include a second indicator light 50, and the second indicator light 50 is installed on the mounting bracket 10 and can be installed At a prominent position on the mounting bracket 10, such as the top of the mounting bracket 10.
  • the processor controls the second indicator light 50 to turn on to display the state change value of the target object.
  • the second indicator light 50 may include multiple LED light bars 51, which form an energy column.
  • the second indicator light 50 is used to indicate the blood volume of the drone, and the processor controls the number of LED light bars to turn on. , Which means the amount of HP the drone should be.
  • the second indicator light 50 can simultaneously implement the function of the above-mentioned first indicator light. Specifically, when the processor determines that the drone has landed on the apron, the processor controls the second indicator light 50 to be all turned on to indicate that a target object (ie, the drone) has landed on the apron 90. It can be used as a reminder for operators, referees and spectators. After that, after the processor sends the state change instruction for the target object to the server, the second indicator light 50 is used to display the state change value of the target object.
  • two lidars are set as an example.
  • the drone is first detected by the lidar located above when it is landing, and before the drone has landed to the bottom.
  • both lidars will send detection signals to the processor, causing the processor to misjudge that there is The drone has landed on the tarmac.
  • the processor may store the characteristic information of the target object corresponding to different heights, when the characteristic information of the detected object detected by the lidar and the characteristic information of the target object corresponding to the height of the lidar When the information does not match, the processor removes the detection signal sent by the lidar.
  • the feature information can be the shape image information of the target object. For example, when the drone completely landed on the tarmac, the lidar located above corresponds to the position of the drone's wing, and the lidar located below corresponds to the support frame of the drone. Position, the processor stores the shape image information of the two positions of the drone.
  • the processor removes the detection signal sent by the lidar. Only when all the shape images of the objects detected by the lidar are consistent with the shape image information of the UAV at the corresponding position stored by the processor, it is determined that the UAV completely landed on the apron.
  • the apron detection device of the present application detects whether the target object has landed on the apron by installing at least two lidars on the mounting bracket, which reduces the dependence on structural accuracy and is simple and convenient to install , Small influence from the external environment, high detection accuracy and other advantages.
  • the lidar and the target object adopt non-contact detection, which effectively extends the service life of the apron detection device.
  • the embodiment of the present application also provides a control method, which is applied to an apron detection device, and the apron detection device includes at least two lidars for detecting whether a target object has landed on the apron, and the at least two lidars Installed at different levels.
  • the control method includes: when the at least two lidars both detect the target object, judging that the target object landed on the apron. It should be noted that the control method of the present application can be applied to the apron detection device described in the above embodiments and implementations.
  • lidar technology to apron detection has beneficial effects such as low structural accuracy, good stability, unaffected by ambient light, long life, and high detection accuracy.
  • the apron detection device may further include a first indicator light
  • the control method of the present application further includes: when it is determined that the target object is landing on the apron, controlling the first indicator light Turn on.
  • the apron detection device may be provided with a processor for controlling the first indicator light.
  • the first indicator light can be installed in a prominent position on the apron detection device, such as the top of the apron detection device.
  • the processor may control the first indicator light to turn on to indicate that a target object (ie, a drone) has landed On the apron, it can serve as a reminder to operators, referees and spectators.
  • the control method of the present application further includes: when it is determined that the target object has landed on the apron, sending a state change instruction for the target object to the server, which can enhance the fun and competitive nature of robot competitions .
  • the state change instruction includes one or more of a charge instruction, a recovery instruction, an ability gain instruction, and a state restoration instruction.
  • the charging instruction can refer to the ability to supplement the drone (such as restoring the ability to move or recover the ability to launch ammunition)
  • the reply instruction can refer to returning the blood to the drone
  • the ability gain instruction can refer to The drone increases the buff (buff effect)
  • the state restoration command can refer to the negative buff for the drone.
  • the apron detection device may further include a second indicator light
  • the control method of the present application further includes: after sending a status change instruction to the target object to the server, controlling the second indicator light to turn on to display the status of the target object Change value.
  • the second indicator light may include multiple LED light bars, and an energy column composed of multiple LED light bars may be provided on the apron detection device to display the state change value of the target object.
  • the two lidars both detect whether they are within their respective detection ranges.
  • lidar can detect once at a certain interval, for example, 1.5 seconds.
  • the apron detection device judges that there is an airplane landing on the apron, and the apron will output the state of the airplane to the server, and the server will start to add energy to the aircraft (that is, charging command, reply command, ability gain One or more of instructions and state restoration instructions), the number of LED lights gradually increases, and the energy column starts to grow, to display the state change value of the target object, and to play a reminder role for the operator, the referee, and the audience.
  • energy to the aircraft that is, charging command, reply command, ability gain One or more of instructions and state restoration instructions
  • the apron detection device stores feature information corresponding to different heights of the target object, and when the feature information of the detected object detected by the lidar corresponds to the height of the lidar, When the characteristic information does not match, the characteristic information detected by the lidar is removed.
  • the apron detection device may be provided with a processor for storing the characteristic information of the target object corresponding to different heights. When the characteristic information of the detected object detected by the lidar corresponds to the characteristic information of the target object corresponding to the height of the lidar When the information does not match, the processor removes the detection signal sent by the lidar.
  • the feature information can be the shape image information of the target object.
  • the lidar located above corresponds to the position of the drone's wing
  • the lidar located below corresponds to the support frame of the drone.
  • the processor stores the shape image information of the two positions of the drone. Then, when the shape image of any object detected by the lidar does not match the shape image information of the UAV at the corresponding position stored by the processor, it is determined that the UAV has not completely landed on the apron.
  • the processor removes the detection signal sent by the lidar. Only when all the shape images of the objects detected by the lidar are consistent with the shape image information of the UAV at the corresponding position stored by the processor, it is determined that the UAV completely landed on the apron.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention porte sur un appareil de détection d'aire de stationnement et sur un procédé de commande. L'appareil de détection d'aire de stationnement comprend un support de montage et au moins deux radars laser. Les au moins deux radars laser sont disposés sur le support de montage et sont situés à différents niveaux horizontaux ; les radars laser sont utilisés pour détecter s'il y a un atterrissage d'objet cible sur une aire de stationnement. L'application de la technologie de radar laser à la détection sur une aire de stationnement présente des avantages tels que de faibles exigences de précision de structure, une bonne stabilité, le fait de ne pas être affectée par la lumière ambiante, une longue durée de vie et une grande précision de détection.
PCT/CN2019/127201 2019-12-20 2019-12-20 Appareil de détection d'aire de stationnement et procédé de commande WO2021120224A1 (fr)

Priority Applications (2)

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PCT/CN2019/127201 WO2021120224A1 (fr) 2019-12-20 2019-12-20 Appareil de détection d'aire de stationnement et procédé de commande
CN201980052026.1A CN112639526A (zh) 2019-12-20 2019-12-20 停机坪检测装置及控制方法

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