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WO2015165008A1 - Appareil de mesure et véhicule aérien sans pilote - Google Patents

Appareil de mesure et véhicule aérien sans pilote Download PDF

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Publication number
WO2015165008A1
WO2015165008A1 PCT/CN2014/076388 CN2014076388W WO2015165008A1 WO 2015165008 A1 WO2015165008 A1 WO 2015165008A1 CN 2014076388 W CN2014076388 W CN 2014076388W WO 2015165008 A1 WO2015165008 A1 WO 2015165008A1
Authority
WO
WIPO (PCT)
Prior art keywords
base
rotating
bearing
detecting device
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2014/076388
Other languages
English (en)
Chinese (zh)
Inventor
孟保禄
周谷越
莫维宇
袁栋梁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201480003072.XA priority Critical patent/CN104823018A/zh
Priority to PCT/CN2014/076388 priority patent/WO2015165008A1/fr
Publication of WO2015165008A1 publication Critical patent/WO2015165008A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument

Definitions

  • the invention relates to the field of detection technology, in particular to a measuring device and an unmanned aerial vehicle.
  • Lidar is an important sensor device in robot navigation and safety applications.
  • the phase difference and the time difference are used for TOF ranging, which has the advantages of high stability and high speed; however, since the special hardware with high precision is required, the measurement cost is high.
  • a measuring apparatus includes a base, a rotating base, a driving device for controlling rotation of the base and the rotating base, a distance detecting device provided on the rotating base, and measuring the distance detecting device.
  • An orientation detecting device for current position information, a position information analyzer electrically connected to the distance detecting device and the orientation detecting device; the base is rotatably coupled to the rotating base; the distance detecting device and the rotating seat Fixedly connecting to measure distance information of the obstacle relative to the first preset base point and the second preset base point; the position information analyzer according to the distance of the obstacle relative to the first preset base point and the second preset base point Obtaining an actual distance of the measuring device relative to the obstacle; the base is provided with a grating structure, and the orientation detecting device is disposed corresponding to the grating structure for detecting the distance detecting device according to the grating structure The position detecting information is currently fixedly connected to the rotating base; the distance detecting device includes a preset preset
  • the grating structure comprises a plurality of bumps extending from the base toward the rotating base, the plurality of bumps being spaced apart from each other and distributed on the same circumference.
  • the orientation detecting device comprises a photoelectrically opposed tube.
  • the driving device comprises a motor, a first rotating wheel, a second rotating wheel and a belt; the motor is fixedly connected with the rotating base; the first rotating wheel is fixedly connected with a rotating shaft of the motor; The second rotating wheel is fixedly connected to the base; the belt is sleeved on the first rotating wheel and the second rotating wheel to drive the first rotating wheel and the second rotating wheel to rotate synchronously.
  • the image sensor is a TOF sensor.
  • the measuring device further comprises a rotating shaft, a bearing, the base is provided with a receiving cavity for accommodating the bearing, and the bearing is interference-connected into the receiving cavity; the rotating shaft passes through The bearing is fixedly coupled to the bearing; the rotating shaft is rotatably coupled to the base through the bearing, and the rotating shaft is fixedly coupled to the rotating base.
  • the detecting device further includes a conductive slip ring, the conductive sliding ring is located at the rotating shaft, and includes a first sliding ring and a second sliding ring, wherein the first sliding ring is electrically connected to an external power supply device;
  • the second slip ring is fixedly connected to the rotating base, and the second slip ring is electrically connected to the position information analyzer.
  • the rotating base includes a main control circuit board and a fixing bracket fixedly connected to the main control circuit board; the main control circuit board is disposed between the bearing and the fixing bracket, and the main control a first through hole adapted to the rotating shaft is disposed on the circuit board; the fixing bracket is provided with a mounting hole adapted to the rotating shaft, and the rotating shaft is located through the first through hole The inside of the mounting hole is fixedly connected to the fixing bracket by a screw.
  • a gasket is disposed between the bearing and the fixing bracket, and the gasket is provided with a third through hole adapted to the rotating shaft, one end of the washer abuts the bearing, and the other end passes through the The first through hole abuts the fixing bracket.
  • the unmanned aerial vehicle further provided by the present invention includes a measuring device including a base, a rotating base, a driving device for controlling rotation of the base and the rotating base, a distance detecting device provided on the rotating base, and a measuring station
  • a measuring device including a base, a rotating base, a driving device for controlling rotation of the base and the rotating base, a distance detecting device provided on the rotating base, and a measuring station
  • An orientation detecting device for position information currently located by the distance detecting device, a position information analyzer electrically connected to the distance detecting device and the azimuth detecting device
  • the base is rotatably connected to the rotating base
  • the distance detecting device is The rotating base is fixedly connected to measure distance information of the obstacle relative to the first preset base point and the second preset base point;
  • the position information analyzer is configured according to the obstacle relative to the first preset base point and the second preset Setting a distance information of the base point to obtain an actual distance of the measuring device relative to the obstacle;
  • the base is
  • the grating structure comprises a plurality of bumps extending from the base toward the rotating base, the plurality of bumps being spaced apart from each other and distributed on the same circumference.
  • the orientation detecting device comprises a photoelectrically opposed tube.
  • the driving device comprises a motor, a first rotating wheel, a second rotating wheel and a belt; the motor is fixedly connected with the rotating base; the first rotating wheel is fixedly connected with a rotating shaft of the motor; The second rotating wheel is fixedly connected to the base; the belt is sleeved on the first rotating wheel and the second rotating wheel to drive the first rotating wheel and the second rotating wheel to rotate synchronously.
  • the image sensor is a TOF sensor.
  • the measuring device further comprises a rotating shaft, a bearing, the base is provided with a receiving cavity for accommodating the bearing, and the bearing is interference-connected into the receiving cavity; the rotating shaft passes through The bearing is fixedly coupled to the bearing; the rotating shaft is rotatably coupled to the base through the bearing, and the rotating shaft is fixedly coupled to the rotating base.
  • the detecting device further includes a conductive slip ring, the conductive sliding ring is located at the rotating shaft, and includes a first sliding ring and a second sliding ring, wherein the first sliding ring is electrically connected to an external power supply device;
  • the second slip ring is fixedly connected to the rotating base, and the second slip ring is electrically connected to the position information analyzer.
  • the rotating base includes a main control circuit board and a fixing bracket fixedly connected to the main control circuit board; the main control circuit board is disposed between the bearing and the fixing bracket, and the main control a first through hole adapted to the rotating shaft is disposed on the circuit board; the fixing bracket is provided with a mounting hole adapted to the rotating shaft, and the rotating shaft is located through the first through hole The inside of the mounting hole is fixedly connected to the fixing bracket by a screw.
  • a gasket is disposed between the bearing and the fixing bracket, and the gasket is provided with a third through hole adapted to the rotating shaft, one end of the washer abuts the bearing, and the other end passes through the The first through hole abuts the fixing bracket.
  • the invention measures the distance information of the obstacle relative to the first preset base point and the second preset base point by setting the distance detecting device, and according to the obstacle information relative to the first preset base point and the second preset base point by the position information analyzer
  • the distance information obtains the actual distance between the obstacle and the measuring device, thereby realizing the triangulation; at the same time, the azimuth detecting device is set to detect the current position information of the distance detecting device to determine the orientation information of the obstacle relative to the measuring device. Therefore, the measuring device provided by the invention realizes the positioning of the obstacle, which is equivalent to the TOF ranging by the phase difference and the time difference in the prior art, and the invention reduces the cost of the measurement.
  • FIG. 1 is a schematic structural view of an embodiment of a measuring device according to the present invention.
  • FIG. 2 is a schematic structural view of another embodiment of a measuring device according to the present invention.
  • FIG. 3 is a schematic diagram of a detection principle of an embodiment of a measuring device according to the present invention.
  • FIG. 4 is a schematic exploded view of an embodiment of a measuring device of the present invention.
  • Fig. 5 is a schematic structural view of the second reel of Fig. 4.
  • the measuring device includes a base 10, a rotating base 20, and a driving device 30 for controlling rotation of the base 10 and the rotating base 20.
  • a distance detecting device 40 provided on the rotating base, an azimuth detecting device 50 for measuring position information currently located by the distance detecting device 40, and a position information analyzer 100 electrically connected to the distance detecting device 40 and the azimuth detecting device 50
  • the base 10 is rotatably coupled to the rotating base 20;
  • the distance detecting device 40 is fixedly coupled to the rotating base 20 to measure the obstacle A relative to the first preset base point B and the second preset base point C Distance information;
  • the position information analyzer 100 obtains the actual distance of the measuring device relative to the obstacle A according to the distance information of the obstacle A with respect to the first preset base point B and the second preset base point C. .
  • the distance detecting device 40 is configured to acquire distance information of the obstacle A relative to the first preset base point B and the second preset base point C in the distance detecting device 40, and the position information analyzer 100 is relatively different according to the obstacle A.
  • the actual distance of the device (the actual distance is the vertical distance of the obstacle A to the line connecting the first preset base point B and the second preset base point C), thereby achieving triangulation;
  • the above-mentioned orientation detecting device 50 is for detecting rotation
  • the angle information of the rotation of the seat 20 relative to the base 10 reflects the position of the distance detecting device 40 on the rotating base 20 by the angle information, thereby determining the orientation information of the obstacle A with respect to the measuring device.
  • the location information analyzer 100 can be a graphics processing chip and an auxiliary circuit.
  • the present invention measures distance information of the obstacle A with respect to the first preset base point B and the second preset base point C by setting the distance detecting device 40, and passes the position information analyzer 100 according to the obstacle A with respect to the first preset base point B.
  • the distance information from the second preset base point C obtains the actual distance between the obstacle A and the measuring device, thereby realizing the triangulation; and the azimuth detecting device 50 is configured to detect the current position information of the distance detecting device 40 to determine the obstacle A relative to The orientation information of the measuring device. Therefore, the measuring device provided by the present invention realizes the positioning of the obstacle A, which is equivalent to the TOF ranging by the phase difference and the time difference in the prior art, and the invention reduces the cost of the measurement.
  • the pedestal 10 is provided with a grating structure on the same circumference centered on the center of rotation of the rotating base 20, and the orientation detecting device 50 is disposed corresponding to the grating structure for The structure 50 detects the position information currently located by the distance detecting device 40 and is fixedly coupled to the rotating base 20.
  • the specific shape of the grating structure may be set according to actual needs.
  • the grating structure includes a plurality of bumps 11 extending from the base 10 toward the rotating base 20, and the plurality of convexities.
  • the blocks 11 are spaced apart from one another and are evenly distributed over the same circumference.
  • the plurality of bumps 11 may also be arbitrarily disposed on the same circumference according to requirements, and are not necessarily uniformly distributed.
  • the shape and size of the above-mentioned bumps and the gap between the adjacent two bumps may be set according to actual needs, and are not further limited herein.
  • the above-mentioned bumps 11 are arranged in a square shape.
  • the orientation detecting device 50 includes a photoelectric pair tube.
  • the transmitting tube of the photoelectric pair tube may be disposed in a circle enclosed by the plurality of bumps 11.
  • the receiving tube is disposed outside the circle enclosed by the plurality of bumps 11, and the receiving tube and the transmitting tube are disposed opposite to each other.
  • the receiving tube will not normally receive the photoelectric signal emitted by the transmitting tube; when the gap between the adjacent two bumps 11 is located in the middle of the photoelectric pair tube, the receiving tube normally receives the photoelectric light emitted by the transmitting tube signal.
  • the distance detecting device 40 By setting the initial position of the distance detecting device 40, in the process of controlling the rotation of the rotating base 20 relative to the base 10 by the driving device 30, by counting the number of times the receiving tube normally receives the photoelectric signal emitted by the transmitting tube, it is determined that the distance detecting device 40 is currently located. s position.
  • the base 10 is fixedly connected to the rotating base 20, and the specific connection manner can be set according to actual needs.
  • the base 10 and the rotating base 20 are fixed in the following manner:
  • the measuring device further includes a rotating shaft 60, a bearing 70, and the base 10 is provided with a receiving cavity 12 for receiving the bearing 70.
  • the bearing 70 is interference-connected to the receiving cavity 12
  • the rotating shaft 60 passes through the bearing 70 and is fixedly coupled to the bearing 70; the rotating shaft 60 is rotatably coupled to the base 10 via the bearing 70, and the rotating shaft 60 is The rotating base 20 is fixedly connected.
  • the rotating base 20 includes a main control circuit board 21 and a fixing bracket 22 fixedly connected to the main control circuit board 21; the main control circuit board 21 is disposed on the bearing 70 and the fixing bracket 22 And the main control circuit board 21 is provided with a first through hole 211 adapted to the rotating shaft 60; the fixing bracket 22 is provided with a mounting hole 221 adapted to the rotating shaft 60, The rotating shaft is disposed in the mounting hole 221 through the first through hole 211, and is fixedly connected to the fixing bracket 22 by a screw.
  • the bearings 70 are preferably two and are respectively disposed at two ends of the accommodating cavity 12, and the bearing 70 is included in the accommodating.
  • the first bearing 71 of the cavity 12 is adjacent to one end of the fixing bracket 22 and the second bearing 72 located at one end of the receiving cavity 12 away from the fixing bracket 22, in particular, the main control circuit board 21 is located between the first bearing 71 and the fixing bracket 22;
  • the main control circuit board 21 and the fixing bracket 22 described above can be fixedly connected by screws.
  • the position information analyzer 100 may be disposed on the main control circuit board 21, and the photoelectric pair tube may be soldered and fixed to the main control circuit board 21.
  • a gasket 80 is disposed between the bearing 70 and the fixing bracket 22, and the gasket 80 is provided with a third through hole 81 adapted to the rotating shaft 60, and one end of the washer 80 is opposite to the bearing 70. The other end abuts the fixing bracket 22 through the first through hole 211. Since the gasket 80 is provided, thereby limiting the distance between the fixing bracket 22 and the base 10, the direct contact between the main control circuit board 21 and the base 10 is prevented due to the distance between the fixing bracket 22 and the base 10 being too small. While the main control circuit board 21 is damaged during the rotation.
  • the driving device 30 includes a motor 31, a first rotating wheel 32, a second rotating wheel 33 and a belt 34; the motor 31 is fixedly connected with the rotating base 20; the first rotating wheel 32 and the motor The rotating shaft of the 31 is fixedly connected; the second rotating wheel 33 is fixedly connected to the base 10; the belt 34 is sleeved on the first rotating wheel 32 and the second rotating wheel 33 to drive the first The runner 32 rotates in synchronization with the second runner 33.
  • the motor 31 is fixedly connected to the rotating base 20.
  • a receiving ring 222 for accommodating the motor 31 is disposed on the fixing bracket 22, and the motor 31 is disposed in the receiving ring 22 and passed through the screw.
  • the motor 31 is fixedly connected to the accommodating ring 222.
  • the second rotating wheel 33 is fixedly connected to the base 10, for example, a plurality of second through holes 331 and a fourth through hole 332 adapted to the receiving cavity 12 are disposed on the second rotating wheel 33.
  • a threaded hole is disposed at a position corresponding to the second through hole 331 of the base 10; the fourth through hole 332 is sleeved on the outer wall of the receiving cavity 12 near one end of the fixing bracket 22, and then passes through the second through hole 331 through the screw.
  • the threaded holes cooperate to securely connect the second reel 33 to the base 10.
  • the radius of the first rotating wheel 32 and the second rotating wheel 33 can be set according to actual needs. In the embodiment, for precise control, the radius of the first rotating wheel is effectively smaller than the radius of the second rotating wheel.
  • the measuring device further comprises a conductive slip ring 90, the conductive slip ring 90 being located at the rotating shaft 60.
  • the electric slip ring 90 includes a first slip ring 91 and a second slip ring 92.
  • the first slip ring 91 is electrically connected to an external power supply device; the second slip ring 92 is fixedly connected to the rotating base 20, and The second slip ring 92 is electrically connected to the position information analyzer 100.
  • a fixing hole is recessed inwardly from an end of the rotating shaft 60 away from the fixing bracket 22, and the second sliding ring 92 is provided with a fixing portion 921 adapted to the fixing hole, and the fixing portion 921 is disposed on the fixing portion 921.
  • the fixing hole is engaged with the fixing hole and fixedly connected.
  • the above-described distance detecting device 40 includes the laser generator 41 and the image sensor 42 which are disposed on the rotating base 20 at a preset distance, and the laser light emitted from the laser generator 41 is located at the image sensor 42. Within the area of image information.
  • the above-described laser generator 41 and image sensor 42 are both fixedly coupled to the rotating base 20, and by adjusting the position of the emitting head of the laser generator 41, the laser light emitted from the laser generator 41 falls into the area where the image sensor 42 acquires image information.
  • the image information of the spot formed by the laser generator 41 incident on the obstacle A is acquired by the image sensor 42, and the obstacle information A is compared with the first preset base point B by the position information analyzer 100 according to the image information analysis.
  • Distance information of the second preset base point C is the position of the laser head of the laser generator 41; the image sensor 42 may be a camera, and the second preset base point C is the position of the lens.
  • the structure of the image sensor 42 may be set according to actual needs.
  • the image sensor 42 is preferably a TOF sensor, so that three-dimensional information can be acquired.
  • the present invention also provides an unmanned aerial vehicle, which includes a measuring device.
  • the structure of the measuring device can be referred to the above embodiment, and details are not described herein.
  • the UAV of the present embodiment adopts the technical solution of the above measuring device, the UAV has all the advantageous effects of the above measuring device.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un appareil de mesure qui comprend une base (10), un siège rotatif (20), un appareil d'entraînement (30) pour commander la base (10) et le siège rotatif (20) pour le tourner, un appareil de détection de distance (40) disposé sur le siège rotatif (20), un dispositif de détection de position (50) pour mesurer des informations de position actuelles de l'appareil de détection de distance (40) et un analyseur d'informations de position (100) connecté électriquement à l'appareil de détection de distance (40) et à l'appareil de détection de position (50). La base (10) est reliée en rotation au siège rotatif (20). L'appareil de détection de distance (40) est relié de manière fixe au siège rotatif (20) pour mesurer des informations de distance d'un obstacle par rapport à un premier point de base prédéfini et un second point de base prédéfini. L'analyseur d'informations de position (100) acquiert une distance réelle de l'appareil de mesure par rapport à l'obstacle selon les informations de distance de l'obstacle par rapport au premier point de base prédéfini et au second point de base prédéfini. L'appareil de mesure réduit les coûts de mesure. La présente invention concerne également un véhicule aérien sans pilote.
PCT/CN2014/076388 2014-04-28 2014-04-28 Appareil de mesure et véhicule aérien sans pilote Ceased WO2015165008A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201480003072.XA CN104823018A (zh) 2014-04-28 2014-04-28 测量装置及无人飞行器
PCT/CN2014/076388 WO2015165008A1 (fr) 2014-04-28 2014-04-28 Appareil de mesure et véhicule aérien sans pilote

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2014/076388 WO2015165008A1 (fr) 2014-04-28 2014-04-28 Appareil de mesure et véhicule aérien sans pilote

Publications (1)

Publication Number Publication Date
WO2015165008A1 true WO2015165008A1 (fr) 2015-11-05

Family

ID=53732390

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2014/076388 Ceased WO2015165008A1 (fr) 2014-04-28 2014-04-28 Appareil de mesure et véhicule aérien sans pilote

Country Status (2)

Country Link
CN (1) CN104823018A (fr)
WO (1) WO2015165008A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113965119A (zh) * 2021-10-09 2022-01-21 西安交通大学 基于fpga和自定义指令集实现直流电机实时角度定位的系统
US12072708B2 (en) 2019-12-26 2024-08-27 Shenzhen Camsense Technologies Co., Ltd Distance measuring device and sweeping robot
US12242000B2 (en) 2019-12-26 2025-03-04 Shenzhen Camsense Technologies Co., Ltd Distance measuring device and sweeping robot

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WO2017066927A1 (fr) * 2015-10-20 2017-04-27 SZ DJI Technology Co., Ltd. Systèmes, procédés et dispositifs de réglage de paramètres de caméra
CN105865407B (zh) * 2016-06-03 2019-11-15 金华市蓝海光电技术有限公司 一种激光测距装置
WO2018006216A1 (fr) 2016-07-04 2018-01-11 SZ DJI Technology Co., Ltd. Support de fonctionnement aérien et gestion en temps réel
US10033980B2 (en) * 2016-08-22 2018-07-24 Amazon Technologies, Inc. Determining stereo distance information using imaging devices integrated into propeller blades
CN108717192A (zh) * 2018-07-09 2018-10-30 Oppo（重庆）智能科技有限公司 障碍物检测设备以及障碍物检测的方法

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CN101809461A (zh) * 2007-07-19 2010-08-18 Neato机器人技术公司 距离传感器系统和方法
CN101968354A (zh) * 2010-09-29 2011-02-09 清华大学 基于激光探测和图像识别的无人直升机测距方法
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CN203848821U (zh) * 2014-04-28 2014-09-24 深圳市大疆创新科技有限公司 测量装置及无人飞行器

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12072708B2 (en) 2019-12-26 2024-08-27 Shenzhen Camsense Technologies Co., Ltd Distance measuring device and sweeping robot
US12242000B2 (en) 2019-12-26 2025-03-04 Shenzhen Camsense Technologies Co., Ltd Distance measuring device and sweeping robot
CN113965119A (zh) * 2021-10-09 2022-01-21 西安交通大学 基于fpga和自定义指令集实现直流电机实时角度定位的系统

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