CN106199630A - Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof - Google Patents
Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof Download PDFInfo
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- CN106199630A CN106199630A CN201610505086.2A CN201610505086A CN106199630A CN 106199630 A CN106199630 A CN 106199630A CN 201610505086 A CN201610505086 A CN 201610505086A CN 106199630 A CN106199630 A CN 106199630A
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Classifications
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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
-
- 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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method, this system includes the encoder being fixed on below unmanned plane motor and being coaxial therewith to be connected；Also include laser drive circuit, the laser instrument being connected with laser drive circuit, it is fixed on the first convergence camera lens of laser instrument transmitting terminal, it is fixed on the first reflection unit on the first convergence camera lens converged light road, it is fixed on the first reflection unit reflected light path and second reflection unit connected with the rotating shaft bottom of unmanned plane motor, it is fixed on the filtering apparatus on the second reflection unit reflected light path, the the second convergence camera lens being fixed in filtering apparatus optical filtering light path, is fixed on the laser detector on the second convergence camera lens converged light road；The laser ranging system being connected with laser detector；Also include the system processor unit being connected with encoder, laser drive circuit and laser ranging system；The invention also discloses the barrier-avoiding method of this system；Achieve 360 ° of scanning probes, so that unmanned plane realizes high-precision automatic obstacle avoiding.
Description
Technical field
The present invention relates to unmanned plane avoidance field, be specifically related to a kind of unmanned plane obstacle avoidance system based on laser radar and
Barrier-avoiding method.
Background technology
Multi-axis aircraft achieved swift and violent development in recent years, but unmanned plane at any time can during automatic patrol aviation
Run into barrier.Ultrasound wave or vision technique is currently mainly used to realize avoidance.Ultrasound wave is simplest range-measurement system,
Unmanned plane obstacle avoidance system has obvious interference problem, if the scarce capacity of secondly object reflectance ultrasound ripple, avoidance effective
Distance will reduce, and potential safety hazard is higher.Vision technique easily receives the impact of the factors such as light, dust, smog, it is impossible to meet
All-weather flight needs.
In traditional unmanned plane hides obstacle scheme, radar is radar self to realize a kind of method of 360 ° of detections
Realizing 360 ° of scannings, another kind of method is to use phased-array radar, both schemes need to increase complicated motor device thus
Produce extra load, but unmanned plane is due to the unsuitable overload of the reasons such as continuation of the journey.
At present, domestic and international researchers propose many unmanned plane avoidance solutions, but all cannot realize high accuracy
Automatic obstacle avoiding.
Summary of the invention
In order to solve the problems referred to above, it is an object of the invention to be to provide a kind of unmanned plane of based on laser radar avoidance system
System and barrier-avoiding method thereof, present invention achieves 360 ° of scanning probes, so that unmanned plane realizes high-precision automatic obstacle avoiding.
For reaching object above, the present invention adopts the following technical scheme that
A kind of unmanned plane obstacle avoidance system based on laser radar, including being fixed on below unmanned plane motor 11 and and unmanned plane
The encoder 13 that motor 11 is coaxially connected；Also include laser drive circuit 1, the laser instrument 2 being connected with laser drive circuit 1, Gu
Due to the first convergence camera lens 3 of laser instrument 2 transmitting terminal, it is fixed on the first reflection unit that the first convergence camera lens 3 converges in light path
4, it is fixed on the first reflection unit 4 reflected light path and second reflection unit connected with rotating shaft 12 bottom of unmanned plane motor 11
5, it is fixed on the filtering apparatus 7 on the second reflection unit 5 vertical direction reflected light path, is fixed on filtering apparatus 7 and filters in light path
Second convergence camera lens 8, be fixed on the laser detector 9 that the second convergence camera lens 8 converges in light path；It is connected with laser detector
Laser ranging system 10；Also include at the system that is connected with described encoder 13, laser drive circuit 1 and laser ranging system 10
Reason device unit 15.
Described first reflection unit 4 is from the horizontal by 135 degree of angles.
Described second reflection unit 5, rotating shaft 12 bottom being fixed on unmanned plane motor 11 turns with unmanned plane motor 11 simultaneously
Dynamic, the second described reflection unit 5 is from the horizontal by 45 degree of angles.
Described filtering apparatus 7, plays filtration variegated, eliminates the effect of polarisation.
Described laser detector 9 receives the laser that the second convergence camera lens 8 converges, in order to laser ranging system 10 subsequent calculations
Process.
Described laser drive circuit 1, laser instrument 2, first converge camera lens the 3, first reflection unit the 4, second reflection unit 5,
Filtering apparatus 7, second converges camera lens 8, laser detector 9 and laser ranging system 10 and is packaged in lidar housings 14 inside.
The barrier-avoiding method of unmanned plane obstacle avoidance system based on laser radar described above, comprises the steps:
Step one, laser drive circuit 1 drives laser instrument 2 to launch laser and passes the first convergence 3, reaches collimation laser
Effect, is irradiated to after the first reflection unit 4 reflected illumination the second reflection unit 5 again；
Step 2, drives the encoder 13 being fixed in its rotating shaft 12 and the second reflection unit 5 when unmanned plane motor 1 rotates
Rotate simultaneously, thus the vertical direction laser impinging perpendicularly on the second reflection unit 5 is become 360 ° of horizontal laser light launched, right
This horizontal plane carries out detection scanning；
Step 3, when barrier 6 is positioned at the reflected light path of the second reflection unit 5, can reflect laser, laser-bounce return through
Crossing the second reflection unit 5 and reflection of the first reflection unit 4, become the laser of vertical direction, a portion laser is by first
Reflection unit 4 eclipsing loss falls, and another part laser then shines directly into filtering apparatus 7, is irradiated to the second converging lenses after optical filtering
8, after second converges camera lens 8 convergence effect, laser detector 9 receives the laser after converging, in order to laser ranging system 10
Carry out subsequent treatment；
Step 4, after laser detector 9 receives the laser reflected, laser ranging system 10 is launched by measurement
Laser pulse time t1With reception Laser pulse time t2Between time difference or Laser Measurement device driving pulse and receive laser arteries and veins
Time difference between punching calculates distance s of obstacle distance unmanned plane；Because encoder 13 is coaxially fixed with unmanned plane motor 11,
System processor unit 15 calculates the rotational angle theta of motor 11 any time by encoder 13, reads laser ranging dress more simultaneously
Put the barrier of 10 calculating and distance s of unmanned plane, it is achieved the scanning probe to around unmanned plane 360 ° of barriers, for unmanned plane
Offer avoidance processes.
Compared with prior art, present invention have the advantage that
First, the present invention is connected in the reflection unit in radar on machine shaft, simplifies obstacle avoidance system structure, motor
Drive reflection unit to rotate during rotation, be increased without unnecessary motor device and can realize 360 ° of scannings.
Second, the present invention utilizes the feature that laser resolution is high, capacity of resisting disturbance is strong, drives obstacle avoidance system during electric machine rotation
In reflection unit rotate rather than 360 ° of scanning probes of radar self, simplify obstacle avoidance system structure.
3rd, the installation site of apparatus of the present invention can select different mounting means according to the position of propeller, meets
The demand of different types of unmanned plane.Each axle of multiaxis unmanned plane all can be installed apparatus of the present invention, it is possible to according to reality
Situation takes the circumstances into consideration to consider to install number, the most each different from the setting height(from bottom) of the reflection unit that machine shaft is connected, then can be real
The now detection to multiple planes, it is thus achieved that stereo scene information.Installation site according to propeller is different, and apparatus of the present invention have multiple
Mounting means.
Accompanying drawing explanation
Fig. 1 is present invention unmanned plane based on laser radar obstacle avoidance system structural representation.
Fig. 2 is the schematic diagram that present system is 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.It should be understood that these embodiments are only
For the present invention being described rather than limiting the scope of the present invention, after having read the present invention, those skilled in the art are to this
The amendment of the various equivalent form of values of invention all falls within the application claims limited range.
As it is shown in figure 1, a kind of unmanned plane obstacle avoidance system based on laser radar, including being fixed on below unmanned plane motor 11
And the encoder 13 being coaxially connected with unmanned plane motor 11；Also including laser drive circuit 1, be connected with laser drive circuit swashs
Light device 2, is fixed on the first convergence camera lens 3 of laser instrument 2 transmitting terminal, is fixed on the first convergence camera lens 3 and converges the first anti-of light path
Injection device 4, is fixed on the first reflection unit 4 reflected light path and second anti-with what rotating shaft 12 bottom of unmanned plane motor 11 was connected
Injection device 5, is positioned at the barrier 6 on the second reflection unit 5 reflected light path, is fixed on the second reflection unit 5 reflected light path
Filtering apparatus 7, is fixed on the second convergence camera lens 8 that filtering apparatus 7 filters in light path, is fixed on the second convergence camera lens 8 converged light
Laser detector 9 on road；The laser ranging system 10 being connected with laser detector；Also include with described device code device 13,
The system processor unit 15 that laser drive circuit 1 and laser ranging system 10 connect.
Described first reflection unit 4, reflection the first convergence camera lens 3 converge after laser, preferably, described the
Optimal reflecting effect can be reached when one reflection unit 4 is from the horizontal by 135 degree of angles.
Described second reflection unit 5, is fixed on machine shaft bottom and rotates with motor simultaneously, preferably, described
The second reflection unit 5 from the horizontal by 45 degree of angles time can reach optimal reflecting effect.
Preferably, 14 laser drive circuits 1 of lidar housings, laser instrument 2, first converge camera lens 3, first
Reflection unit the 4, second reflection unit 5, filtering apparatus 7, second converge camera lens 8, laser detector 9 and laser ranging system 10 and wrap
Load the laser radar apparatus 16 formed as shown in Figure 2, make this device to 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, unmanned plane motor 11 drives propeller 18
Rotate be unmanned plane provide flying power, the wherein rotating shaft 12 of unmanned plane motor 11, one end is fixedly connected with propeller 18, one end and
Second reflection unit 5 is fixedly connected with, and the angle of the central spot of the second reflection unit 5 and machine shaft centrage be a (
Excellent scheme, reaches optimum efficiency when a=45 °), can also may be used on frame 17 in the position of unmanned plane motor 11 and propeller 18
To be arranged on below frame 17, depending on the installation number of laser radar apparatus 16 also can be by practical situation, utilize multiple laser thunder
Reach device 16 can realize Different Plane 360 ° detection.
Laser drive circuit 8 of the present invention drives laser instrument 9 to produce a laser pulse.Laser converges camera lens 3 through first,
First converges camera lens 3 reaches the effect of collimation laser, and collimated laser is irradiated at the first reflection unit 4 reflex to second
Reflection unit 5.Second discharger 5 is fixed on rotating shaft 12 bottom, and unmanned plane motor 11 drives the second reflection unit not when rotating
Stop rotating, thus the laser-bounce of vertical incidence is become 360 ° of horizontal laser light launched, this horizontal plane is carried out detection scanning.
Barrier 6 is positioned on the reflected light path of the second reflection unit 5, can reflect laser, and laser-bounce is returned through the second reflection unit 5 He
The reflection of the first reflection unit 4, becomes the laser of vertical direction.The laser part being reflected back is at the first reflection unit 4
Place is blocked and loses, and another part laser is then directly through filtering apparatus 7, and the laser after filtration is irradiated to the second convergence camera lens
8, after second converges camera lens 8 convergence effect, laser detector 9 receives the laser after converging, in order to laser ranging system 10 enters
Row subsequent treatment.After laser detector 9 receives and returns the laser come, laser ranging system 10 launches laser arteries and veins by measuring
Rush time t1With reception Laser pulse time t2Between time difference or Laser Measurement device driving pulse and receive between laser pulse
Time difference 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 15 measures the rotational angle theta of unmanned plane motor 11 by encoder 13, it is thus achieved that this angle position, reads simultaneously again
The barrier that laser ranging system 10 calculates at a distance of distance s of unmanned plane, then achieves around unmanned plane 360 ° of barriers
Scanning probe, provides avoidance to process for unmanned plane.
Claims (7)
1. a unmanned plane obstacle avoidance system based on laser radar, it is characterised in that: include being fixed under unmanned plane motor (11)
Side and the encoder (13) that be connected coaxial with unmanned plane motor (11)；Also include laser drive circuit (1), with laser drive circuit
(1) laser instrument (2) connected, is fixed on the first convergence camera lens (3) of laser instrument (2) transmitting terminal, is fixed on the first convergence camera lens
(3) converge the first reflection unit (4) in light path, be fixed on the first reflection unit (4) reflected light path and with unmanned plane motor
(11) the second reflection unit (5) that rotating shaft (12) bottom is connected, is fixed on the second reflection unit (5) vertical direction reflected light path
On filtering apparatus (7), be fixed in filtering apparatus (7) optical filtering light path second convergence camera lens (8), be fixed on the second converging lenses
Head (8) converges the laser detector (9) in light path；The laser ranging system (10) being connected with laser detector (9)；Also include with
The system processor unit (15) that described encoder (13), laser drive circuit (1) and laser ranging system (10) connect.
A kind of unmanned plane obstacle avoidance system based on laser radar the most according to claim 1, it is characterised in that: described first
Reflection unit (4) is from the horizontal by 135 degree of angles.
A kind of unmanned plane obstacle avoidance system based on laser radar the most according to claim 1, it is characterised in that: described second
Reflection unit (5), rotating shaft (12) bottom being fixed on unmanned plane motor (11) rotates with unmanned plane motor (11) simultaneously, described
Second reflection unit (5) is from the horizontal by 45 degree of angles.
A kind of unmanned plane obstacle avoidance system based on laser radar the most according to claim 1, it is characterised in that: described optical filtering
It is variegated that device (7) plays filtration, eliminates the effect of polarisation.
A kind of unmanned plane obstacle avoidance system based on laser radar the most according to claim 1, it is characterised in that: described laser
Detector (9) receives the laser that the second convergence camera lens (8) is converged, in order to laser ranging system (10) subsequent calculations processes.
A kind of unmanned plane obstacle avoidance system based on laser radar the most according to claim 1, it is characterised in that: described laser
Drive circuit (1), laser instrument (2), the first convergence camera lens (3), the first reflection unit (4), the second reflection unit (5), optical filtering dress
Put (7), the second convergence camera lens (8), laser detector (9) and laser ranging system (10) to be packaged in lidar housings (14)
Portion.
7. claim requires the barrier-avoiding method of a kind of based on laser radar the unmanned plane obstacle avoidance system described in 1, and its feature exists
In: comprise the steps:
Step one, laser drive circuit (1) drives laser instrument (2) to launch laser and converges head (3) through first, reaches collimation laser
Effect, be irradiated to after the first reflection unit (4) reflected illumination the second reflection unit (5) again；
Step 2, drives the encoder (13) being fixed in its rotating shaft (12) and the second reflection dress when unmanned plane motor (11) rotates
Put (5) to rotate simultaneously, thus the vertical direction laser impinging perpendicularly on the second reflection unit (5) is become 360 ° of levels launched
Laser, carries out detection scanning to this horizontal plane；
Step 3, when barrier (6) is positioned at the reflected light path of the second reflection unit (5), can reflect laser, laser-bounce return through
Cross the second reflection unit (5) and the reflection of the first reflection unit (4), become the laser of vertical direction, a portion laser quilt
First reflection unit (4) eclipsing loss falls, and another part laser then shines directly into filtering apparatus (7), is irradiated to after optical filtering
Two converge camera lens (8), and after second converges camera lens (8) convergence effect, laser detector (9) receives the laser after converging, in order to
Laser ranging system (10) carries out subsequent treatment；
Step 4, after laser detector (9) receives the laser reflected, laser ranging system (10) is launched by measurement
Laser pulse time t1With reception Laser pulse time t2Between time difference or Laser Measurement device driving pulse and receive laser arteries and veins
Time difference between punching calculates distance s of obstacle distance unmanned plane；Because encoder (13) is coaxial with unmanned plane motor (11)
Fixing, system processor unit (15) calculates the rotational angle theta of unmanned plane motor (11) any time by encoder (13), simultaneously
Read barrier and distance s of unmanned plane that laser ranging system (10) calculates again, it is achieved to around unmanned plane 360 ° of barriers
Scanning probe, for unmanned plane provide avoidance process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610505086.2A CN106199630A (en) | 2016-06-30 | 2016-06-30 | Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610505086.2A CN106199630A (en) | 2016-06-30 | 2016-06-30 | Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof |
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| CN106199630A true CN106199630A (en) | 2016-12-07 |
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| CN201610505086.2A Pending CN106199630A (en) | 2016-06-30 | 2016-06-30 | Unmanned plane obstacle avoidance system based on laser radar and barrier-avoiding method thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106842169A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Scanning type laser range unit 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 |
| CN107085207A (en) * | 2017-04-01 | 2017-08-22 | 北京图来激光科技有限公司 | A kind of 360 ° of scanning probe laser radar apparatus |
| CN109298427A (en) * | 2017-07-24 | 2019-02-01 | 三星电子株式会社 | Light detection and range-measurement system and its driving method |
| CN109655808A (en) * | 2019-02-23 | 2019-04-19 | 成都睿铂科技有限责任公司 | The installing mechanism of laser radar on a kind of unmanned plane |
| CN109828605A (en) * | 2019-03-05 | 2019-05-31 | 江苏航空职业技术学院 | One kind being based on multi-rotor unmanned aerial vehicle obstacle avoidance apparatus |
| 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 |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
| CN111610508A (en) * | 2019-02-25 | 2020-09-01 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN114397904A (en) * | 2022-01-14 | 2022-04-26 | 广东电网能源发展有限公司 | Unmanned aerial vehicle line-dropping system and method for overhead transmission line and storage medium |
| CN115320848A (en) * | 2022-10-13 | 2022-11-11 | 电子科技大学 | Unmanned aerial vehicle system with keep away barrier function |
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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 |
| CN106842169A (en) * | 2017-01-17 | 2017-06-13 | 西安交通大学 | Scanning type laser range unit and its implementation based on annular external rotor electric machine |
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| CN109655808A (en) * | 2019-02-23 | 2019-04-19 | 成都睿铂科技有限责任公司 | The installing mechanism of laser radar on a kind of unmanned plane |
| CN111610508A (en) * | 2019-02-25 | 2020-09-01 | 深圳市速腾聚创科技有限公司 | Multi-line laser radar |
| CN109828605A (en) * | 2019-03-05 | 2019-05-31 | 江苏航空职业技术学院 | One kind being based on multi-rotor unmanned aerial vehicle obstacle avoidance apparatus |
| 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 |
| CN114397904A (en) * | 2022-01-14 | 2022-04-26 | 广东电网能源发展有限公司 | Unmanned aerial vehicle line-dropping system and method for overhead transmission line and storage medium |
| CN114397904B (en) * | 2022-01-14 | 2023-11-21 | 广东电网能源发展有限公司 | Overhead transmission line unmanned aerial vehicle line dropping system, method and storage medium |
| CN115320848A (en) * | 2022-10-13 | 2022-11-11 | 电子科技大学 | Unmanned aerial vehicle system with keep away barrier function |
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