CN105911561A - Unmanned aerial vehicle obstacle avoiding device and method based on laser radar - Google Patents
Unmanned aerial vehicle obstacle avoiding device and method based on laser radar Download PDFInfo
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- CN105911561A CN105911561A CN201610505862.9A CN201610505862A CN105911561A CN 105911561 A CN105911561 A CN 105911561A CN 201610505862 A CN201610505862 A CN 201610505862A CN 105911561 A CN105911561 A CN 105911561A
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- laser
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an unmanned aerial vehicle obstacle avoiding device and method based on laser radar. The unmanned aerial vehicle obstacle avoiding device comprises an encoder as well as a laser driving circuit, a laser, a first reflection device, a second reflection device, a converging lens, a laser detector, a laser ranging device and a system processor unit, wherein the encoder is fixed below an unmanned aerial vehicle motor; the laser is connected with the laser driving circuit; the first reflection device is fixed at a light outlet end of the laser; laser beams transmitted from the laser just pass through a through hole in the central point of the first reflection device; the second reflection device is fixed on a through hole direct-shooting light path and is fixedly connected with the bottom end of a rotating shaft of the motor; laser reflected back by the second reflection device is also reflected by the first reflection device; the converging lens is fixed on the reflection light path of the first reflection device; the laser detector is fixed on the converging light path of the converging lens; the laser ranging device is connected with the laser detector; the system processor unit is further connected with the encoder, the laser driving circuit and the laser ranging device. The invention further discloses the obstacle avoiding method of the unmanned aerial vehicle obstacle avoiding device. Detection of 360 degrees is achieved, the cost is low, the size is small, and the obstacle avoiding capability of an unmanned aerial vehicle in a complex environment can be greatly improved.
Description
Technical field
The present invention relates to air science field, be specifically related to a kind of unmanned plane based on laser radar
Fault avoidnig device and barrier-avoiding method.
Background technology
Multiaxis unmanned plane achieved swift and violent development in recent years, but unmanned plane flies in patrol automatically
Barrier can be run at any time during row.Ultrasound wave to be used or vision technique
Realize avoidance.Ultrasound wave is simplest range-measurement system, has bright in unmanned plane obstacle avoidance system
Aobvious interference problem, if the scarce capacity of next object reflectance ultrasound ripple, the coverage of avoidance
Will reduce, potential safety hazard is higher.Vision technique easily receive light, dust, smog etc. because of
The impact of element, it is impossible to meet all-weather flight needs.
Unmanned plane is hidden in the traditional scheme of obstacle, and radar is to carry out the one of 360 ° of detections
Method is that radar self realizes 360 ° of scannings, and another kind of method is to use phased-array radar, this
Two schemes needs to increase complicated motor device thus produces extra load, but unmanned plane
Due to the unsuitable overload of the reasons such as continuation of the journey.
Therefore, the 360 ° of scanning radars being applied to unmanned plane avoidance of a kind of light structure are designed
Device is necessary.
Summary of the invention
In order to solve the problems referred to above, it is an object of the invention to provide a kind of based on laser radar
Unmanned plane fault avoidnig device and barrier-avoiding method, present invention achieves 360 ° detection and low cost,
Volume is little, can improve unmanned plane avoidance ability under complex environment greatly.
For reaching object above, the present invention adopts the following technical scheme that
A kind of unmanned plane fault avoidnig device based on laser radar, including the motor being fixed on unmanned plane
The encoder 7 measuring motor corner being coaxially connected below 1 and with motor 1；Also include laser
Drive circuit 8, the laser instrument 9 being connected with laser drive circuit 8, is fixed on laser instrument 9 and goes out
First reflection unit 13 of light end, the laser beam that laser instrument 9 sends is just passed through the first reflection
The through hole 10 of device 13 central spot, be fixed in through hole 10 direct projection light path and with motor 1
The second reflection unit 11 of being connected of rotating shaft 6 bottom, the first reflection unit 13 reflects the simultaneously
The laser that two reflection units 11 reflect, is fixed on the first reflection unit 13 reflected light path
Convergence camera lens 14, be fixed on and converge camera lens 14 laser detector 15 that converges in light path；With
The laser ranging system 16 that laser detector 15 is connected；Also include with described encoder 7, swash
The system processor unit 17 that light drive circuit 8 and laser ranging system 16 connect.
Described second reflection unit 11, is fixed on machine shaft bottom and rotates with motor simultaneously,
The second described reflection unit 11 is from the horizontal by 45 degree of angles.
Described first reflection unit 13 is from the horizontal by 45 degree of angles.
Described laser detector 15 receives and converges the laser that camera lens 14 converges, in order to laser ranging
Device 16 subsequent treatment.
Described laser driving apparatus 8, laser instrument the 9, second reflection unit 11, first reflect dress
Put 13, convergence camera lens 14, laser detector 15 and laser ranging system 16 and be packaged in laser
Radar shell 18 is internal.
The barrier-avoiding method of unmanned plane fault avoidnig device based on laser radar described above includes as follows
Step:
Step one, drives the encoder 7 and second being fixed in its rotating shaft 6 when motor 1 rotates
Reflection unit 11 rotates simultaneously；
Step 2, it is anti-through first that laser drive circuit 8 drives laser instrument 9 to launch laser vertical
The through hole 10 of injection device 13 central spot is mapped to the second reflection unit 11, at the second reflection dress
Put the laser being reflected into horizontal direction at 11；When motor 1 rotates, the second reflection unit 11 also turns
Dynamic, produce the laser beam of 360 °, this horizontal plane is carried out detection scanning；
Step 3, when barrier 12 is positioned at the reflected light path of the second reflection unit 11, can reflect
Laser, laser-bounce is returned through the second reflection unit 11 and reflection of the first reflection unit 13,
After converging camera lens 14 convergence effect, laser detector 15 receives the laser after converging, in order to
Laser ranging system 16 carries out subsequent treatment；
Step 4, after laser detector 15 receives and returns the laser come, laser ranging fills
Put 16 by measuring transmitting Laser pulse time t1With reception Laser pulse time t2Between time
Difference or Laser Measurement device driving pulse and the time difference received between laser pulse calculate barrier
Distance s of distance unmanned plane；Because encoder 7 is coaxially fixed with motor 1, system processor
Unit 17 calculates the rotational angle theta of motor 1 any time by encoder 7, reads simultaneously again
The barrier that laser ranging system 16 calculates is at a distance of distance s of unmanned plane, it is achieved to unmanned plane week
Enclose the scanning probe of 360 ° of barriers 12, carry out avoidance process.
Compared with prior art, present invention have the advantage that
First, the present invention utilizes the feature that laser resolution is high, capacity of resisting disturbance is strong, and motor turns
Drive reflection unit to rotate rather than 360 ° of scanning probes of radar self time dynamic, i.e. do not increasing
On the basis of adding motor, imitate as 360 ° of scanning probes of the Effect on Detecting reached and radar self
Really；Thus simplify obstacle avoidance system structure；The installation site of this device is according to the position of propeller simultaneously
Put and can select different mounting means, meet the demand of different types of unmanned plane.At multiaxis
Apparatus of the present invention all can be installed, it is possible to take the circumstances into consideration to consider according to practical situation on each axle of unmanned plane
Installing number, the setting height(from bottom) of the most each scanning mirror is different, then can realize multiple planes
Detection, it is thus achieved that stereo scene information.Installation site according to propeller is different, and the present invention fills
It is equipped with multiple mounting modes.It is different from current existing fault avoidnig device to need increase motor or keep away
Barrier weak effect.
Second, this invention simplifies obstacle avoidance system structure, reflection unit is connected in machine shaft
On, drive reflection unit to rotate during electric machine rotation, being increased without unnecessary motor device can be real
Existing 360 ° of scannings.
Accompanying drawing explanation
Fig. 1 is present invention unmanned plane based on laser radar fault avoidnig device structural representation.
Fig. 2 is the schematic diagram that apparatus of the present invention are applied on unmanned plane.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.Ying Li
Solve these embodiments be merely to illustrate the present invention rather than limit the scope of the present invention, reading
After the present invention, the amendment of the various equivalent form of values of the present invention all falls by those skilled in the art
In the application claims limited range.
As it is shown in figure 1, a kind of unmanned plane fault avoidnig device based on laser radar, including being fixed on
The encoder 7 being coaxially connected below the motor 1 of unmanned plane and with motor 1；Also include that laser drives
Galvanic electricity road 8, the laser instrument 9 being connected with laser drive circuit 8, is fixed on laser instrument 9 and goes out light
First reflection unit 13 of end, the laser beam that laser instrument 9 sends is just passed through the first reflection dress
Put the through hole 10 of 13 central spot, be fixed in through hole 10 direct projection light path and with motor 1
Rotating shaft 6 bottom be connected the second reflection unit 11, be positioned at the second reflection unit 11 and reflect light
Barrier 12 on road, the first reflection unit 13 reflects the second reflection unit 11 simultaneously and reflects
The laser returned, is fixed on the convergence camera lens 14 on the first reflection unit 13 reflected light path, Gu
The laser detector 15 in light path is converged due to converging camera lens 14；With laser detector 15 phase
Laser ranging system 16 even；Also include and described device code device 7, laser drive circuit 8
The system processor unit 17 connected with laser ranging system 16.
Described second reflection unit 11, is fixed on machine shaft bottom and rotates with motor simultaneously,
Preferably, the second described reflection unit 11 is from the horizontal by can during 45 degree of angles
To reach optimal reflecting effect.
Described first reflection unit 13, its central spot is through hole 10, makes laser instrument 9 launch
Laser can pass the first reflection unit 13；Reflect the second reflection unit 11 to be reflected back simultaneously
The laser come.Preferably, the first described reflection unit 13 is from the horizontal by 45
Optimal reflecting effect can be reached during degree angle.
Preferably, 18 laser driving apparatus 8 of lidar housings, laser instrument 9,
Second reflection unit 11, the first reflection unit 13, convergence camera lens 14, laser detector 15,
Laser ranging system 16 etc. wires up the laser radar apparatus 2 formed as shown in Figure 2, makes
This device can be not limited mounting and adjusting position.
As in figure 2 it is shown, the schematic diagram being applied on unmanned plane for apparatus of the present invention, motor 1 carries
Dynamic propeller 4 rotates and provides flying power, wherein motor 1 output shaft 6, upper end into unmanned plane
Being fixedly connected with propeller 4, lower end is fixedly connected with the second reflection unit 11, wherein the second reflection
The angle of the central spot of device 11 and machine shaft 6 centrage be a (preferably,
Optimum efficiency is reached when a=45 °), the position of motor 1 and propeller 4 can be in frame 3
Face can also be arranged on below frame 3, and the installation number of laser radar apparatus 2 also can be by reality
Depending on situation, utilize multiple laser radar apparatus 2 can realize Different Plane 360 ° detection.
Laser drive circuit 8 of the present invention drives laser instrument 9 to produce a laser pulse.Motor 1
The encoder 7 being fixed in its rotating shaft 6 and the second reflection unit 11 is driven to rotate during rotation.
The corner of any time motor 1 can be measured by encoder 7.Laser vertical passes first
The second reflection unit 11 vertically it is mapped to, through after the through hole 10 of reflection unit 13 central spot
Two reflection units 11 are reflected into horizontal direction laser.The second reflection dress is driven when motor 1 rotates
Put 11 rotations, then can realize around unmanned plane 360 ° of scanning probes.12, barrier
When the reflected light path of the second reflection unit 11, laser is reflected back, through the second reflection unit
11 and first reflection unit 13 reflection after, laser through converge camera lens 14, reach converge swash
The effect of light.Laser detector 15 receives the laser converged, in order to post laser range unit
16 process.After laser detector 15 receives and returns the laser come, laser ranging system 16
Laser pulse time t is launched by measuring1With reception Laser pulse time t2Between time difference
(or the time difference between Laser Measurement device driving pulse and reception laser pulse) calculates barrier
Distance s of distance unmanned plane, computing formula is as follows: s=(t2-t1) * v (v is the speed of laser)；
System processor unit 17 measures the rotational angle theta of motor 1 by encoder 7, it is thus achieved that this corner
Position, reads the distance of the barrier unmanned plane apart that laser ranging system 16 calculates simultaneously again
S, then achieve the scanning probe to around unmanned plane 360 ° of barriers.
Claims (6)
1. a unmanned plane fault avoidnig device based on laser radar, it is characterised in that: include being fixed on unmanned plane
Motor (1) lower section and coaxial with motor (1) be connected measurement motor corner encoder (7)；Also wrap
Include laser drive circuit (8), the laser instrument (9) being connected with laser drive circuit (8), is fixed on laser
Device (9) goes out first reflection unit (13) of light end, and the laser beam that laser instrument (9) sends is just passed through
The through hole (10) of one reflection unit (13) central spot, be fixed in through hole (10) direct projection light path and
The second reflection unit (11) being connected with rotating shaft (6) bottom of motor (1), the first reflection unit (13)
Reflect the laser that the second reflection unit (11) reflects simultaneously, be fixed on the first reflection unit (13) anti-
Penetrate the convergence camera lens (14) in light path, be fixed on the laser detector converged in camera lens (14) convergence light path
(15)；The laser ranging system (16) being connected with laser detector (15)；Also include and described coding
The system processor unit (17) that device (7), laser drive circuit (8) and laser ranging system (16) connect.
A kind of unmanned plane fault avoidnig device based on laser radar the most according to claim 1, its feature exists
In: described second reflection unit (11) is fixed on machine shaft bottom and is rotated with motor simultaneously, described
Two reflection units (11) are from the horizontal by 45 degree of angles.
A kind of unmanned plane fault avoidnig device based on laser radar the most according to claim 1, its feature exists
In: described first reflection unit (13) is from the horizontal by 45 degree of angles.
A kind of unmanned plane fault avoidnig device based on laser radar the most according to claim 1, its feature exists
In: described laser detector (15) receives and converges the laser that camera lens (14) converges, in order to laser ranging fills
Put (16) subsequent treatment.
A kind of unmanned plane fault avoidnig device based on laser radar the most according to claim 1, its feature exists
In: described laser driving apparatus (8), laser instrument (9), the second reflection unit (11), the first reflection
Device (13), convergence camera lens (14), laser detector (15) and laser ranging system (16) packaging
Internal in lidar housings (18), form fault avoidnig device based on laser radar, make this device to install
Adjustment position is not limited.
6. the barrier-avoiding method of unmanned plane fault avoidnig device based on laser radar described in claim 1, its feature exists
In: comprise the steps:
Step one, drives the encoder (7) and second being fixed in its rotating shaft (6) when motor (1) rotates
Reflection unit (11) rotates simultaneously；
Step 2, laser drive circuit (8) drives laser instrument (9) to launch laser vertical through the first reflection
The through hole (10) of device (13) central spot is mapped to the second reflection unit (11), at the second reflection unit
(11) place is reflected into the laser of horizontal direction；When motor (1) rotates, the second reflection unit (11) also rotates,
Produce the laser beam of 360 °, this horizontal plane is carried out detection scanning；
Step 3, when barrier (12) is positioned at the reflected light path of the second reflection unit (11), can reflect sharp
Light, laser-bounce is returned through the second reflection unit (11) and the reflection of the first reflection unit (13), warp
After converging camera lens (14) convergence effect, laser detector (15) receives the laser after converging, in order to laser
Range unit (16) carries out subsequent treatment；
Step 4, after laser detector (15) receives and returns the laser come, laser ranging system (16)
Laser pulse time t is launched by measuring1With reception Laser pulse time t2Between time difference or Laser Measurement device
Driving pulse and the time difference received between laser pulse calculate distance s of obstacle distance unmanned plane, because compiling
Code device (7) is coaxially fixed with motor (1), and system processor unit (17) is calculated by encoder (7)
Go out the rotational angle theta of motor (1) any time, read the barrier that laser ranging system (16) calculates again simultaneously
Distance s at a distance of unmanned plane, it is achieved the scanning probe to around unmanned plane 360 ° of barriers (12), is carried out
Avoidance processes.
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| CN201610505862.9A CN105911561A (en) | 2016-06-30 | 2016-06-30 | Unmanned aerial vehicle obstacle avoiding device and method based on laser radar |
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| CN201610505862.9A CN105911561A (en) | 2016-06-30 | 2016-06-30 | Unmanned aerial vehicle obstacle avoiding device and method based on laser radar |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772396A (en) * | 2016-12-12 | 2017-05-31 | 成都育芽科技有限公司 | A kind of automatic obstacle-avoiding unmanned plane |
| CN106814364A (en) * | 2017-01-17 | 2017-06-09 | 西安交通大学 | Scanning laser active probe device and implementation method based on disk type rotor electric motor |
| CN106842218A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Line scanning laser radar and its implementation based on disk type rotor electric motor |
| CN106842233A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Line scanning laser radar and its implementation based on annular external rotor electric machine |
| CN106872991A (en) * | 2017-01-17 | 2017-06-20 | 西安交通大学 | Scanning laser active probe device and implementation method based on annular external rotor electric machine |
| CN108190031A (en) * | 2017-12-22 | 2018-06-22 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of aerial anti-collision control method of ejector seat |
| CN110178046A (en) * | 2017-01-24 | 2019-08-27 | 深圳市大疆创新科技有限公司 | The obstacle avoidance system and method based on radar for unmanned plane |
| CN111781578A (en) * | 2020-06-09 | 2020-10-16 | 北京因泰立科技有限公司 | Two-dimensional scanning long-distance laser radar and working method thereof |
| CN112379670A (en) * | 2020-11-10 | 2021-02-19 | 京东数科海益信息科技有限公司 | Laser radar visual angle expanding device for robot and robot |
| CN112558081A (en) * | 2020-11-18 | 2021-03-26 | 国网智能科技股份有限公司 | Laser radar system based on wireless communication network and working method thereof |
| WO2021128239A1 (en) * | 2019-12-27 | 2021-07-01 | 华为技术有限公司 | Ranging system and mobile platform |
| CN113625294A (en) * | 2021-08-06 | 2021-11-09 | 凡光光电科技(绍兴)有限公司 | Miniature laser rangefinder suitable for unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106814364A (en) * | 2017-01-17 | 2017-06-09 | 西安交通大学 | Scanning laser active probe device and implementation method based on disk type rotor electric motor |
| CN106842218A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Line scanning laser radar and its implementation based on disk type rotor electric motor |
| CN106842233A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Line scanning laser radar and its implementation based on annular external rotor electric machine |
| CN106872991A (en) * | 2017-01-17 | 2017-06-20 | 西安交通大学 | Scanning laser active probe device and implementation method based on annular external rotor electric machine |
| CN110178046A (en) * | 2017-01-24 | 2019-08-27 | 深圳市大疆创新科技有限公司 | The obstacle avoidance system and method based on radar for unmanned plane |
| CN108190031A (en) * | 2017-12-22 | 2018-06-22 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of aerial anti-collision control method of ejector seat |
| CN108190031B (en) * | 2017-12-22 | 2021-01-19 | 中国航空工业集团公司北京航空精密机械研究所 | Air anti-collision control method for ejection seat |
| WO2021128239A1 (en) * | 2019-12-27 | 2021-07-01 | 华为技术有限公司 | Ranging system and mobile platform |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
| CN111781578A (en) * | 2020-06-09 | 2020-10-16 | 北京因泰立科技有限公司 | Two-dimensional scanning long-distance laser radar and working method thereof |
| CN112379670A (en) * | 2020-11-10 | 2021-02-19 | 京东数科海益信息科技有限公司 | Laser radar visual angle expanding device for robot and robot |
| CN112558081A (en) * | 2020-11-18 | 2021-03-26 | 国网智能科技股份有限公司 | Laser radar system based on wireless communication network and working method thereof |
| CN113625294A (en) * | 2021-08-06 | 2021-11-09 | 凡光光电科技(绍兴)有限公司 | Miniature laser rangefinder suitable for unmanned aerial vehicle |
| CN113625294B (en) * | 2021-08-06 | 2023-09-12 | 凡光光电科技(绍兴)有限公司 | Miniature laser rangefinder suitable for unmanned aerial vehicle |
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