CN105912027A - Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle - Google Patents
Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle Download PDFInfo
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- CN105912027A CN105912027A CN201610505863.3A CN201610505863A CN105912027A CN 105912027 A CN105912027 A CN 105912027A CN 201610505863 A CN201610505863 A CN 201610505863A CN 105912027 A CN105912027 A CN 105912027A
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- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 5
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229920001200 poly(ethylene-vinyl acetate) Polymers 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an obstacle avoiding device and an obstacle avoiding method of an unmanned aerial vehicle. The device comprises a laser drive circuit, a laser unit connected with the laser drive circuit, a first reflecting device fixedly arranged at the emitting end of the laser unit, and further comprises a second reflecting device which is fixedly arranged on a direct light path of the through hole and is fixedly connected with the bottom end of a rotary shaft of a motor of the unmanned aerial vehicle, a converge lens fixedly arranged on a reflecting light path of the first reflecting device, a laser detector fixed to a light converging path of the converge lens, a laser distance-measuring device connected with the laser detector, a hall sensor in the motor of the unmanned aerial vehicle, a laser drive circuit and a system processer unit connected with the laser distance-measuring device, wherein a laser beam emitted by the laser unit just passes through a through hole on the center of the first reflecting device; the first reflecting device is used for simultaneously reflecting laser reflected back by the second reflecting device. The invention further discloses an obstacle avoiding method of the device. According to the obstacle avoiding device and the obstacle avoiding method, 360-degree detection is realized, and high-precision independent obstacle avoiding of the unmanned aerial vehicle can be met.
Description
Technical field
The present invention relates to unmanned plane avoidance field, be specifically related to a kind of unmanned plane fault avoidnig device and keep away
Barrier method, this apparatus structure is reasonable, it is achieved 360 ° of detections.
Background technology
Unmanned plane avoidance ability is to determine that can unmanned plane share spatial domain with other aircraft, simultaneously
The key factor of unmanned plane successful execution task under strange and uncertain environment.Existing nothing
Man-machine avoidance many employings ultrasound wave and TOF (flying time technology) technology, avoiding obstacles by supersonic wave depends on
Rely the emissivities in body surface, when meeting with the object of reflectance deficiency, obstacle avoidance system
Safety will greatly reduce；Sound wave is vulnerable to impact simultaneously.TOF (flying time technology)
The glass light EVAC being vulnerable between high building, it is simply that meet with the main energetic ripple of sunlight
Section, makes TOF cruelly leak deficiency, hence it is evident that shortcoming is measured distance exactly and shortened.
It is to increase complexity on unmanned plane that existing unmanned plane realizes the traditional scheme of 360 ° of detections
Motor device, although so achieving 360 ° of detections but owing to load becomes big thus serious
Affect the abilities such as unmanned plane combination property and continuation of the journey, and obstacle avoidance system cannot realize high-precision from
Main avoidance.
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 rational in infrastructure, application
In unmanned plane fault avoidnig device and the barrier-avoiding method of unmanned plane, present invention achieves 360 ° of detections,
Disclosure satisfy that the high-precision automatic obstacle avoiding of unmanned plane.
In order to reach object above, the present invention adopts the following technical scheme that
A kind of unmanned plane fault avoidnig device based on laser radar, including laser drive circuit 7, with
The laser instrument 8 that laser drive circuit 7 connects, is fixed on the first reflection of laser instrument 8 transmitting terminal
Device 12, the laser beam that laser instrument 8 sends is just passed through the first reflection unit 12 central spot
Through hole 9；Also include being fixed in through hole 9 direct projection light path and with the turning of unmanned plane motor 1
The second reflection unit 10 that axle 5 bottom is connected, it is anti-that the first reflection unit 12 reflects second simultaneously
The laser that injection device 10 reflects；Also include being fixed on the first reflection unit 12 reflected light path
On convergence camera lens 13, be fixed on and converge camera lens 13 laser detector 14 that converges in light path,
The laser ranging system 15 being connected with laser detector 14；Also include and described unmanned plane motor
The system that Hall element, laser drive circuit 7 and laser ranging system 15 in 1 connects
Processor unit 16.
Described second reflection unit 10, is fixed on rotating shaft 5 bottom and the nothing of unmanned plane motor 1
Man-machine motor rotates simultaneously, and the second described reflection unit 10 is from the horizontal by 45 degree of angles.
Described first reflection unit 12 is from the horizontal by 45 degree of angles.
Described laser detector 14 receives and converges the laser that camera lens 13 converges, in order to laser ranging
Device 15 subsequent treatment.
Described laser drive circuit 7, laser instrument the 8, second reflection unit 10, first reflect dress
Put 12, convergence camera lens 13, laser detector 14 and laser ranging system 15 etc. and be packaged in sharp
Optical radar shell 17 is internal.
The barrier-avoiding method of unmanned plane obstacle avoidance system based on laser radar described above includes as follows
Step:
Step one, drives the second reflection dress being fixed on its rotating shaft 5 bottom when motor 1 rotates
Put 10 not stop to rotate；
Step 2, it is anti-through first that laser drive circuit 7 drives laser instrument 8 to launch laser vertical
The through hole 9 of injection device 12 central spot is mapped to the second reflection unit 10, at the second reflection unit
The laser of horizontal direction it is reflected at 10；When motor 1 rotates, the second reflection unit 10 also rotates,
Produce the laser beam of 360 °, this horizontal plane is carried out detection scanning；
Step 3, when barrier 11 is positioned at the reflected light path of the second reflection unit 10, can reflect
Laser, laser-bounce is returned through the second reflection unit 10 and reflection of the first reflection unit 12,
After converging camera lens 13 convergence effect, laser detector 14 receives the laser after converging, in order to
Laser ranging system 15 carries out subsequent treatment；
Step 4, after laser detector 14 receives and returns the laser come, laser ranging fills
Put 15 by measuring transmitting Laser pulse time t1With reception Laser pulse time t2Between time
Difference (or the time difference between Laser Measurement device driving pulse and reception laser pulse) calculates obstacle
Thing distance unmanned plane distance s；System processor unit 16 passes through unmanned plane motor 1 with suddenly
Clock pulses f of the pulse m coupled system processor unit 16 of your sensor output calculates
The rotational angle theta of unmanned plane motor 1 any time, reads laser ranging system 15 more simultaneously and calculates
Barrier and unmanned plane between distance s, it is achieved to around unmanned plane 360 ° of barriers
Scanning probe, carries out avoidance process.
Compared with prior art, present invention have the advantage that
First, this invention simplifies obstacle avoidance system structure, the reflection unit in obstacle avoidance system is solid
It is connected on machine shaft, drives reflection unit to rotate during electric machine rotation, be increased without unnecessary electricity
Machine equipment can realize 360 ° of scanning probes.
Second, the present invention utilizes the feature that laser resolution is high, capacity of resisting disturbance is strong, and motor revolves
Drive the reflection unit not stall in obstacle avoidance system dynamic when turning rather than radar self 360 ° spy
Survey scanning；Measure motor corner method on the present invention utilize motor with Hall element
The pulse coupled system clock pulses of output calculates motor corner.
3rd, simplify obstacle avoidance system structure, the installation site of this device is according to the position of propeller
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
Number is installed, and the setting height(from bottom) of each reflection unit being connected from machine shaft is different, then
The detection to multiple planes can be realized, it is thus achieved that stereo scene information.
Accompanying drawing explanation
Fig. 1 is present invention unmanned plane based on laser radar fault avoidnig device structure chart.
Fig. 2 is the schematic diagram that apparatus of the present invention are arranged on unmanned plane.
Fig. 3 is pulse and the clock pulses cooperation survey of Hall element output in apparatus of the present invention
Amount motor corner schematic diagram.
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 obstacle avoidance system based on laser radar, drive including laser
Galvanic electricity road 7, the laser instrument 8 being connected with laser drive circuit 7, is fixed on laser instrument 8 and launches
First reflection unit 12 of end, the laser beam that laser instrument 8 sends is just passed through the first reflection dress
Put the through hole 9 of 12 central spot, be fixed in through hole 9 direct projection light path and dynamo-electric with unmanned
The second reflection unit 10 that rotating shaft 5 bottom of machine 1 is connected, is positioned at the second reflection unit 10 anti-
Penetrating the barrier 11 in light path, the first reflection unit 12 reflects the second reflection unit 10 simultaneously
The laser reflected, is fixed on the convergence camera lens 13 on the first reflection unit 12 reflected light path,
It is fixed on and converges the laser detector 14 that camera lens 13 converges in light path；With laser detector 14
The laser ranging system 15 being connected；Also include with the Hall element in described device motor 1,
The system processor unit 16 that laser drive circuit 7 and laser ranging system 15 connect.
Described second reflection unit 10, is fixed on unmanned plane machine shaft bottom dynamo-electric with unmanned
Machine rotates simultaneously, preferably, the second described reflection unit 10 from the horizontal by
Optimal reflecting effect can be reached during 45 degree of angles.
Described first reflection unit 12, its central spot is through hole 9, makes laser instrument 8 launch
Laser can pass the first reflection unit 12；Reflect the second reflection unit 10 to reflect simultaneously
Laser.Preferably, the first described reflection unit 12 is from the horizontal by 45 degree
Optimal reflecting effect can be reached during angle.
Preferably, 17 laser drive circuits 7 of lidar housings, laser instrument 8,
Second reflection unit 10, the first reflection unit 12, convergence camera lens 13, laser detector 14,
Laser ranging system 15 etc. wires up the laser radar apparatus 2 formed as shown in Figure 1, makes
This device can be not limited mounting and adjusting position.
As in figure 2 it is shown, apply and the schematic diagram on unmanned plane for apparatus of the present invention, unmanned dynamo-electric
Machine 1 drives propeller 4 to rotate and provides flying power, wherein unmanned plane motor 1 into unmanned plane
The upper end of rotating shaft 5 is fixedly connected with propeller 4, and its lower end is fixedly connected with the second reflection unit 10,
The central spot of the second reflection unit 10 is that a is (as preferably with the angle of rotating shaft 5 centrage
Scheme, reaches optimum efficiency when a=45 °), the position of unmanned plane motor 1 and propeller 4 can
Can also be arranged on below frame 3 on frame 3, the installation of laser radar apparatus 2
Depending on number also can be by practical situation, utilize multiple laser radar apparatus 2 can realize difference and put down
The detection of 360 ° of face.
As it is shown on figure 3, be pulse and the clock pulses cooperation of Hall element output in the present invention
Measuring motor corner schematic diagram, unmanned plane motor 1 is internal with y Hall components and parts, unmanned
During dynamo-electric machine 1 uniform rotation, every rotational angle β °, Hall element one pulse m of output,
I.e. unmanned plane motor 1 rotates one week Hall element y pulse m of output.Assuming that clock frequency
For f, when system processor unit 16 detects Hall element output pulse m, start meter
Number devices begin counting up Hall element and export till next pulse m (between two pulses
Motor 1 rotates β °), read rolling counters forward N in system processor unit 16, calculate
The unmanned plane motor 1 rotational angle theta=x* (β °/N) within the x time period.Then counter O reset weight
Newly start counting up.
Laser drive circuit 7 of the present invention drives laser instrument 8 to produce a laser pulse.Unmanned plane
The second reflection unit 10 being fixed on its rotating shaft 5 bottom is driven to rotate when motor 1 rotates.
Laser vertical is through to be vertically mapped to second anti-after the through hole 9 of the first reflection unit 12 central spot
Injection device 10, is reflected into horizontal direction laser through the second reflection unit 10.Unmanned plane motor 1
Drive the second reflection unit 10 to rotate during rotation, then can realize around unmanned plane 360 °
Scanning probe.When barrier 11 is positioned at the reflected light path of the second reflection unit 10, laser is reflected
Go back, after the reflection of the second reflection unit 10 and the first reflection unit 12, in the first reflection
On the reflected light path of device 12, laser is through converging camera lens 13, reaches to converge the effect of laser.
Laser detector 14 receives the laser converged, in order to laser ranging system 15 processes.Work as laser
Detector 14 receives after returning the laser come, and laser ranging system 15 swashs by measuring to launch
Optical pulse time t1With reception Laser pulse time t2Between time difference (or Laser Measurement device drives
Moving pulse and the time difference received between laser pulse) calculate obstacle distance unmanned plane distance s,
Computing formula is as follows: s=(t2-t1) * v (v is the speed of laser)；System processor unit 16
By motor 1 with Hall element coordinate clock calculation unmanned plane motor 1 rotational angle theta, obtain
Obtain this angle position, read the barrier of laser ranging system 15 calculating again at a distance of unmanned simultaneously
Machine distance s, then achieve the scanning probe to around unmanned plane 360 ° of barriers.
Claims (6)
1. a unmanned plane fault avoidnig device, it is characterised in that: include laser drive circuit (7), with laser
The laser instrument (8) that drive circuit (7) connects, is fixed on the first reflection unit of laser instrument (8) transmitting terminal
(12) laser beam that, laser instrument (8) sends is just passed through the logical of the first reflection unit (12) central spot
Hole (9)；Also include being fixed in through hole (9) direct projection light path and with unmanned plane motor (1) rotating shaft (5)
The second reflection unit (10) that bottom is connected, the first reflection unit (12) reflects the second reflection unit simultaneously
(10) laser reflected；Also include the convergence being fixed on the first reflection unit (12) reflected light path
Camera lens (13), is fixed on the laser detector (14) converged in camera lens (13) convergence light path, with laser
The laser ranging system (15) that detector (14) is connected；Also include with in described unmanned plane motor (1)
The system processor unit that Hall element, laser drive circuit (7) and laser ranging system (15) connect
(16)。
A kind of unmanned plane fault avoidnig device the most according to claim 1, it is characterised in that: described second anti-
Injection device (10) is fixed on rotating shaft (5) bottom of unmanned plane motor (1) and rotates with motor simultaneously, described
The second reflection unit (10) 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 (12) 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 (14) receives and converges the laser that camera lens (13) converges, in order to laser ranging fills
Put (15) 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 drive circuit (7), laser instrument (8), the second reflection unit (10), the first reflection
Device (12), convergence camera lens (13), laser detector (14) and laser ranging system (15) packaging
Internal in lidar housings (17).
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 second reflection dress being fixed in its rotating shaft (5) when unmanned plane motor (1) rotates
Put (10) to rotate simultaneously；
Step 2, laser drive circuit (7) drives laser instrument (8) to launch laser vertical through the first reflection
The through hole (9) of device (12) central spot is mapped to the second reflection unit (10), in the second reflection unit (10)
Place is reflected into the laser of horizontal direction；When unmanned plane motor (1) rotates, the second reflection unit (10) also rotates,
Produce the laser beam of 360 °, this horizontal plane is carried out detection scanning；
Step 3, when barrier (11) is positioned at the reflected light path of the second reflection unit (10), can reflect sharp
Light, laser-bounce is returned through the second reflection unit (10) and the reflection of the first reflection unit (12), warp
After converging camera lens (13) convergence effect, laser detector (14) receives the laser after converging, in order to laser
Range unit (15) carries out subsequent treatment；
Step 4, after laser detector (14) receives and returns the laser come, laser ranging system (15)
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；System
Processor unit (16) by unmanned plane motor (1) with Hall element output pulse m coordinate system
Clock pulses f of system processor unit (16) calculates the rotational angle theta of unmanned plane motor (1) any time,
Read distance s between barrier and the unmanned plane that laser ranging system (15) calculates again, it is achieved to nothing simultaneously
The scanning probe of man-machine 360 ° of barriers (11) around, carries out avoidance process.
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| CN201610505863.3A CN105912027A (en) | 2016-06-30 | 2016-06-30 | Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle |
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Cited By (6)
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| 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 |
| CN107121677A (en) * | 2017-06-02 | 2017-09-01 | 太原理工大学 | Avoidance radar method and device based on ultra wide band cognition CPPM signals |
| CN107728161A (en) * | 2017-10-09 | 2018-02-23 | 东莞市翔实信息科技有限公司 | A kind of unmanned laser radar system |
| WO2019000415A1 (en) * | 2017-06-30 | 2019-01-03 | SZ DJI Technology Co., Ltd. | Object measurement for light detection and ranging system |
| WO2019119227A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Position detection method and device, rotary radar system, and unmanned aerial vehicle |
| CN110058606A (en) * | 2019-03-29 | 2019-07-26 | 国网山东省电力公司梁山县供电公司 | Power circuit O&M examination and repair system and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN107121677A (en) * | 2017-06-02 | 2017-09-01 | 太原理工大学 | Avoidance radar method and device based on ultra wide band cognition CPPM signals |
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| CN110058606A (en) * | 2019-03-29 | 2019-07-26 | 国网山东省电力公司梁山县供电公司 | Power circuit O&M examination and repair system and method |
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Application publication date: 20160831 |