Unmanned aerial vehicle ranging system

Abstract

The unmanned aerial vehicle ranging system provided by the embodiment of the utility model comprises a laser radar ranging unit, a visual ranging unit, a meteorological detection unit and a calculation unit, the calculation unit is a digital logic circuit; wherein the visual ranging unit is connected with the meteorological detection unit; the calculation unit comprises a weight selection circuit and a distance calculation circuit; the weight selection circuit is connected with the meteorological detection unit; the weight selection circuit, the laser radar ranging unit and the visual ranging unit are all connected with the distance calculation circuit. A simple digital logic circuit is arranged in the unmanned aerial vehicle to replace a complex calculation program, a high-power processor is not needed, the correspondingly configured power supply capacity can be correspondingly reduced, and the size of the unmanned aerial vehicle is effectively reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned aerial vehicle ranging, and in particular relates to an unmanned aerial vehicle ranging system. Background Art

[0002] Drones have the characteristics of small size, simple structure, and flexible control. They can take off and land vertically, hover freely, and can adapt to various natural environments. They have the advantages of autonomous flight and autonomous landing. They can operate in some complex and dangerous environments that are not suitable for humans to enter. Therefore, they are widely used in many fields.

[0003] In the prior art, the power consumption of the calculator on the drone is relatively high, and usually a large-capacity power supply is required, and the size of the drone is relatively large. Utility Model Content

[0004] In view of this, the utility model provides a UAV ranging system, aiming to solve the problem of large size of UAVs in the prior art.

[0005] The first aspect of the embodiment of the utility model provides a UAV ranging system, comprising: a laser radar ranging unit, a visual ranging unit, a meteorological detection unit and a computing unit; the computing unit is a digital logic circuit;

[0006] The visual ranging unit is connected to the meteorological detection unit; the calculation unit includes a weight selection circuit and a distance calculation circuit; the weight selection circuit is connected to the meteorological detection unit; the weight selection circuit, the laser radar ranging unit, and the visual ranging unit are all connected to the distance calculation circuit.

[0007] In some possible implementations, the weight selection circuit includes a first encoder, a first comparator, and a first selector; the distance calculation circuit includes a first subtractor, a first multiplier, a second multiplier, and a first adder;

[0008] The first encoder is connected to the meteorological detection unit; one input end of the first comparator is connected to the output end of the first encoder, and the input value of the other input end is the first given code;

[0009] The output terminal of the first comparator is connected to the control terminal of the first selector; the two input terminals of the first selector are respectively connected to the first given value and the second given value; wherein the first given value is greater than the second given value;

[0010] The first selector is connected to an input end of the first multiplier and an input end of the first subtractor; another input end of the first multiplier is connected to a laser radar ranging unit;

[0011] The output end of the first subtractor is connected to the input end of the second multiplier; the other input end of the first multiplier is connected to the laser radar ranging unit; the other input end of the first subtractor is connected to the third given value;

[0012] The first multiplier and the second multiplier are both connected to the first adder.

[0013] In some possible implementations, the system further includes a brightness detection unit; the brightness detection unit is connected to the visual ranging unit; and the brightness detection unit is connected to the weight selection circuit.

[0014] In some possible implementations, the weight selection circuit includes a first encoder, a first comparator, a first selector, a second encoder, a second comparator, and an XOR gate; the distance calculation circuit includes a first subtractor, a first multiplier, a second multiplier, and a first adder;

[0015] The first encoder is connected to the meteorological detection unit; one input end of the first comparator is connected to the output end of the first encoder, and the input value of the other input end is the first given code;

[0016] The second encoder is connected to the brightness detection unit; one input end of the second comparator is connected to the output end of the second encoder, and the input value of the other input end is the second given code;

[0017] The output terminal of the first comparator and the output terminal of the second comparator are connected to the input terminal of the XOR gate;

[0018] The output end of the XOR gate is connected to the control end of the first selector; the two input ends of the first selector are respectively connected to the first given value and the second given value; wherein the first given value is greater than the second given value;

[0019] The first selector is connected to an input end of the first multiplier and an input end of the first subtractor; another input end of the first multiplier is connected to a laser radar ranging unit;

[0020] The output end of the first subtractor is connected to the input end of the second multiplier; the other input end of the first multiplier is connected to the laser radar ranging unit; the other input end of the first subtractor is connected to the third given value;

[0021] The first multiplier and the second multiplier are both connected to the first adder.

[0022] In some possible implementations, the system further includes: a data storage unit; and the data storage unit is connected to the computing unit.

[0023] In some possible implementations, the system further includes: a communication unit; and the communication unit is connected to the computing unit.

[0024] In some possible implementations, the system further includes a battery unit; the laser radar ranging unit, the visual ranging unit, the meteorological detection unit and the computing unit are all connected to the battery unit.

[0025] The UAV ranging system provided by the embodiment of the utility model includes a laser radar ranging unit, a visual ranging unit, a meteorological detection unit and a calculation unit; the calculation unit is a digital logic circuit; wherein the visual ranging unit is connected to the meteorological detection unit; the calculation unit includes a weight selection circuit and a distance calculation circuit; the weight selection circuit is connected to the meteorological detection unit; the weight selection circuit, the laser radar ranging unit, and the visual ranging unit are all connected to the distance calculation circuit. By setting a simple digital logic circuit in the UAV to replace the complex calculation program, it is not necessary to rely on a high-power processor, and the corresponding configured power supply capacity can also be reduced accordingly, effectively reducing the size of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 It is a structural schematic diagram of the UAV ranging system provided by an embodiment of the utility model;

[0028] Figure 2 It is a schematic diagram of the structure of a calculation unit provided by an embodiment of the utility model;

[0029] Figure 3 It is a schematic diagram of the structure of a calculation unit provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0030] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details.

[0031] Figure 1 Schematic diagram of the structure of the UAV ranging system provided by the embodiment of the utility model. Figure 1 As shown, the UAV ranging system includes: a laser radar ranging unit 11, a visual ranging unit 12, a weather detection unit 13 and a calculation unit 14; the calculation unit 14 is a digital logic circuit;

[0032] The visual ranging unit is connected to the meteorological detection unit 13; the calculation unit 14 includes a weight selection circuit and a distance calculation circuit; the weight selection circuit is connected to the meteorological detection unit; the weight selection circuit, the laser radar ranging unit 11, and the visual ranging unit 12 are all connected to the distance calculation circuit.

[0033] In the embodiment of the utility model, the laser ranging method used by the laser radar ranging unit, the visual ranging method used by the visual ranging unit 12, and the meteorological identification method used by the meteorological detection unit 13 are all conventional methods in the prior art, and the utility model does not make any technical improvements here.

[0034] Figure 2 Schematic diagram of the structure of the computing unit provided by the embodiment of the utility model. Figure 2 As shown, in some embodiments, the weight selection circuit includes a first encoder 21, a first comparator 22, and a first selector 23; the distance calculation circuit includes a first subtractor 24, a first multiplier 25, a second multiplier 26, and a first adder 27;

[0035] The first encoder 21 is connected to the weather detection unit 13; one input end of the first comparator 22 is connected to the output end of the first encoder 21, and the input value of the other input end is the first given code;

[0036] The output end of the first comparator 22 is connected to the control end of the first selector 23; the two input ends of the first selector 23 are connected to the first given value A and the second given value B respectively; wherein the first given value A is greater than the second given value B;

[0037] The first selector 23 is connected to an input end of the first multiplier 25 and an input end of the first subtractor 24; another input end of the first multiplier 25 is connected to the laser radar ranging unit 11;

[0038] The output end of the first subtractor 24 is connected to the input end of the second multiplier 26; the other input end of the first multiplier 25 is connected to the laser radar ranging unit 11; the other input end of the first subtractor 24 is connected to the third given value;

[0039] The first multiplier 25 and the second multiplier 26 are both connected to the first adder 27 .

[0040] In the embodiment of the utility model, natural factors such as atmospheric turbulence, rain, fog, etc. may affect the measurement of the laser radar. Therefore, after the weather detection unit detects the current weather type, the first encoder 21 encodes the corresponding weather type into a corresponding code x, which is input into the comparator for comparison with the first given code. Among them, the weather type that does not affect the laser radar measurement corresponds to a code x that is less than the first given code; the weather type that affects the laser radar measurement corresponds to a code x that is greater than the first given code.

[0041] The third given value is set to 1, and the first given value and the second given value are both greater than 0 and less than 1. After detecting that the code x is greater than the first given code, the first comparator 22 outputs a high level to the first selector 23, and the first selector 23 selects the second given value B. The first subtractor 24 calculates 1-B, and then the first distance is multiplied by B in the first multiplier 25, and the second distance is multiplied by (1-B) in the second multiplier 26. The first adder adds the two products to obtain the actual distance.

[0042] After detecting that the code x is less than the first given code, the first comparator 22 outputs a low level to the first selector 23. The first selector 23 selects the first given value A. The first subtractor 24 calculates 1-A. Then the first distance is multiplied by A in the first multiplier 25, and the second distance is multiplied by (1-A) in the second multiplier 26. The first adder adds the two products to obtain the actual distance.

[0043] In some embodiments, the system further includes a brightness detection unit; the brightness detection unit is connected to the visual distance measurement unit 12; and the brightness detection unit is connected to the weight selection circuit.

[0044] In the embodiment of the present invention, the brightness detection algorithm used by the brightness detection unit is a conventional algorithm, and the present invention does not have any improvement on the algorithm.

[0045] Figure 3 Schematic diagram of the structure of the computing unit provided by the embodiment of the utility model. Figure 3 As shown, in some embodiments, the weight selection circuit includes a first encoder 21, a first comparator 22, a first selector 23, a second encoder 31, a second comparator 32, and an XOR gate 33; the distance calculation circuit includes a first subtractor 24, a first multiplier 25, a second multiplier 26, and a first adder 27;

[0046] The first encoder 21 is connected to the weather detection unit 13; one input end of the first comparator 22 is connected to the output end of the first encoder 21, and the input value of the other input end is the first given code;

[0047] The second encoder 31 is connected to the brightness detection unit; one input end of the second comparator 32 is connected to the output end of the second encoder 31, and the input value of the other input end is the second given code;

[0048] The output terminal of the first comparator 22 and the output terminal of the second comparator are connected to the input terminal of the XOR gate;

[0049] The output end of the XOR gate 33 is connected to the control end of the first selector 23; the two input ends of the first selector 23 are connected to the first given value and the second given value respectively; wherein the first given value is greater than the second given value;

[0050] The first selector 23 is connected to an input end of the first multiplier 25 and an input end of the first subtractor 24; another input end of the first multiplier 25 is connected to the laser radar ranging unit 11;

[0051] The output end of the first subtractor 24 is connected to the input end of the second multiplier 26; the other input end of the first multiplier 25 is connected to the laser radar ranging unit 11; the other input end of the first subtractor 24 is connected to the third given value;

[0052] The first multiplier 25 and the second multiplier 26 are both connected to the first adder 27 .

[0053] In the embodiment of the utility model, the illumination factor will affect the measurement of visual ranging. After the brightness detection unit detects the current image brightness, the second encoder 31 encodes the corresponding image brightness into a corresponding code y, which is input into the second comparator 32 for comparison with the second given code. Among them, the image brightness that does not affect the visual ranging corresponds to a code y that is less than the second given code; the image brightness that affects the visual ranging corresponds to a code y that is greater than the second given code.

[0054] After detecting that the code x is greater than the first given code, the first comparator 22 outputs a high level to the XOR gate 33, otherwise it outputs a low level to the XOR gate 33. After detecting that the code y is greater than the second given code, the second comparator 32 outputs a high level to the XOR gate 33, otherwise it outputs a low level to the XOR gate 33.

[0055] The third given value is set to 1, and the first given value and the second given value are both greater than 0 and less than 1.

[0056] When the XOR gate 33 is high level to the first selector 23, the first selector 23 selects the second given value B, and the first subtractor 24 calculates 1-B, then the first distance is multiplied by B in the first multiplier 25, and the second distance is multiplied by (1-B) in the second multiplier 26. The first adder adds the two products to obtain the actual distance.

[0057] When the XOR gate 33 outputs a low level to the first selector 23, the first selector 23 selects the first given value A, and the first subtractor 24 calculates 1-A, then the first distance is multiplied by A in the first multiplier 25, and the second distance is multiplied by (1-A) in the second multiplier 26. The first adder adds the two products to obtain the actual distance.

[0058] In some embodiments, the system further includes: a data storage unit; the data storage unit is connected to the computing unit 14 .

[0059] In the embodiment of the utility model, after the distance measurement is completed, the data calculated by the calculation unit can be stored in the data storage unit.

[0060] In some embodiments, the system further includes: a communication unit; the communication unit is connected to the computing unit 14 .

[0061] In the embodiment of the utility model, after the distance measurement is completed, the data calculated by the calculation unit can be sent to other devices or equipment via the communication unit. The communication unit can be a wired bus communication or a wireless 5G communication, which is not limited here.

[0062] In some embodiments, the system further includes a battery unit; the laser radar ranging unit 11, the visual ranging unit 12, the meteorological detection unit 13 and the computing unit 14 are all connected to the battery unit.

[0063] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0064] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A UAV ranging system, characterized in that: include: A laser radar ranging unit, a visual ranging unit, a meteorological detection unit and a computing unit; the computing unit is a digital logic circuit; The visual ranging unit is connected to the meteorological detection unit; the calculation unit includes a weight selection circuit and a distance calculation circuit; the weight selection circuit is connected to the meteorological detection unit; the weight selection circuit, the laser radar ranging unit, and the visual ranging unit are all connected to the distance calculation circuit.

2. The UAV ranging system according to claim 1, characterized in that: The weight selection circuit includes a first encoder, a first comparator, and a first selector; the distance calculation circuit includes a first subtractor, a first multiplier, a second multiplier, and a first adder; The first encoder is connected to the weather detection unit; one input end of the first comparator is connected to the output end of the first encoder, and the input value of the other input end is a first given code; The output terminal of the first comparator is connected to the control terminal of the first selector; the two input terminals of the first selector are respectively connected to a first given value and a second given value; wherein the first given value is greater than the second given value; The first selector is connected to an input end of the first multiplier and an input end of the first subtractor; another input end of the first multiplier is connected to the laser radar ranging unit; The output end of the first subtractor is connected to the input end of the second multiplier; the other input end of the first multiplier is connected to the laser radar ranging unit; the other input end of the first subtractor is connected to a third given value; The first multiplier and the second multiplier are both connected to the first adder.

3. The UAV ranging system according to claim 1, characterized in that: The system also includes a brightness detection unit; the brightness detection unit is connected to the visual distance measurement unit; the brightness detection unit is connected to the weight selection circuit.

4. The UAV ranging system according to claim 3, characterized in that: The weight selection circuit includes a first encoder, a first comparator, a first selector, a second encoder, a second comparator, and an XOR gate; the distance calculation circuit includes a first subtractor, a first multiplier, a second multiplier, and a first adder; The first encoder is connected to the weather detection unit; one input end of the first comparator is connected to the output end of the first encoder, and the input value of the other input end is a first given code; The second encoder is connected to the brightness detection unit; one input end of the second comparator is connected to the output end of the second encoder, and the input value of the other input end is a second given code; The output terminal of the first comparator and the output terminal of the second comparator are connected to the input terminal of the XOR gate; The output end of the XOR gate is connected to the control end of the first selector; the two input ends of the first selector are respectively connected to the first given value and the second given value; wherein the first given value is greater than the second given value; The first selector is connected to an input end of the first multiplier and an input end of the first subtractor; another input end of the first multiplier is connected to the laser radar ranging unit; The output end of the first subtractor is connected to the input end of the second multiplier; the other input end of the first multiplier is connected to the laser radar ranging unit; the other input end of the first subtractor is connected to a third given value; The first multiplier and the second multiplier are both connected to the first adder.

5. The UAV ranging system according to claim 1, characterized in that: The system further comprises: a data storage unit; the data storage unit is connected to the computing unit.

6. The UAV ranging system according to claim 5, characterized in that: The system further comprises: a communication unit; the communication unit is connected to the computing unit.

7. The UAV ranging system according to claim 6, characterized in that: The system also includes a battery unit; the laser radar ranging unit, the visual ranging unit, the meteorological detection unit and the calculation unit are all connected to the battery unit.

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