CN206710892U - Unmanned plane multiple remote avoidance obstacle device - Google Patents
Unmanned plane multiple remote avoidance obstacle device Download PDFInfo
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- CN206710892U CN206710892U CN201720350886.1U CN201720350886U CN206710892U CN 206710892 U CN206710892 U CN 206710892U CN 201720350886 U CN201720350886 U CN 201720350886U CN 206710892 U CN206710892 U CN 206710892U
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- main control
- range finder
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Abstract
The utility model provides a kind of unmanned plane multiple remote avoidance obstacle device, including main control unit and be connected with main control unit circumferential laser sensing module, ultrasonic range finder sensor, interface circuit；Circumferential laser sensing module, for obtaining the orientation of the barrier around unmanned plane, width, elevation information, and it is transferred to main control unit, it includes laser induced area and laser emitting region, several generating lasers are installed on laser emitting region, generating laser is circumferentially distributed with an angular emission laser, the generating laser；Ultrasonic range finder sensor obtains the distance of barrier above and below unmanned plane, and also one is used for threeth ultrasonic range finder sensor of the 360 ° omni-directional measurement unmanned plane peripheral obstacle apart from the distance of unmanned plane；Main control unit, decide whether to make avoidance action for the orientation according to the barrier, width, height and distance information；3rd ultrasonic range finder sensor is arranged on the top of circumferential laser sensing module.
Description
Technical field
The utility model belongs to unmanned aerial vehicle (UAV) control technical field, more particularly to a kind of unmanned plane multiple remote avoidance obstacle dress
Put.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to unmanned plane during flying device, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.Unmanned plane has the advantages that low cost effectiveness, zero injures and deaths and disposes flexible, Ke Yibang
Help and even played a role instead of the mankind in many scenes, the personnel after such as calamity search and rescue, infrastructure supervision.No matter in the people
There are wide application and development prospect with still military domain, unmanned plane.
For unmanned plane in flight course, its flight environment of vehicle information is difficult to predict completely, is frequently encountered pop-up threats or barrier
Hinder, now, the global flight path path planned in advance can not meet to require.To reach expected purpose, it is necessary to there is detecting real-time
And the function of avoiding obstacles, to path and its surrounding enviroment and progress analysis and evaluation is threatened, plans a rational flight path road
Footpath, unmanned plane is then allowed to plan that the flight of flight path path to avoid preceding object, continues to complete task again accordingly.
For problem above, many improvement are also made in the prior art, as Chinese patent notification number CN204956914U is public
The unmanned plane that a kind of automatic three dimensions ranging avoided and passed through flight has been opened, has been surveyed using multiple distance measuring sensors, at least four
The outside of protective stent is arranged on away from sensor difference equidistant ring, at least two distance measuring sensors are separately mounted to unmanned owner
The upper and lower of body, distance horizontally and vertically is measured respectively, distance measuring sensor is at any time by distance data transmission to winged
Line control unit, flight controller analysis range data, while radios to the operator of unmanned plane so that operator can and
When change the flight path of unmanned plane according to the direction of obstacle, while also keep the thing of unmanned plane distance all around above-below direction
Body scope beyond a certain numerical value is flown.But distance measuring sensor distribution distance is larger in the program, be only capable of to flight front compared with
Big barrier carries out avoidance reaction.
Utility model content
The purpose of this utility model is to provide a kind of new unmanned plane multiple remote avoidance obstacle device, can utilize nothing
Man-machine upper multiple sensor module is detected to the various barriers in flight front and makes avoidance reaction.
Above-mentioned purpose is realized by following technical scheme：
A kind of unmanned plane multiple remote avoidance obstacle device, including main control unit and the circumference that is connected with main control unit swash
Optical sensing module, ultrasonic range finder sensor, interface circuit；The circumferential laser sensing module, for obtaining around unmanned plane
The orientation of barrier, width, elevation information, and it is transferred to main control unit；The ultrasonic range finder sensor includes being used to obtain nothing
First ultrasonic range finder sensor of man-machine top obstacle distance, the second ultrasound for obtaining obstacle distance below unmanned plane
Distance measuring sensor, passed for threeth supersonic sounding of the 360 ° omni-directional measurement unmanned plane peripheral obstacle apart from the distance of unmanned plane
Sensor；The main control unit, decide whether to make for the orientation according to the barrier, width, height and distance information and keep away
Allow action；The circumferential laser sensing module includes laser induced area and laser emitting region, if being installed on the laser emitting region
A dry generating laser, the generating laser are circumferentially distributed with an angular emission laser, the generating laser, and described the
Three ultrasonic range finder sensors are arranged on the top of the circumferential laser sensing module.
Further, described device also includes protective stent, and the circumferential laser is installed in the center of the protective stent
Sensing module, main control unit；First ultrasonic range finder sensor and the second ultrasonic range finder sensor are separately mounted to the protection branch
The upper and lower surface of frame.
Further, the interface circuit, communicated for the flight control modules with unmanned plane, in automatic offline mode
Under, the avoidance obstacle order that main control unit generates is sent to the flight control modules of the unmanned plane.
Further, described device also includes wireless communication module, for being communicated with unmanned controller.
Further, described device also includes electric power management circuit, for sensing mould for the main control unit, circumferential laser
Block, ultrasonic range finder sensor, wireless communication module and interface circuit power supply.
Further, the main control unit is the process chip using ARM kernels.
Further, the head of the generating laser is respectively arranged with the cylindrical lens of same model, and the cylindrical lens cause
The generating laser produces the consistent straight line hot spot of covering of the fan angle.
The new beneficial effect of this practicality is：The utility model is obtained using circumferential laser sensing module harmony distance measuring sensor
Orientation, width, the height and distance information of barrier, there is provided fly control module to unmanned plane or operator makes avoidance action,
The utility model can make avoidance action to different types of barrier, improve the security performance of unmanned plane during flying.
Brief description of the drawings
Fig. 1 is the block diagram of unmanned plane multiple remote avoidance obstacle device of the present utility model；
Fig. 2 is the structure chart of unmanned plane multiple remote avoidance obstacle device of the present utility model；
Fig. 3 is the structure chart of circumferential laser sensing module of the present utility model；
Fig. 4 is the generating laser distribution schematic diagram of circumferential laser sensing module of the present utility model；
Fig. 5 is the scheme of installation of unmanned plane multiple remote avoidance obstacle device of the present utility model.
Embodiment
Explanation and embodiment further illustrate to the utility model below in conjunction with the accompanying drawings.
As shown in Figure 1, unmanned plane multiple remote avoidance obstacle device of the present utility model, including main control unit 1 and
The circumferential laser sensing module 2 that is connected with main control unit 1, ultrasonic range finder sensor 3, wireless communication module 4, electric power management circuit
5th, interface circuit 6.
The circumferential laser sensing module 2 is used for width, the elevation information for obtaining the barrier around unmanned plane, and transmits
To main control unit 1.
The ultrasonic range finder sensor 3 is used for the distance for obtaining barrier above and below unmanned plane, and is transferred to master control
Unit 1.
The main control unit 1, decide whether to make avoidance action for the width according to the barrier and range information.
The wireless communication module 4, for being communicated with unmanned controller.Main control unit 1 analyzes range data, together
When radio to the operator of unmanned plane so that operator can change the flight road of unmanned plane according to the direction of obstacle in time
Line, ensure unmanned plane safe flight.
The electric power management circuit 5, for being sensed for the main control unit 1, circumferential laser sensing module 2, supersonic sounding
Device 3, wireless communication module 4 and interface circuit 6 are powered.
The interface circuit 6, communicates for the flight control modules with unmanned plane, under automatic offline mode, by master control
The avoidance obstacle order that unit 1 generates is sent to the flight control modules of the unmanned plane.
As shown in Figure 2, unmanned plane multiple remote avoidance obstacle device of the present utility model, in addition to protective stent 201,
The circumferential laser sensing module 202, main control unit 1, wireless communication module 4, power supply are installed in the center of the protective stent
Manage circuit 5, interface circuit 6 (not shown in Fig. 2).Ultrasonic range finder sensor 203 and ultrasonic range finder sensor 204 are installed respectively
In the upper and lower surface of the protective stent 201.
As shown in Figure 3, the circumferential laser sensing module includes laser to circumferential laser sensing module of the present utility model
Induction zone 301 and laser emitting region 302.Several generating lasers are installed on laser emitting region 302, the generating laser with
A certain angular emission laser (angle is the angle of laser and horizontal plane).Several generating lasers 303 are circumferentially distributed,
Accompanying drawing 4 is that the laser emitting region 302 of circumferential laser sensing module is spread out into rear generating laser distribution schematic diagram, generating laser
Angularly it is distributed, number can be 12,8 etc..One ultrasound is also installed at the top of the circumferential laser sensing module to survey
Away from sensor 304, the distance for 360 ° omni-directional measurement unmanned plane peripheral obstacle apart from unmanned plane.
The height in laser induced area 301 is higher than the height of laser emitting region 302, specifically how to set laser induced area
301 it is highly desirable according to parameters such as the angles of the flying speed of unmanned plane, processing delay and laser transmitter projects laser
Design.The head of the generating laser is respectively arranged with the cylindrical lens of same model, and the cylindrical lens cause the Laser emission
Device produces the consistent straight line hot spot of covering of the fan angle.Laser emission out runs into barrier and reflected, and is connect by laser induced area 301
Receive, according to the photosensitive sites and the distance of area and obstacle distance unmanned plane of the induction region in laser induced area 301,
Orientation, height, width and the distance of barrier can be calculated in the main control unit 1.
The schematic diagram that accompanying drawing 5 is device of the present utility model with unmanned plane installation, the unmanned plane multiple remote avoidance control
The protective stent of device processed is specifically designed according to the unmanned plane of different model, and accompanying drawing 5 is according to four rotary wings unmanned planes
The unmanned plane multiple remote avoidance obstacle device of feature design, described device are arranged on 4 rotary wings of four rotary wings unmanned planes
On.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (7)
1. a kind of unmanned plane multiple remote avoidance obstacle device, including main control unit and the circumferential laser that is connected with main control unit
Sensing module, ultrasonic range finder sensor, interface circuit；Characterized in that, the circumferential laser sensing module, for obtaining nobody
The orientation of barrier around machine, width, elevation information, and it is transferred to main control unit；The ultrasonic range finder sensor includes using
In obtain first ultrasonic range finder sensor of obstacle distance above unmanned plane, for obtaining unmanned plane lower section obstacle distance
Second ultrasonic range finder sensor, three surpass apart from the of the distance of unmanned plane for 360 ° omni-directional measurement unmanned plane peripheral obstacle
Sound ranging sensor；The main control unit, it is for the orientation according to the barrier, width, the decision of height and distance information
It is no to make avoidance action；The circumferential laser sensing module includes laser induced area and laser emitting region, the laser emitting region
Upper several generating lasers of installation, the generating laser are circumferentially divided with an angular emission laser, the generating laser
Cloth, the 3rd ultrasonic range finder sensor are arranged on the top of the circumferential laser sensing module.
2. device according to claim 1, it is characterised in that：Described device also includes protective stent, in the protection branch
The center of frame is installed by the circumferential laser sensing module, main control unit；First ultrasonic range finder sensor and the second supersonic sounding pass
Sensor is separately mounted to the upper and lower surface of the protective stent.
3. device according to claim 1, it is characterised in that：The interface circuit, for the flight control with unmanned plane
Module is communicated, and under automatic offline mode, the avoidance obstacle order that main control unit generates is sent to the flight of the unmanned plane
Control module.
4. device according to claim 1, it is characterised in that：Described device also includes wireless communication module, for nothing
People's set remote-controller is communicated.
5. device according to claim 4, it is characterised in that：Described device also includes electric power management circuit, for for institute
State main control unit, circumferential laser sensing module, ultrasonic range finder sensor and wireless communication module power supply.
6. device according to claim 1, it is characterised in that：The main control unit is the process chip using ARM kernels.
7. device according to claim 1, it is characterised in that：The head of the generating laser is respectively arranged with the post of same model
Shape lens, the cylindrical lens cause the generating laser to produce the consistent straight line hot spot of covering of the fan angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720350886.1U CN206710892U (en) | 2017-04-01 | 2017-04-01 | Unmanned plane multiple remote avoidance obstacle device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720350886.1U CN206710892U (en) | 2017-04-01 | 2017-04-01 | Unmanned plane multiple remote avoidance obstacle device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206710892U true CN206710892U (en) | 2017-12-05 |
Family
ID=60467537
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720350886.1U Active CN206710892U (en) | 2017-04-01 | 2017-04-01 | Unmanned plane multiple remote avoidance obstacle device |
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| CN (1) | CN206710892U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108205906A (en) * | 2018-01-19 | 2018-06-26 | 武汉理工大学 | The traffic guidance display system of group's unmanned plane |
| CN109240326A (en) * | 2018-08-27 | 2019-01-18 | 广东容祺智能科技有限公司 | A kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane |
| CN113687372A (en) * | 2021-08-30 | 2021-11-23 | 威海星空软体机器人科技有限公司 | Laser scanning range unit |
-
2017
- 2017-04-01 CN CN201720350886.1U patent/CN206710892U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108205906A (en) * | 2018-01-19 | 2018-06-26 | 武汉理工大学 | The traffic guidance display system of group's unmanned plane |
| CN109240326A (en) * | 2018-08-27 | 2019-01-18 | 广东容祺智能科技有限公司 | A kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane |
| CN113687372A (en) * | 2021-08-30 | 2021-11-23 | 威海星空软体机器人科技有限公司 | Laser scanning range unit |
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