CN206411517U - A kind of obstacle avoidance apparatus - Google Patents
A kind of obstacle avoidance apparatus Download PDFInfo
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- CN206411517U CN206411517U CN201621440413.2U CN201621440413U CN206411517U CN 206411517 U CN206411517 U CN 206411517U CN 201621440413 U CN201621440413 U CN 201621440413U CN 206411517 U CN206411517 U CN 206411517U
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Abstract
The utility model proposes a kind of obstacle avoidance apparatus, the surrounding environment for detecting not manned mobile device, the obstacle avoidance apparatus includes：Increase steady head, may connect to the not manned mobile device, the steady head of increasing has autostabilizer to keep the stable carrying of an at least head camera；Avoidance module, is fixedly installed in the steady head of increasing, to reduce the interference for detecting surrounding environment when the not manned mobile device is acted to the avoidance module.Obstacle avoidance apparatus of the present utility model, can keep holding position, realizes effective avoidance in not manned mobile device shakiness or attitudes vibration.
Description
Technical field
The utility model is related to avoidance technology, more particularly to a kind of obstacle avoidance apparatus.
Background technology
Unmanned plane vision navigation system has complicated unknown flight environment of vehicle Real-time modeling set, autonomous positioning and the technology of navigation special
Point.Unmanned aerial vehicle platform, can be by carrying the multiple sensors such as visible image capturing head, infrared camera and laser range finder simultaneously
Gather multidimensional flight environment of vehicle information, data interaction and cooperated computing framework using airborne processor and earth station, real-time reconstruction
The threedimensional model of unknown flight environment of vehicle, is realized independent of the autonomous positioning of any outside location equipment (such as GPS) and from main view
Feel avoidance, tracking and land, can be widely applied to the complicated unknown flight environment of vehicle scouting of communication environment, monitoring and detection, disaster
The applications such as scene search and rescue.
The vision obstacle avoidance system applied on current unmanned plane is largely single direction, such as DJI spirit 4,
The products such as YUNEEC TyphoonH.
These avoidance schemes are all that optical sensor is fixed on above unmanned plane body.And being fixed on body has two
Shortcoming：1. the vibrations of unmanned plane body are big, the optical image information also high dither therewith that can so cause sensor collection to come,
High-resolution avoidance camera can not be thus applied, causes to be difficult to tell very tiny barrier, such as electric wire；2. fly
Row opportunity figure state can change, and can so cause the camera lens of avoidance module and can not be directed at the plane of heading always, it is impossible to real
Existing avoidance during flight.It is the attitudes vibration angle for limiting unmanned plane in motion process that tradition, which solves this method, also
It is limitation unmanned plane during flying speed, causes flight experience bad, and the avoidance in the case of body vibration can not be realized.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of obstacle avoidance apparatus, can be in not manned mobile device not
During steady or attitudes vibration, keep holding position, realize effective avoidance.
To solve the above problems, the utility model proposes a kind of obstacle avoidance apparatus, the week for detecting not manned mobile device
Collarette border, the obstacle avoidance apparatus includes：
Increase steady head, may connect to the not manned mobile device, the steady head of increasing has autostabilizer to keep at least
One head camera is stable to be carried；
Avoidance module, is fixedly installed in the steady head of increasing, to reduce when the not manned mobile device is acted to described
Avoidance module detects the interference of surrounding environment.
According to one embodiment of the present utility model, the steady head of increasing includes rotating shaft piece and increases steady support, described to keep away
Barrier module is arranged on the steady support of increasing, and the steady support of increasing passes through not manned movement described in rotating shaft piece flexible connection
Device, so that when the not manned mobile device is acted, the avoidance module being capable of relatively described not manned mobile device activities
And keep posture.
According to one embodiment of the present utility model, the steady support of increasing is realized at three mutually by the rotating shaft piece
Rotated in vertical plane or rotation or the rotation in single plane in plane are mutually perpendicular at two.
According to one embodiment of the present utility model, the steady support of increasing as the outermost sidepiece part for increasing steady head,
Ring is located at around the rotating shaft piece.
According to one embodiment of the present utility model, the steady support of increasing is included in mount structure jaggy, described to lack
Mouth is used to accommodate the head camera.
According to one embodiment of the present utility model, the head camera is rotatably connected in the frame by camera rotating shaft
On the breach of structure.
According to one embodiment of the present utility model, a wherein rotating shaft for the rotating shaft piece is put down with the frame of the mount structure
Face is coplanar to be set, and the mount structure is around the coplanar axis of rotation.
According to one embodiment of the present utility model, the camera rotating shaft and a wherein rotating shaft for the rotating shaft piece are mutual
It is parallel.
According to one embodiment of the present utility model, the posture independent control of the head camera and the avoidance module.
According to one embodiment of the present utility model, the avoidance module, which includes being arranged in, described increases steady support periphery along upper
And towards the circumferential avoidance camera lens in outside, the circumferential avoidance camera lens is respectively provided with circumferential each direction, to realize omnidirectional
Avoidance.
According to one embodiment of the present utility model, the avoidance camera lens includes four pairs of binocular heads, in the steady branch of the increasing
Uniform a pair of binocular heads on each direction of surrounding of frame.
According to one embodiment of the present utility model, the avoidance module also includes bottom avoidance camera lens, is arranged in described
Increase the bottom and downward of steady support, to realize lower section avoidance.
According to one embodiment of the present utility model, the not manned mobile device is unmanned plane.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art：
Avoidance module is installed on the steady head of increasing, it is possible to achieve the increasing of avoidance module is steady, no matter not manned mobile device
How to act, with can keeping avoidance module stability facing one direction, so that the image that avoidance module is collected can be more
It is stable, thus the optical lens of higher resolution can be used, it can also differentiate clear to more tiny barrier, so that more effectively
Avoidance is realized on ground, and the action no longer to not manned mobile device causes constraint；
Increase on steady support while installing head camera and collision avoidance module so that increasing steady head turns into sharing structure, so as to
To save installing space and cost, and head camera may be rotatably mounted on the breach for increasing steady support, then equivalent to for increase
A rotating shaft being added steady head, head camera is rotated in breach, then in all angles shooting process, just will not be increased more
Steady support is blocked so that shooting angle is less restricted.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of rotary state of the obstacle avoidance apparatus of the utility model embodiment；
Fig. 2 is the positive structure schematic of Fig. 1 obstacle avoidance apparatus；
Fig. 3 is the overlooking the structure diagram of Fig. 1 obstacle avoidance apparatus；
Fig. 4 is the present invention looks up structural representation of Fig. 1 obstacle avoidance apparatus；
Fig. 5 is the dimensional structure diagram of another rotary state of the obstacle avoidance apparatus of the utility model embodiment
Fig. 6 is the dimensional structure diagram of another rotary state of the obstacle avoidance apparatus of the utility model embodiment.
Label declaration in figure：
11- increases steady support, 12-X armshafts, 13-Z armshafts, 14-Y armshafts, 15- connecting portions, 21- circumference avoidance camera lenses, 22-
Bottom avoidance camera lens, 3- head cameras.
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings to this
The embodiment of utility model is described in detail.
Many details are elaborated in the following description to fully understand the utility model.But this practicality is new
Type can be implemented with being much different from other manner described here, and those skilled in the art can be new without prejudice to this practicality
Similar popularization is done in the case of type intension, therefore the utility model is not limited by following public specific implementation.
Referring to Fig. 1-6, in one embodiment, obstacle avoidance apparatus includes increasing steady head and avoidance module, is not carried for detecting
The surrounding environment of people's mobile device.Increase steady head or claim from steady head, refer to set on the head with the steady function of increasing, head
There is autostabilizer, when the not manned mobile device of head is with conation, autostabilizer keeps it to increase steady object with respect to ground attitude not
Become.
In the present embodiment, increase steady head and be connected in not manned mobile device (not shown), avoidance module is arranged on
Increase on steady head, in other words, avoidance module is connected indirectly in not manned mobile device by increasing steady head, and can be passed through
Increase steady head freely to rotate relative to not manned mobile device.Autostabilizer is used for keeping the detection of avoidance module stable and head camera
Shooting it is stable.In not manned mobile device action, avoidance module is increased surely by increasing steady head, is shaken in not manned mobile device
During dynamic or any conversion posture, increasing steady head can move with flexibly straining so that avoidance module can keep holding position, with
The interference of surrounding environment is detected when reducing not manned mobile device action to the avoidance module.
Avoidance module is installed to the steady head of increasing, it is possible to achieve the increasing of avoidance module is steady, no matter not manned mobile device such as
What is acted, with can keeping avoidance module stability facing one direction, the image that avoidance module is collected can with more stable, because
And the optical lens of higher resolution can be used, it can also differentiate clear to more tiny barrier, so as to more effectively realize
Avoidance, and constraint is no longer caused to the action of not manned mobile device.
In one embodiment, not manned mobile device can be unmanned plane, that is to say, that collision avoidance module is installed into increasing
After on steady head, then it is installed on unmanned plane, realizes the avoidance of whole unmanned plane, it is compared to prior art that collision avoidance module is direct
On unmanned plane body, no matter how airframe vibrates or how posture changes, and avoidance module is by increasing steady head
Increasing it is steady and keep stable, stablize always in the plane of heading, so as to tell very tiny barrier, realize
Avoidance during unmanned plane during flying, does not limit the attitudes vibration angle or flying speed during unmanned plane during flying, flight experience also
More preferably.But without limitation, not manned mobile device is such as can also be robot.
Avoidance module can use avoidance sensor, e.g. IR evading obstacle sensors, laser range sensor, ultrasonic wave
Distance measuring sensor etc., it is preferred to use optical sensor, increasing the increasing of steady head surely can ensure optical lens facing one direction.
In one embodiment, increasing steady head includes rotating shaft piece and increases steady support 11.Avoidance module, which is arranged on, increases steady branch
On frame, increase steady support and not manned mobile device is flexibly connected by rotating shaft piece, increase steady support and surely acted on by the increasing of autostabilizer
Strain motion can be made by rotating shaft piece, so that in not manned mobile device action, avoidance module can not carried relatively
People's mobile device activities and keep posture.
Increase steady support specific around the motion of several axles, can as needed depending on.In one embodiment, steady support is increased by turning
Moving axis part is realized to be mutually perpendicular to rotate or be mutually perpendicular at two in plane to rotate or in single plane inward turning in plane at three
Turn, in other words, rotating shaft piece can include three axles, two axles or single axle, in two axles and the above, phase between axle and axle
It is mutually vertical.It is preferred that, rotating shaft piece is three axles, so that strain motion can be done in all directions by increasing steady support, to adjust
To holding position.
In figs. 1-6, rotating shaft piece includes X-axis arm 12, Z axis arm 13, Y-axis arm 14 and connecting portion 15, and connecting portion is connected to
In not manned mobile device, the relative rotation between connecting portion 15 and Y-axis arm 14, which is realized, increases steady support 11 around YAW axles any 360
The rotation of degree, the relative rotation between Y-axis arm 14 and Z axis arm 13 realizes that increase steady support 11 turns within the specific limits around ROLL axles
Dynamic, the relative rotation between Z axis arm 13 and X-axis arm 12 realizes that increase steady support 11 rotates within the specific limits around PITCH1 axles,
Increase steady head and be internally provided with the motor for driving each orientation to rotate, motor-driven rotation mode is regular content, is no longer gone to live in the household of one's in-laws on getting married herein
State.It is appreciated that an axle or two axles can also be only had by increasing steady head, so that the rotational orientation for increasing steady support 11 is accordingly reduced, root
Only need to do stable adjustment in these orientation according to the action situation of not manned mobile device.
In one embodiment, steady support is increased as the outermost sidepiece part for increasing steady head, ring is located at around rotating shaft piece, is turned
Any rotation of moving axis part all occurs increasing on the inside of steady support, does not affect the avoidance module and head camera increased on steady support
Shooting, increase avoidance module can installing space with can reconnaissance range.
In one embodiment, with continued reference to Fig. 1-6, increasing steady support 11 is included with mount structure jaggy, and the breach is used
To accommodate head camera 3.Head camera 3 can be rotatably connected by camera rotating shaft (in figure unmarked) is increasing lacking for steady support 11
On mouth.In other words, increase and head camera 3 and collision avoidance module be installed simultaneously on steady support 11 so that increasing steady head turns into sharing structure,
So as to save installing space and cost, and head camera 3 may be rotatably mounted to the breach for increasing the steady mount structure of support 11
On, then adding a rotating shaft steady head equivalent to increase, head camera 3 is rotated in breach, then all angles were shot more
Cheng Zhong, just will not be blocked so that shooting angle is less restricted by the steady support 11 of increasing.
In Fig. 1-6, increasing steady head has four rotary shafts, respectively YAW axles, ROLL axles, PITCH1 axles and PITCH2 axles,
Increasing steady support 11 can rotate around YAW axles, ROLL axles, the axle of PITCH1 axles three, and head camera 3 is rotatably connected camera rotating shaft PITCH2
Axle, thus head camera 2 can rotate around this four axle, the free degree is higher.
It is preferred that, camera rotating shaft and a wherein rotating shaft for rotating shaft piece are parallel to each other.Referring to Fig. 3, camera rotating shaft PITCH2
The PITCH1 axles of axle and rotating shaft piece are parallel to each other, with when rotating shaft piece deviation occurs around PITCH1 rotational axis directions, can
Detected, can also be rotated necessarily around camera rotating shaft PITCH2 axles by head camera with the angle of inclination by head camera
Angle overcomes the inclination, it is ensured that the shooting visual field of head camera is normal.
It is appreciated that the shape for increasing steady support 11 is also not necessarily limited to this, for example can be circular, increasing can also on steady support 11
There is no breach, head camera 3 is arranged on and increased on steady support 11, as long as head camera 3 can be shot, or needing more
Shooting can be rotated during wide-field shooting in the range of certain angle.
In one embodiment, frame co-planar of the wherein rotating shaft (X-axis arm 12) for rotating shaft piece with increasing steady support 11
Set, increase steady support 11 around the coplanar axis of rotation, it is preferred that the two ends of rotating shaft X-axis arm 12 are connected to the steady support 11 of increasing
Two relative non-breach frame side on, be preferably located at the centre position on frame side, can so reduce and increase turning for steady support 11
Dynamic space, also makes rotation amplitude small, more stable.
In one embodiment, the posture of head camera 3 and avoidance module is by independent control.Increase steady head sharing one
Under structure situation, independent control still can be carried out between head camera 3 and avoidance module using conventional control mode, it is real
Now get up more convenient.
In one embodiment, referring to Fig. 1,2,5 and Fig. 6, avoidance module includes circumferential avoidance camera lens 21, is arranged in increasing steady
The periphery of support 11 is along upper and towards the outside for increasing steady support 11, and circumferential avoidance camera lens is respectively provided with circumferential each direction, with
Realize omnidirectional's avoidance.It is preferred that, circumferential avoidance camera lens 21 includes four pairs of binocular heads, is increasing each direction of surrounding of steady support 11
Upper uniform a pair of binocular heads, can also arrange more camera lenses certainly, and it is in four frame types to increase steady support 11, on each frame side
Camera lens is respectively provided with, so as to can detect barrier on direction all around, omnidirectional's avoidance is realized.Existing avoidance module
A direction can be only detected, the barrier in the environment of detection front is typically only capable to, if desired detects surrounding environment, then need control
Rotation detection position can just be detected, more troublesome in control, easily produce unstable interference, and can not realize while existing
Environment is detected in omnidirectional.The present embodiment is provided with binocular head in surrounding, without controlling its rotation detection position, keeps static
Surrounding environment can be at every moment detected, omnidirectional's obstacle detection simultaneously is realized；And the binocular head set, similar people
Eye, may be such that the image detected has depth, realizes three-dimensional imaging, the resolution to barrier becomes apparent from, and passes through binocular head
Between parallax can determine the distance of barrier, accomplish more accurate avoidance, overcome the problem of existing avoidance module is present.
In one embodiment, referring to Fig. 4, avoidance module also includes bottom avoidance camera lens 22, and quantity for example can be one
, can also be more to binocular head, but without limitation.The arrangement of bottom avoidance camera lens 22 be arranged on the bottom that increases steady support 11 and
Downward, to realize lower section avoidance, for example, the barrier in front, peace can be detected in unmanned plane process of rising or falling
Full avoidance, as a rule, because in the normal flight environment of unmanned plane, top is generally not present barrier, thus can at top
So that avoidance camera lens need not be set.
Avoidance module is increased surely by increasing steady head, keeps posture constant with respect to the angle on ground, because barrier is general all
That relative ground is fixed, as long as thus ensure that the attitude angle of avoidance module is constant with respect to ground, it is possible to clearly
Collect obstacle information.For example, during unmanned plane during flying, UAV Attitude can arbitrarily change, can also occur big
Motor-driven, the frame plane for increasing steady support 11 remains level with respect to ground, can stably and high-resolution collect unmanned plane
Tiny barrier on heading, also can detect big barrier certainly.
Although the utility model is disclosed as above with preferred embodiment, it is not for limiting claim, Ren Heben
Art personnel are not being departed from spirit and scope of the present utility model, can make possible variation and modification, therefore
The scope that protection domain of the present utility model should be defined by the utility model claim is defined.
Claims (13)
1. a kind of obstacle avoidance apparatus, the surrounding environment for detecting not manned mobile device, it is characterised in that the obstacle avoidance apparatus bag
Include：
Increase steady head, may connect to the not manned mobile device, the steady head of increasing has autostabilizer to keep an at least cloud
Platform camera is stable to be carried；
Avoidance module, is fixedly installed in the steady head of increasing, to reduce when the not manned mobile device is acted to the avoidance
Module detects the interference of surrounding environment.
2. obstacle avoidance apparatus as claimed in claim 1, it is characterised in that the steady head of increasing includes rotating shaft piece and increases steady branch
Frame, the avoidance module is arranged on the steady support of increasing, and it is described that the steady support of increasing passes through rotating shaft piece flexible connection
Not manned mobile device, so that when the not manned mobile device is acted, the avoidance module being capable of relatively described not manned shifting
Dynamic device is movable and keeps posture.
3. obstacle avoidance apparatus as claimed in claim 2, it is characterised in that the steady support of increasing is realized by the rotating shaft piece
Three are mutually perpendicular to rotate or be mutually perpendicular in plane rotation or the rotation in single plane in plane at two.
4. obstacle avoidance apparatus as claimed in claim 2, it is characterised in that：It is described to increase steady support as the outermost for increasing steady head
Sidepiece part, ring is located at around the rotating shaft piece.
5. obstacle avoidance apparatus as claimed in claim 2, it is characterised in that the steady support of increasing includes being in frame knot jaggy
Structure, the breach is used to accommodate the head camera.
6. obstacle avoidance apparatus as claimed in claim 5, it is characterised in that the head camera is rotatably connected by camera rotating shaft
On the breach of the mount structure.
7. obstacle avoidance apparatus as claimed in claim 6, it is characterised in that a wherein rotating shaft for the rotating shaft piece and the frame knot
The frame co-planar of structure is set, and the mount structure is around the coplanar axis of rotation.
8. obstacle avoidance apparatus as claimed in claims 6 or 7, it is characterised in that the camera rotating shaft and the rotating shaft piece its
In a rotating shaft be parallel to each other.
9. the obstacle avoidance apparatus as described in any one in claim 1-7, it is characterised in that the head camera and the avoidance
The posture independent control of module.
10. the obstacle avoidance apparatus as described in any one in claim 2-7, it is characterised in that the avoidance module includes arrangement
Increase steady support periphery along upper and towards the circumferential avoidance camera lens in outside described, the circumferential avoidance camera lens is in circumferential each side
It is respectively provided with upwards, to realize omnidirectional's avoidance.
11. obstacle avoidance apparatus as claimed in claim 10, it is characterised in that the avoidance camera lens includes four pairs of binocular heads,
Uniform a pair of binocular heads on each direction of surrounding for increasing steady support.
12. obstacle avoidance apparatus as claimed in claim 10, it is characterised in that the avoidance module also includes bottom avoidance camera lens,
The bottom for increasing steady support and downward is arranged in, to realize lower section avoidance.
13. obstacle avoidance apparatus as claimed in claim 1, it is characterised in that the not manned mobile device is unmanned plane.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621440413.2U CN206411517U (en) | 2016-12-26 | 2016-12-26 | A kind of obstacle avoidance apparatus |
| US15/703,986 US10259593B2 (en) | 2016-12-26 | 2017-09-14 | Obstacle avoidance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621440413.2U CN206411517U (en) | 2016-12-26 | 2016-12-26 | A kind of obstacle avoidance apparatus |
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| Publication Number | Publication Date |
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| CN206411517U true CN206411517U (en) | 2017-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621440413.2U Active CN206411517U (en) | 2016-12-26 | 2016-12-26 | A kind of obstacle avoidance apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106708091A (en) * | 2016-12-26 | 2017-05-24 | 昊翔电能运动科技(昆山)有限公司 | Obstacle avoidance device |
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2016
- 2016-12-26 CN CN201621440413.2U patent/CN206411517U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106708091A (en) * | 2016-12-26 | 2017-05-24 | 昊翔电能运动科技(昆山)有限公司 | Obstacle avoidance device |
| CN106708091B (en) * | 2016-12-26 | 2024-04-12 | 昆山合朗航空科技有限公司 | Obstacle avoidance device |
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