Self-adaptive environment intelligent unmanned aerial vehicle navigation device

Abstract

The utility model relates to the technical field of aircrafts, in particular to an environment-adaptive intelligent unmanned aerial vehicle navigation device. A self-adaptive environment intelligent unmanned aerial vehicle navigation device comprises an aerial vehicle, a CPU central control module, a gyroscope, a monitoring module, a navigation module and a regulation and control module are arranged in the aerial vehicle, the regulation and control module comprises a speed control unit and a regulation and control unit, the monitoring module comprises a laser radar module and a visual monitoring module, and the navigation module comprises a laser radar module and a visual monitoring module. And the visual monitoring module is electrically connected with the monitoring calibration unit. According to the utility model, the monitoring and calibrating units are located on the same horizontal line and detect obstacles, so that the distance between the camera and the obstacles can be more accurately judged, stereoscopic vision and depth perception are improved, the monitoring range is expanded, blind areas are reduced, fault tolerance is increased, and meanwhile, the computation amount of the CPU central control module is reduced according to monitoring on the same horizontal line; image processing and depth calculation are simplified, and the obstacle avoidance reliability of the navigation device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft, and in particular to an adaptive environment intelligent unmanned aircraft navigation device. Background Art

[0002] The application of unmanned aerial vehicles (UAVs) covers many fields such as agricultural plant protection, geographic surveying and mapping, environmental monitoring, emergency rescue, logistics and distribution, etc. The more complex and diverse the application scenarios are, the higher the requirements for the navigation performance of the UAVs will be.

[0003] Traditional navigation systems rely heavily on GPS signals, base stations, etc. In complex environments, such as forest canyons and mountainous terrain, signal sources are easily interfered with or even completely unavailable, so unmanned aerial vehicles are required to navigate autonomously. However, in some environments with strong winds, the monitoring effect of the unmanned aerial vehicle's obstacle avoidance and navigation capabilities is poor, and the data processing requirements for the unmanned aerial vehicle are relatively high, which seriously limits the unmanned aerial vehicle's operating range and mission execution capabilities.

[0004] Therefore, it is necessary to provide an adaptive environment intelligent unmanned aerial vehicle navigation device to solve the problems in the above-mentioned background technology. Utility Model Content

[0005] In response to the above problems, the present application provides an adaptive environment intelligent unmanned aerial vehicle navigation device. The unmanned aerial vehicle enables the monitoring and calibration units to be on the same horizontal line and detect obstacles, which can more accurately judge the distance to the obstacles, improve stereoscopic vision and depth perception, expand the monitoring range and reduce blind spots, increase fault tolerance, and at the same time, based on the monitoring of the same horizontal line, reduce the amount of calculation of the CPU central control module, simplify image processing and depth calculation, and increase the reliability of the navigation device in avoiding obstacles.

[0006] To achieve the purpose of this application, this application provides the following technical solutions:

[0007] The present application provides an adaptive environment intelligent unmanned aerial vehicle navigation device, comprising: an aircraft, wherein a CPU central control module, a gyroscope, a monitoring module, a navigation module and a control module are respectively installed inside the aircraft, the gyroscope, the monitoring module, the navigation module and the control module are respectively electrically connected to the CPU central control module, the control module comprises a speed control unit and a control unit, the monitoring module comprises a laser radar module and a visual monitoring module, the visual monitoring module is electrically connected to a monitoring calibration unit, the control unit is used for the CPU central control module to horizontally calibrate the monitoring calibration unit, and the gyroscope is installed on a base, and the monitoring calibration unit is provided on the base.

[0008] In a possible implementation, the monitoring calibration unit includes at least two cameras.

[0009] In a possible implementation, the aircraft includes a main body, the lower end of the main body is connected to the base via the control unit, and two supports and a lifting frame are respectively fixedly provided at the lower end of the main body.

[0010] In a possible implementation, the interiors of the two supports are connected to the base via a connecting spring.

[0011] In a possible implementation, a cavity is opened in the main body, and the control unit is arranged in the cavity.

[0012] In a possible implementation, the control unit includes: a steering rod and an electric cylinder body, wherein the steering rod is universally connected to the inside of the main body, and a sleeve seat is fixedly arranged in the main body, the sleeve seat is sleeved on the outside of the steering rod, the lower end of the steering rod is universally connected to a conformal seat, the sleeve seat and the conformal seat are connected by a plurality of electric cylinder bodies, and the base is fixed to the lower end of the conformal seat.

[0013] In a possible implementation, the inner diameter of the sleeve seat is 1.5-2 times the diameter of the steering rod.

[0014] The beneficial effects of the utility model are:

[0015] In the utility model, after the gyroscope of the unmanned aerial vehicle detects the deflection of the monitoring and calibration unit, it feeds back to the CPU central control module. The CPU central control module controls the control unit to perform horizontal calibration on the monitoring and calibration unit, so that the monitoring and calibration units are on the same horizontal line and detect obstacles, thereby enabling the unmanned aerial vehicle to more accurately judge the distance to the obstacle, improve stereoscopic vision and depth perception, expand the monitoring range and reduce blind spots, increase fault tolerance, and at the same time, based on the monitoring of the same horizontal line, reduce the amount of calculation of the CPU central control module, simplify image processing and depth calculation, and increase the reliability of the navigation device in avoiding obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation on the present application.

[0017] Figure 1 This is a schematic diagram of the overall module structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0020] Figure 4 It is a schematic diagram of the working detection process of the utility model;

[0021] Figure numerals: 1. Aircraft; 2. Control unit; 3. Base; 4. Monitoring and calibration unit; 5. Support; 6. Lifting frame; 7. Obstacle 1; 8. Obstacle 2; 11. Main fuselage; 21. Steering rod; 22. Sleeve seat; 23. Compatible seat; 24. Electric cylinder. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of this application clearer, the technical solution in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of this application, unless otherwise specified, "plurality" means two or more.

[0024] Figure 1-Figure 4 An adaptive environment intelligent unmanned aerial vehicle navigation device provided in an embodiment of the present application includes: an aircraft 1, wherein a CPU central control module, a gyroscope, a monitoring module, a navigation module and a control module are respectively installed inside the aircraft 1, the gyroscope, the monitoring module, the navigation module and the control module are respectively electrically connected to the CPU central control module, the control module includes a speed control unit and a control unit 2, the monitoring module includes a laser radar module and a visual monitoring module, the visual monitoring module is electrically connected to a monitoring and calibration unit 4, the control unit 2 is used for the CPU central control module to horizontally calibrate the monitoring and calibration unit 4, and the gyroscope is installed on a base 3, and the monitoring and calibration unit 4 is provided on the base 3.

[0025] Based on the above technical solution, when the unmanned aerial vehicle 1 flies sideways due to wind during flight, the gyroscope detects the deflection of the base 3, and the gyroscope transmits the deflection angle data to the CPU central control module. The CPU central control module controls the control unit 2 according to the deflection angle of the base 3, so that the base 3 and the monitoring and calibration unit 4 remain level. The laser radar module and the visual monitoring module then detect obstacles and feed the data back to the CPU central control module. The CPU central control module adjusts the operation of the speed control unit and the navigation module according to the calculation results, so that the unmanned aerial vehicle 1 can perform obstacle avoidance operations.

[0026] By adopting the above technical scheme, there will be the following three kinds of obstacles in front of the aircraft 1 after it flies sideways in the wind: no obstacle, only obstacle 1 7, and obstacle 1 7 and obstacle 2 8. When the monitoring and calibration unit 4 detects the existence of obstacle 1 7 and obstacle 2 8 in front of the aircraft 1, the CPU central control module controls the monitoring and calibration unit 4 to be on the same horizontal line and detect obstacle 1 7 and obstacle 2 8 on both sides, thereby reducing the amount of calculation of the CPU central control module for calculating parallax and reconstructing the three-dimensional scene, simplifying image processing and depth calculation, improving the control response speed of the aircraft 1, and increasing the reliability of the navigation device in avoiding obstacles.

[0027] In one possible implementation, the monitoring calibration unit 4 includes at least two cameras.

[0028] On the basis of the above technical solution, horizontally opposed cameras can more easily realize stereoscopic vision and depth estimation, and the process of calculating parallax and reconstructing three-dimensional scenes is more direct and simple, reducing the computational complexity caused by perspective distortion and complex geometric transformation. On the other hand, the projection of the baseline of the camera (i.e., the distance between the centers of the two cameras) on the horizontal plane is fixed, which is particularly beneficial for accurately measuring the distance of obstacles in the horizontal direction, especially when performing low-altitude flight, close to the ground operations or flying in a structured environment. It can provide higher measurement accuracy and stability. Compared with systems that need to process multiple tilt angle images, the monitoring calibration unit 4 for horizontal monitoring only needs a simpler image stitching algorithm, which helps to reduce costs, reduce weight and simplify the integration of the CPU central control module, thereby enabling the unmanned aerial vehicle 1 to more accurately judge the distance to obstacles, expand the monitoring range, reduce blind spots, and increase fault tolerance.

[0029] In one possible implementation, the aircraft 1 includes a main fuselage 11, the lower end of the main fuselage 11 is connected to the base 3 through the control unit 2, and the lower end of the main fuselage 11 is respectively fixed with two supports 5 and a lifting frame 6, and the CPU central control module adjusts the base 3 to any angle of deflection in a three-dimensional plane through the control unit 2, so that the base 3 and the camera of the monitoring and calibration unit 4 are on the same horizontal line.

[0030] In one possible implementation, the interiors of the two supports 5 are connected to the base 3 via connecting springs. On the one hand, during the normal flight of the aircraft 1, the connecting springs can provide stable support for the supports 5 and the base 3. On the other hand, during the sideways flight of the aircraft 1 in the wind, the connecting springs can provide a certain buffering and shock-absorbing effect on the base 3 to avoid mutual collision between the base 3 and the supports 5.

[0031] In a possible implementation, a cavity is opened in the main body 11, and the control unit 2 is arranged in the cavity. The control unit 2 can achieve deflection at any angle in the cavity.

[0032] In one possible implementation, the control unit 2 includes: a steering rod 21 and an electric cylinder 24, wherein the steering rod 21 is universally connected to the inside of the main body 11, and a sleeve seat 22 is fixedly arranged in the main body 11, and the sleeve seat 22 is sleeved on the outside of the steering rod 21, and the lower end of the steering rod 21 is universally connected to a follower seat 23, and the sleeve seat 22 and the follower seat 23 are connected by a plurality of electric cylinders 24, and the base 3 is fixed to the lower end of the follower seat 23.

[0033] On the basis of the above technical solution, when the aircraft 1 flies sideways due to wind during flight, the following three situations may occur during the flight of the aircraft 1:

[0034] There are no obstacles on the flight path of the aircraft 1, that is, the monitoring and calibration unit 4 detects that there are no obstacles ahead, and the aircraft 1 can fly straight;

[0035] There is an obstacle on one side of the flight path of the aircraft 1, that is, the camera on one side of the monitoring and calibration unit 4 detects that there is an obstacle 7 in front. The length of the drone is amm, the width is bmm, and the distance between the two cameras is lmm. Then the monitoring and calibration unit 4 detects that the distance from the aircraft 1 to the obstacle 7 is L 1 , the laser radar module detects that the angle between the aircraft and the obstacle 7 is α, then the lateral distance Δs between the aircraft 1 and the obstacle 7 satisfies:

[0036] Δs=L 1 sinα

[0037] Where, Δs is the lateral distance between aircraft 1 and obstacle 7;

[0038] L 1 ————The monitoring calibration unit 4 detects the distance from the aircraft 1 to the obstacle 7;

[0039] α————The angle between the aircraft 1 and obstacle 7 detected by the laser radar module;

[0040] Then, when When , aircraft 1 keeps flying straight; when When the aircraft 1 flies horizontally to the side away from the obstacle 7, the distance is at least When , aircraft 1 will fly straight again; when When the aircraft 1 moves at least to the side away from the obstacle 7,

[0041] When there are obstacles on both sides of the flight path of the aircraft 1, after the gyroscope detects the deflection of the base 3, the deflection angle data is transmitted to the CPU central control module. The CPU central control module controls the extension and contraction of the electric cylinder 24 according to the deflection angle of the base 3, and the form-fitting seat 23 drives the steering rod 21 to deflect, so that the form-fitting seat 23 is horizontal, then the base 3 and the monitoring and calibration unit 4 remain horizontal to monitor the obstacles, that is, when the cameras on both sides of the monitoring and calibration unit 4 detect that there are obstacles 1 7 and 2 8 in front, respectively, the length of the drone is amm, the width is bmm, and the distance between the two cameras is lmm, then the monitoring and calibration unit 4 detects that the distance from the aircraft 1 to the obstacle 1 7 is L 1 , the monitoring calibration unit 4 detects that the distance from the aircraft to the obstacle 2 8 is L 2 , the laser radar module detects that the angle between the aircraft and obstacle 1 7 is α, and the laser radar module detects that the angle between aircraft 1 and obstacle 2 8 is β, then the lateral width Δh and lateral length Δs between aircraft 1 and the two obstacles satisfy:

[0042] Δh=L 1 cosα-L 2 cosαβ

[0043] Δs=L 1 sinα+L 2 sinβ

[0044] Where, Δs is the lateral length between aircraft 1 and two obstacles;

[0045] Δh————the lateral width between aircraft 1 and two obstacles;

[0046] L 1 ————The monitoring calibration unit 4 detects the distance from the aircraft 1 to the obstacle 7;

[0047] L 2 ————The monitoring calibration unit 4 detects the distance from the aircraft 1 to the obstacle 2 8;

[0048] α————The angle between the aircraft 1 and obstacle 7 detected by the laser radar module;

[0049] β————The laser radar module detects the angle between the aircraft 1 and obstacle 28

[0050] Then, if Figure 4 As shown, when Δs>amm, the aircraft 1 keeps flying straight; when Δs≤amm and Δh>bmm, the aircraft 1 deflects to the left with a relatively close obstacle 7, and after flying to bmm, it deflects to the right; when Δs≤amm and Δh≤bmm, the aircraft 1 rises and chooses to fly straight with Δs>amm to prevent the wings of the aircraft 1 from colliding with obstacles.

[0051] In a possible implementation, the inner diameter of the sleeve seat 22 is 1.5-2 times the diameter of the steering rod 21 , which is beneficial to the deflection of the conformal seat 23 .

[0052] During specific implementation, when the unmanned aerial vehicle 1 encounters wind and flies sideways during flight and there are obstacles on both sides of the aircraft 1, the gyroscope detects the deflection of the base 3, and the gyroscope transmits the deflection angle data to the CPU central control module. The CPU central control module controls the extension and retraction of the electric cylinder 24 according to the deflection angle of the base 3, and the adaptable seat 23 drives the steering rod 21 to deflect, so that the adaptable seat 23 is horizontal, and the base 3 and the monitoring and calibration unit 4 are horizontal. The laser radar module and the visual monitoring module then monitor obstacle 1 7 and obstacle 2 8, and feed back the data to the CPU central control module. The CPU central control module adjusts the operation of the speed control unit and the navigation module according to the calculation results, so that the unmanned aerial vehicle 1 performs obstacle avoidance operations.

[0053] The above embodiments are only used to illustrate the technical solution of the present application, but not to limit it. The present application is not limited to the exact structure described above and illustrated in the accompanying drawings, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in the technical field to which the present application belongs, various changes and modifications made without departing from the concept of the present application should be deemed to belong to the protection scope of the present application.

Claims

1. An adaptive environment intelligent unmanned aerial vehicle navigation device, comprising: An aircraft (1), characterized in that a CPU central control module, a gyroscope, a monitoring module, a navigation module and a control module are respectively installed inside the aircraft (1), the gyroscope, the monitoring module, the navigation module and the control module are respectively electrically connected to the CPU central control module, the control module comprises a speed control unit and a control unit (2), the monitoring module comprises a laser radar module and a visual monitoring module, the visual monitoring module is electrically connected to a monitoring calibration unit (4), the control unit (2) is used for the CPU central control module to calibrate the level of the monitoring calibration unit (4), and the gyroscope is installed on a base (3), and the monitoring calibration unit (4) is provided on the base (3).

2. The adaptive environment intelligent unmanned aerial vehicle navigation device according to claim 1, characterized in that: The monitoring calibration unit (4) comprises at least two cameras.

3. The adaptive environment intelligent unmanned aerial vehicle navigation device according to claim 1, characterized in that: The aircraft (1) comprises a main body (11), the lower end of the main body (11) being connected to the base (3) via the control unit (2), and two supports (5) and a lifting frame (6) being fixedly provided at the lower end of the main body (11).

4. The adaptive environment intelligent unmanned aerial vehicle navigation device according to claim 3, characterized in that: The interiors of the two supports (5) are connected to the base (3) via connecting springs.

5. The adaptive environment intelligent unmanned aerial vehicle navigation device according to claim 3, characterized in that: A cavity is provided in the main body (11), and the control unit (2) is arranged in the cavity.

6. The adaptive environment intelligent unmanned aerial vehicle navigation device according to claim 5, characterized in that: The control unit (2) comprises: a steering rod (21) and an electric cylinder (24), wherein the steering rod (21) is universally connected to the inside of the main body (11), and a sleeve seat (22) is fixedly arranged inside the main body (11), the sleeve seat (22) is sleeved on the outside of the steering rod (21), the lower end of the steering rod (21) is universally connected to a follower seat (23), the sleeve seat (22) and the follower seat (23) are connected via a plurality of electric cylinders (24), and the base (3) is fixed to the lower end of the follower seat (23).

7. The adaptive environment intelligent unmanned aerial vehicle navigation device according to claim 6, characterized in that: The inner diameter of the sleeve seat (22) is 1.5-2 times the diameter of the steering rod (21).

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