CN213457366U - Autonomous flight auxiliary system based on millimeter wave radar - Google Patents
Autonomous flight auxiliary system based on millimeter wave radar Download PDFInfo
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- CN213457366U CN213457366U CN202022600135.5U CN202022600135U CN213457366U CN 213457366 U CN213457366 U CN 213457366U CN 202022600135 U CN202022600135 U CN 202022600135U CN 213457366 U CN213457366 U CN 213457366U
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Abstract
An autonomous flight auxiliary system based on a millimeter wave radar relates to the technical field of unmanned aerial vehicle obstacle avoidance flight, and comprises a millimeter wave radar module, a vision module, an acquisition and transmission module, an information fusion processing module, a remote control receiving module and a control module; the vision module is connected with the information fusion processing module, the millimeter wave radar module is connected with the acquisition and transmission module, the acquisition and transmission module is connected with the information fusion processing module, the remote control receiving module is connected with the information fusion processing module, and the information fusion processing module is connected with the control module. The beneficial effects of the utility model reside in that: the utility model discloses with the integration of millimeter wave radar echo range finding, vision module image recognition method, increased substantially the ability of system's obstacle discernment, further promotion transmission line efficiency of patrolling and examining that becomes more meticulous.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle keeps away barrier flight technical field, especially relates to an autonomic flight auxiliary system based on millimeter wave radar.
Background
The existing system adopts a mode combining visual tracking and obstacle avoidance algorithms, realizes the positioning and identification of power transmission line routing inspection and obstacles, ensures that the unmanned aerial vehicle flies along with a power line at a certain safe distance through the constraint of the obstacle avoidance algorithm model, and simultaneously automatically avoids obstacles under the condition of safe distance aiming at the unmanned aerial vehicle and the obstacles, thereby autonomously completing the task of routing inspection of the unmanned aerial vehicle when the power transmission line of the unmanned aerial vehicle is routed.
The existing technologies of obstacle avoidance, autonomous flight and the like of the unmanned aerial vehicle are basically for routing inspection of daily power transmission lines, and no autonomous flight scheme for fine routing inspection of the unmanned aerial vehicle of the power transmission lines
Transmission line unmanned aerial vehicle becomes more meticulous and patrols and examines, and the work content periodicity is strong, and the safety requirement is high, but prior art can't reach: the work content of each fine routing inspection work of the unmanned aerial vehicle for the power transmission line is basically repeated periodically, the change of the work content is small, but the requirements on the fineness and the safety of the whole work link are high; no matter manual operation at present, still rely on the current autonomic flight function of unmanned aerial vehicle, the effect of patrolling and examining and security can't reach the requirement that transmission line is meticulous to be patrolled and examined.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model provides an autonomic flight auxiliary system based on millimeter wave radar can be when transmission line unmanned aerial vehicle is patrolled and examined more meticulously, independently accomplishes unmanned aerial vehicle and patrols and examines the task.
The utility model provides an autonomous flight auxiliary system based on millimeter wave radar, which comprises a millimeter wave radar module, a vision module, an acquisition and transmission module, an information fusion processing module, a remote control receiving module and a control module; the vision module is connected with the information fusion processing module, the millimeter wave radar module is connected with the acquisition and transmission module, the acquisition and transmission module is connected with the information fusion processing module, the remote control receiving module is connected with the information fusion processing module, and the information fusion processing module is connected with the control module.
The millimeter wave radar module is used for transmitting and receiving millimeter waves and outputting beat signals to the acquisition and transmission module;
the visual module is used for shooting a visual image of the barrier and transmitting image information to the information fusion processing module;
the acquisition and transmission module is used for acquiring beat signals output by the millimeter wave radar module and transmitting the signals to the information fusion processing module;
the information fusion processing module is used for fusing radar ranging information and visual angle measurement information to perform three-dimensional positioning of the obstacle and a plane distribution map of the obstacle;
the remote control receiving module is used for receiving and decoding the control signal sent by the remote control and transmitting the control signal to the information fusion processing module;
and the control module sends a flight action control signal to the unmanned aerial vehicle after the information fusion processing module calculates.
The millimeter wave radar module is a millimeter wave radar; the visual module is a monocular visual module, namely a camera device; the acquisition and transmission module is a data acquisition processor and a data transmission chip; the information fusion processing module is an algorithm processor; the remote control receiving module is a remote control signal receiver; the control module is a flight control processing chip.
The millimeter wave radar measures the obstacle distance, calculates the position of the obstacle and the relative size of the distance of each obstacle with the visual image simultaneously, and through millimeter wave radar equipment and behind the calculated result comparison, can confirm the distance of every obstacle and the position of locating in the space obstacle, when unmanned aerial vehicle transmission line patrols and examines, independently accomplish unmanned aerial vehicle and patrol and examine the task.
The utility model discloses a work flow does:
when the unmanned aerial vehicle transmission line is subjected to fine routing inspection, the system firstly performs initialization after the system starts, and enters an autonomous flight state after the initialization is finished; the millimeter wave radar module detects the distance of the obstacle in real time, the system does not react when the distance is larger than a set value, only when the distance is smaller than the set value, the vision module is started to collect vision images, the information fusion processing module firstly performs fusion processing on radar information and monocular vision information to obtain three-dimensional stereo information of the obstacle, then the three-dimensional stereo information is converted into two-dimensional plane distribution, and finally the obstacle is avoided according to the plane distribution of the obstacle in the flight of the unmanned aerial vehicle.
The beneficial effects of the utility model reside in that: the unmanned aerial vehicle who possesses autonomous flight auxiliary system not only can be in the steady flight of low latitude region, can effectually avoid the barrier in the environment under the condition that artifical can't intervene moreover, and this has very important meaning to reducing that unmanned aerial vehicle takes place to explode the quick-witted accident.
The utility model discloses a more advanced obstacle avoidance strategy, according to the distribution condition of the definite barrier in the space after millimeter wave radar module and the fusion of vision module are handled, seek the space between the barrier and carry out hiding of barrier, the barrier hides the back, can return the planning route automatically, continues to carry out the transmission line task of patrolling and examining that becomes more meticulous.
Compare in current simple dependence millimeter wave radar and keep away the barrier, the utility model discloses with the integration of millimeter wave radar echo ranging, vision module image identification method, increased substantially the ability of system's obstacle discernment, further promotion transmission line efficiency of patrolling and examining that becomes more meticulous.
Drawings
FIG. 1 is a connection diagram between modules of the present invention;
fig. 2 is a flow chart of the present invention.
Detailed Description
Embodiment 1, as shown in the figure, the utility model provides an autonomous flight auxiliary system based on millimeter wave radar, including millimeter wave radar module, vision module, collection and transmission module, information fusion processing module, remote control receiving module, control module; the vision module is connected with the information fusion processing module, the millimeter wave radar module is connected with the acquisition and transmission module, the acquisition and transmission module is connected with the information fusion processing module, the remote control receiving module is connected with the information fusion processing module, and the information fusion processing module is connected with the control module.
The millimeter wave radar module is used for transmitting and receiving millimeter waves and outputting beat signals to the acquisition and transmission module;
the visual module is used for shooting a visual image of the barrier and transmitting image information to the information fusion processing module;
the acquisition and transmission module is used for acquiring beat signals output by the millimeter wave radar module and transmitting the signals to the information fusion processing module;
the information fusion processing module is used for fusing radar ranging information and visual angle measurement information to perform three-dimensional positioning of the obstacle and a plane distribution map of the obstacle;
the remote control receiving module is used for receiving and decoding the control signal sent by the remote control and transmitting the control signal to the information fusion processing module;
and the control module sends a flight action control signal to the unmanned aerial vehicle after the information fusion processing module calculates.
The detailed inspection of a certain power transmission line is exemplified as follows:
the fine routing inspection task of the power transmission line of the unmanned aerial vehicle can be set to fly between two specified starting points and ending points, and the unmanned aerial vehicle flies from the starting points to the ending points and can autonomously avoid obstacles in flight. A general complex flying task can be decomposed into a finite number of fixed-point flying tasks between two points.
When the unmanned aerial vehicle flies, millimeter wave signals are continuously transmitted to the right front of the flying and received by the millimeter wave radar, and the distance between the nearest obstacles in the right front of the flying unmanned aerial vehicle is detected and calculated by the algorithm for the signal processor. When the nearest distance is greater than the safe distance, the unmanned aerial vehicle autonomous flight auxiliary system does not adopt operation to intervene flight, and if the nearest distance between the unmanned aerial vehicle and the obstacle is detected to be less than the safe distance, the camera device is started to synchronously work. The identification of the distribution condition of the obstacles in the dead ahead of the unmanned aerial vehicle in flight is realized by utilizing the fusion of the information of the camera device, and after the identification of the space distribution condition of the obstacles is completed, the unmanned aerial vehicle selects a gap to pass through the obstacles to complete a one-time obstacle avoidance flight task. And then the millimeter wave radar continues to detect the obstacle right ahead of the flying unmanned aerial vehicle, so that the unmanned aerial vehicle flies along the specified power transmission line routing inspection path.
Claims (2)
1. The utility model provides an autonomic flight auxiliary system based on millimeter wave radar which characterized in that: the system comprises a millimeter wave radar module, a vision module, an acquisition and transmission module, an information fusion processing module, a remote control receiving module and a control module; the vision module is connected with the information fusion processing module, the millimeter wave radar module is connected with the acquisition and transmission module, the acquisition and transmission module is connected with the information fusion processing module, the remote control receiving module is connected with the information fusion processing module, and the information fusion processing module is connected with the control module.
2. The millimeter-wave radar-based autonomous flight assist system according to claim 1, wherein the millimeter-wave radar module is a millimeter-wave radar; the visual module is a monocular visual module, namely a camera device; the acquisition and transmission module is a data acquisition processor and a data transmission chip; the information fusion processing module is an algorithm processor; the remote control receiving module is a remote control signal receiver; the control module is a flight control processing chip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022600135.5U CN213457366U (en) | 2020-11-12 | 2020-11-12 | Autonomous flight auxiliary system based on millimeter wave radar |
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| CN202022600135.5U CN213457366U (en) | 2020-11-12 | 2020-11-12 | Autonomous flight auxiliary system based on millimeter wave radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109161A1 (en) * | 2022-11-23 | 2024-05-30 | 国网智能科技股份有限公司 | Unmanned aerial vehicle applied to power grid inspection, method, and power grid inspection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109161A1 (en) * | 2022-11-23 | 2024-05-30 | 国网智能科技股份有限公司 | Unmanned aerial vehicle applied to power grid inspection, method, and power grid inspection system |
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