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WO2021092722A1 - Ensemble radar, véhicule aérien sans pilote, procédé de détection d'obstacle, dispositif et support d'enregistrement - Google Patents

Ensemble radar, véhicule aérien sans pilote, procédé de détection d'obstacle, dispositif et support d'enregistrement Download PDF

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Publication number
WO2021092722A1
WO2021092722A1 PCT/CN2019/117109 CN2019117109W WO2021092722A1 WO 2021092722 A1 WO2021092722 A1 WO 2021092722A1 CN 2019117109 W CN2019117109 W CN 2019117109W WO 2021092722 A1 WO2021092722 A1 WO 2021092722A1
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WO
WIPO (PCT)
Prior art keywords
radar
wing
antenna arrays
rotating
drone
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/CN2019/117109
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English (en)
Chinese (zh)
Inventor
王俊喜
王春明
饶雄斌
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 PCT/CN2019/117109 priority Critical patent/WO2021092722A1/fr
Priority to CN201980040010.9A priority patent/CN112334788A/zh
Publication of WO2021092722A1 publication Critical patent/WO2021092722A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • This application relates to the technical field of unmanned aerial vehicles, and in particular to a radar component, an unmanned aerial vehicle, an obstacle detection method, equipment, and storage medium.
  • a radar is installed on the drone, and obstacles in the flying environment are detected by the radar to realize the obstacle avoidance function of the drone.
  • the radar signal can only detect obstacles in a limited direction of the UAV, and cannot achieve all-round obstacle avoidance. Therefore, it is urgent to propose a new solution.
  • Various aspects of the present application provide a radar component, an unmanned aerial vehicle, an obstacle detection method, equipment, and storage medium, which are used to effectively improve the accuracy of obstacle avoidance and enhance the flight safety of the unmanned aerial vehicle.
  • An embodiment of the present application provides a radar assembly, including: a rotating radar and at least one wing radar; the signal transmission direction of the rotating radar is perpendicular to the rotating shaft of the rotating radar; The rotation axis of the rotating radar is on the plane where the straight lines intersect.
  • the at least one flanking radar includes at least one set of flanking radars, and each set of flanking radars includes two flanking radars arranged opposite to each other on the back side.
  • the two side-wing radars arranged opposite to each other on the back side are symmetrically distributed along a symmetry axis, and the symmetry axis is perpendicular to the rotation axis of the rotating radar.
  • the connecting line of the two side-wing radars arranged opposite to each other on the back side is parallel to the rotation axis of the rotating radar.
  • the rotation axis of the side-wing radar and the rotating radar are set at a set included angle, and the set included angle is adapted to the attitude angle of the radar component during detection.
  • the set included angle is 75°.
  • the side-wing radar includes: a plurality of antenna arrays arranged at equal intervals; each antenna array includes at least one microstrip antenna unit.
  • the plurality of antenna arrays includes: a plurality of first antenna arrays located at a first arrangement height, and a second antenna array located at a second arrangement height; the second antenna arrays are located at a plurality of the first antenna arrays. Between an antenna array.
  • the side-wing radar performs azimuth measurement through echo signals received by a plurality of the first antenna arrays.
  • the side-wing radar performs azimuth measurement through echo signals received by the multiple second antenna arrays.
  • the side-wing radar performs azimuth measurement through multiple echo signals received by the first antenna array and echo signals received by the second antenna array.
  • the second arrangement height is different from the first arrangement height, and the plurality of antenna arrays are symmetrical along the center line.
  • the side-wing radar performs pitch angle measurement through multiple phase centers of the echo signals received by the first antenna array and the phase centers of the echo signals received by the second antenna array.
  • the plurality of antenna arrays includes: two of the first antenna arrays and two of the second antenna arrays; the two second antenna arrays are located between the two first antenna arrays .
  • the at least one side-wing radar is respectively connected to the rotating radar to output a first detection result to the rotating radar; the rotating radar detects the second detection result according to the first detection result and the rotating radar.
  • the result is data fusion to locate obstacles.
  • An embodiment of the present application also provides an unmanned aerial vehicle, including: a fuselage; the fuselage includes a frame and a tripod mounted on the frame; and, the radar assembly provided by the embodiment of the application; in the radar assembly The rotating radar is installed below the fuselage, and the rotating axis of the rotating radar is parallel to the pitch axis of the drone; at least one wing radar in the radar assembly is installed on the tripod.
  • the upper end of the side-wing radar is close to the azimuth axis of the drone, and the lower end is away from the azimuth axis of the drone to be installed obliquely.
  • the tripod includes: a first tripod and a second tripod; the connecting direction of the first tripod and the second tripod is parallel to the pitch axis of the drone;
  • each group of side-wing radars includes two side-wing radars with opposite back sides, which are respectively installed on the outer side of the first leg and the outer side of the second leg.
  • the embodiment of the present application also provides an obstacle detection method, which is suitable for drones, including: detecting obstacles in the direction of the drone's flanks through at least one wing radar installed on the drone to obtain the first A detection result; detecting obstacles on the front, back, and/or underside of the drone by means of a rotating radar installed on the drone to obtain a second detection result; by means of the rotating radar, Perform a data fusion operation on the first detection result and the second detection result, and determine the position of the obstacle around the drone according to the result of the data fusion operation.
  • a method of detecting obstacles in the direction of the wing of the UAV through at least one wing radar installed on the UAV includes: targeting any wing of the at least one wing radar The radar calculates the azimuth and elevation angles of obstacles within the detection range of the side-wing radar relative to the UAV based on the echo signals received by the multiple antenna arrays arranged at equal intervals on the side-wing radar.
  • a method for calculating the azimuth angle of obstacles within the detection range of the side-wing radar relative to the UAV based on the echo signals received by multiple antenna arrays at equal intervals on the side-wing radar Including: calculating the first azimuth angle by using the echo signals received by the multiple first antenna arrays located at the first arrangement height on the side-wing radar, using the array spacing between the multiple first antenna arrays; The second azimuth angle is calculated according to the echo signals received by the multiple second antenna arrays located at the second arrangement height on the side-wing radar using the array spacing between the multiple second antenna arrays; The first azimuth angle and the second azimuth angle are used to calculate the azimuth angle of the obstacle relative to the drone.
  • a method of calculating the pitch angle of obstacles within the detection range of the side-wing radar relative to the UAV based on the echo signals received by multiple antenna arrays at equal intervals on the side-wing radar Including: calculating the first phase center through the echo signals received by the multiple first antenna arrays at the first arrangement height on the flanking radar; and calculating the first phase center through at least one second antenna array at the second arrangement height on the flanking radar Calculate the second phase center from the echo signal received by the antenna array; calculate the second phase center based on the phase difference between the first phase center and the second center and the height difference between the first arrangement height and the second arrangement height The pitch angle of the obstacle relative to the drone.
  • An embodiment of the present application further provides an electronic device, including: a memory and a processor; wherein the memory is used to store one or more computer instructions; and the processor is used to execute the obstacle detection method provided in the embodiment of the present application.
  • An embodiment of the present application also provides a computer-readable storage medium storing a computer program, wherein the computer program can implement the obstacle detection method provided in the embodiment of the present application when the computer program is executed.
  • the signal transmission direction of the rotating radar is perpendicular to its axis of rotation
  • at least one sheet-shaped wing radar is provided on a plane that intersects with the axis of rotation of the rotating radar.
  • the detection range of the radar component can cover both the radial direction and the detection area in the circumferential direction of the rotating radar, as well as the axial direction of the rotating radar. The area, in turn, greatly increases the detection range of the radar component, which is conducive to achieving all-round obstacle avoidance and improving the flight safety of the UAV.
  • Fig. 1a is a schematic structural diagram of a radar component provided by an exemplary embodiment of this application.
  • Fig. 1b is a schematic diagram of the installation angle of the side-wing radar provided by an exemplary embodiment of the application;
  • Fig. 1c is a schematic diagram of the principle of angle measurement according to the distance of the antenna array and the received echo signal
  • FIG. 1d is a schematic structural diagram of an antenna array provided by an exemplary embodiment of this application.
  • Figure 2 is a schematic structural diagram of a drone provided by an exemplary embodiment of the application.
  • FIG. 3 is a schematic flowchart of an obstacle detection method provided by an exemplary embodiment of this application.
  • Fig. 4 is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.
  • the features defined with “first” and “second” may explicitly or implicitly include one or more of the features.
  • “multiple” means two or more than two, unless otherwise specifically defined.
  • the terms “installation”, “connected”, and “connected” should be understood in a broad sense unless otherwise clearly specified and limited.
  • they may be fixed connections or Removable connection, or integral connection; it can be mechanical connection, it can be electrical connection or it can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the connection of two components Interaction relationship.
  • the specific meanings of the above-mentioned terms in the embodiments of the present application can be understood according to specific circumstances.
  • the "upper” or “lower” of the first feature of the second feature may include direct contact between the first and second features, or may include the first feature.
  • the second feature is not in direct contact but through another feature between them.
  • "above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or it simply means that the level of the first feature is higher than that of the second feature.
  • the "below”, “below” and “below” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the radar signal can only detect obstacles in a limited direction of the UAV, and cannot achieve all-round obstacle avoidance.
  • FIG. 1a is a schematic structural diagram of a radar assembly provided by an exemplary embodiment of the application. As shown in FIG. 1a, the radar assembly 10 includes a rotating radar 101 and at least one wing radar 102.
  • the rotating radar 101 is a radar device that can rotate and emit radar detection signals to the outside.
  • the rotating operation of the rotating radar 101 can be realized by a motor, and the rotor of the motor is the rotating shaft of the rotating radar 101, which is not limited in this embodiment.
  • the signal emission direction of the rotating radar 101 is perpendicular to the rotation axis of the rotating radar 101, that is, the detection range of the signal emitted by the rotating radar 101 can cover the area in the radial direction and the circumferential direction of the rotating radar 101.
  • the wing radar 102 has a sheet shape and is arranged on a plane that intersects the straight line where the rotation axis of the rotating radar 101 is located. Based on this, it is possible to make the plane where the signal transmitting surface of the at least one side-wing radar 102 is located crosses the straight line where the rotation axis of the rotating radar 101 is located. Then, the detection range of the signal sent by the side-wing radar 102 may cover part or all of the area in the axial direction of the rotating radar 101.
  • the number of the at least one side-wing radar 102 may be one.
  • a side-wing radar 102 can be arranged outside the end face of either end of the rotating radar 101, or arranged above or below the rotating radar 101, which is not limited in this embodiment.
  • upper and lower respectively refer to the position on the upper side of the rotary radar 101 and the position on the lower side of the rotary radar 101 when the rotating shaft of the rotary radar 101 is placed in a horizontal direction. Based on this, it is possible to assist in detecting a part of or the entire range of one side of the rotating radar 101 in the axial direction.
  • the number of the at least one side-wing radar 102 may be multiple (two or more). Multiple wing radars can be dispersedly arranged outside the end faces of the left and right ends of the rotating radar 101, or all arranged above the rotating radar 101, or all arranged below the rotating radar 101, or dispersedly arranged above and below the rotating radar 101 ,
  • This embodiment does not make a limitation. Based on this, it is possible to assist in detecting part or all of the range in the axial direction on both sides of the rotating radar 101.
  • the detection range of the radar assembly 100 can cover both the radial direction and the detection area in the circumferential direction of the rotating radar 101, as well as the axial direction of the rotating radar 101.
  • the area in the direction greatly increases the detection range of the radar component, which is conducive to achieving all-round obstacle avoidance.
  • the at least one wing radar 102 may be divided into at least one group to obtain at least one group of wing radar 102, and each group includes two wing radars 102.
  • the signal transmitting surface on the wing radar 102 is described as the front side of the wing radar 102
  • the other side of the non-signal transmitting surface is described as the back side of the wing radar 102.
  • the back surfaces of the two wing radars 102 are arranged oppositely, and the front surfaces of the two wing radars 10 may transmit detection signals in opposite directions. Based on this, the two side-wing radars 102 in each group can compensate each other's detection angles to achieve a more omni-directional detection.
  • each group of side-wing radars 102 two side-wing radars 102 arranged opposite to the back are symmetrically distributed along a symmetry axis, and the symmetry axis is perpendicular to the rotation axis of the rotating radar 101. Based on this, the detection directions of mutual compensation between the two side-wing radars 102 arranged opposite to each other on the back are also symmetrical, which is beneficial for the two to better compensate for the detection angle.
  • the connecting line of the two side-wing radars 102 opposite to each other on the back side is parallel to the axis of rotation of the rotating radar 101.
  • the connection between the two side-wing radars 102 can be the connection between the center points of the two side-wing radars 102.
  • the detection directions of the two side-wing radars 102 can be more varied.
  • the area in the axial direction of the rotating radar 101 is covered.
  • the detection directions of the two side-wing radars 102 can fully cover the area in the axial direction of the rotating radar 101. Furthermore, it can assist radar components to achieve a more comprehensive detection effect.
  • the radar assembly 100 is installed on a vehicle (such as an unmanned aerial vehicle, a ship, or an aircraft). With the movement of the vehicle, the radar assembly 100 will roll over to a certain extent, and the rollover produces a flip angle relative to the horizontal plane. In some possible situations, as the radar assembly 100 is turned to a certain angle, the detection signal of the wing radar 102 can cover a large land area or water area, etc., and it is easy to introduce obstacles by mistake and cause some misjudgments.
  • a vehicle such as an unmanned aerial vehicle, a ship, or an aircraft.
  • each wing radar 102 in the radar assembly 100 and the rotating shaft of the rotating radar 101 can be set to a set angle setting, and the set angle is the same as the attitude of the radar assembly 100 during detection.
  • Angle adaptation Among them, the attitude angle is mainly represented by the roll angle generated when the radar assembly 100 is detected with the mounted equipment.
  • the actual value of the flip angle is related to the running performance of the vehicle, which is not limited in this embodiment.
  • the flip angle may be 10°, 15°, 20°, 30°, etc., which is not limited in this embodiment.
  • the roll angle generated by the rollover action of the drone during flight is about 15°.
  • each wing radar 102 and the rotating radar 101 can be set.
  • the angle between the rotating shafts is 75°, as shown in Figure 1b. Based on this, when the rollover angle of the drone during flight is within 15° and 15°, the detection range of the flanking radar 102 can be prevented from covering the land or water area under the airspace where the drone is flying, reducing obstacles. False judgment rate.
  • each wing radar 102 includes a plurality of antenna arrays arranged at equal intervals, and each antenna array includes at least one microstrip antenna unit. This arrangement of antenna arrays on the one hand helps to improve the strength and directivity of the detection signal of the side-wing radar 102, on the other hand, it helps to improve the accuracy and convenience of angle measurement of detected obstacles. The following will be carried out Exemplary description.
  • the obstacle angle can be measured.
  • ⁇ is the corresponding wavelength, from which the incident angle ⁇ of the echo signal can be obtained:
  • the multiple antenna arrays include: multiple first antenna arrays 1021 located at a first arrangement height, and second antenna arrays 1022 located at a second arrangement height, and the second antenna arrays 1022 are located at the multiple first antenna arrays 1011 between.
  • the side-wing radar 102 can use the echo signals received by the first antenna array 1021 and/or the second antenna array 1022, and the array spacing between the first antenna array 1021 and/or the second antenna array 1022 Take an angle measurement.
  • different antenna arrays have a position difference in the horizontal direction of the radar assembly 100, and the position difference is equal to one or more times the array pitch.
  • the angle measured based on the position difference in the horizontal direction can be regarded as the angle between the obstacle and the azimuth of the radar assembly 100, referred to as the azimuth angle.
  • the wing radar 102 performs azimuth measurement through echo signals received by multiple first antenna arrays 1021.
  • I the phase difference of the echo signals received by any two first antenna arrays 1021
  • L the array spacing between the two first antenna arrays 1021
  • the azimuth angle can be calculated by substituting the above formula.
  • the number of the second antenna array 1022 is multiple, and the wing radar 102 may perform azimuth measurement through echo signals received by the multiple second antenna arrays 1022.
  • I the phase difference of the echo signals received by any two second antenna arrays 1021
  • L is the array spacing between the two second antenna arrays, and the azimuth angle can be calculated by substituting the above formula.
  • the flank radar 102 may perform azimuth measurement using echo signals received by multiple first antenna arrays 1021 and echo signals received by second antenna arrays 1022.
  • at least one second antenna array 1022 is located between the multiple first antenna arrays 1011, which may include the following situation: multiple first antenna arrays 1022 are scattered on both sides of the head and tail, to the second The antenna array 1022 is arranged in the middle.
  • one second antenna array 1022 is located between the multiple first antenna arrays 1021, and the distance between the first antenna array 1021 and the second antenna array 1022 is smaller than the distance between the first antenna array 1021 and the second antenna array 1022.
  • the spacing between the multiple second antenna arrays 1022 is smaller than the spacing between the second antenna arrays 1022 located on both sides of the head and tail.
  • the horizontal baseline length between the antenna array R1 and the antenna array R4 is 3d1
  • the horizontal baseline length between the antenna array R2 and the antenna array R3 is d1.
  • the phase of the echo signal received by the antenna array can be determined according to the antenna array including The phase centers of the echo signals received by the multiple microstrip antenna units are calculated and will not be repeated here.
  • the second arrangement height is different from the first arrangement height, and the plurality of first antenna arrays 1021 and the at least one second antenna array 1022 are symmetrical along the center line.
  • the center line refers to the center axis of the antenna array as a whole.
  • the above structure makes the multiple first antenna arrays 1021 and at least one second antenna array 1022 have a certain height difference in the elevation direction, and the height difference can be set according to actual requirements, and this embodiment does not limit it.
  • the height difference makes the echo signal reach the antenna arrays of different heights with different wave lengths.
  • the difference between the wave lengths makes the antenna arrays of different heights detect
  • the echo signal has a certain phase difference. Based on the phase difference of the echo signals received by the antenna arrays of different heights and the height difference between the antenna arrays, the obstacle angle can be measured.
  • first antenna array 1021 there is a position difference between the first antenna array 1021 and the second antenna array 1022 in the horizontal direction.
  • multiple first antenna arrays 1021 may be used.
  • at least one second antenna array 1022 is symmetrically arranged along the central axis of the entire antenna array. After detecting the echo signal, calculate the first phase center based on the echo signals received by the multiple first antenna arrays 1021, and calculate the second phase center based on the echo signals received by the at least one second antenna array 1022, such as The circle shown in Figure 1d.
  • the first phase center and the second phase center can be located on a straight line in the elevation direction, which reduces the influence of the horizontal position difference of the antenna array on the elevation angle measurement, as shown in Figure 1d.
  • angle measurement can be performed.
  • the above-mentioned measured angle can be regarded as the angle between the obstacle and the elevation of the radar assembly 100, referred to as the elevation angle. .
  • the number of antenna arrays on each side-wing radar 102 can be set to four, including: two first antenna arrays R1, R4 and two second antennas Array R2, R3. Among them, the two second antenna arrays R2 and R3 are located between the two first antenna arrays R1 and R4, as shown in Fig. 1d.
  • the height of the first arrangement is higher than the height of the first arrangement, and the height difference is the pitch baseline length d2. Of course, in some other embodiments, the height of the first arrangement may be lower than the height of the second arrangement. Do restrictions.
  • the connection may be a wired communication connection or a wireless communication connection, which is not limited in this embodiment.
  • the detection result detected by the side-wing radar 102 is described as the first detection result
  • the detection result detected by the rotating radar 101 is described as the second detection result.
  • each flanking radar 102 can output its corresponding first detection result to the rotating radar 101.
  • the rotating radar 101 can perform data fusion according to the first detection result and the second detection result detected by itself to locate obstacles.
  • the first detection result may include the coordinates of the obstacle detected by the side-wing radar 102 in the first coordinate system
  • the second detection result may include the coordinates of the obstacle detected by the side-wing radar 102 in the second coordinate system.
  • the coordinate system can be converted to obtain the obstacle Coordinates in the same coordinate system. Then, the obstacles detected by the side-wing radar 102 and the rotating radar 101 are deduplicated, or the three-dimensional contours of the obstacles are further outlined, so as to realize a comprehensive obstacle detection process.
  • FIG 2 is a schematic structural diagram of a drone provided by an exemplary embodiment of the present application.
  • the drone includes a fuselage 200; the fuselage 200 includes a frame 201 and a frame mounted on the frame 201.
  • the rotating radar 101 in the radar assembly 100 is installed under the fuselage 200, and the rotation axis of the rotating radar 101 is parallel to the pitch axis of the drone, and at least one wing radar 102 in the radar assembly 100 is installed on the tripod 202.
  • the rotating radar 101 can detect obstacles on the front, back, and bottom of the UAV.
  • At least one side-wing radar 102 can detect obstacles on the left and/or right side of the drone, so as to realize the omnidirectional obstacle avoidance of the drone.
  • the frame 201 can be used as an installation carrier for the flight control system, processor, video camera, camera, etc. of the drone.
  • the tripod 202 is installed under the frame 201, and the tripod 202 can be used to provide support for the drone when it is landing.
  • the tripod 202 can also be equipped with a water tank and used to spray pesticides and fertilizers on plants through a sprinkler.
  • the number of the tripod 202 may be multiple, and the plurality of tripods 202 are gradually inclined outward in a direction away from the frame 201 so that the tripod 202 can be supported on the landing surface smoothly.
  • Fig. 2 illustrates a situation where the number of the legs 201 is two. When the two legs 202 are installed obliquely outward, they are roughly arranged in an "eight" shape.
  • each group of side wing radars 102 includes two side wing radars with opposite backs, which can be respectively installed on the outer side of the first leg and the outer side of the second leg.
  • the two opposite side wing radars can detect obstacles on the left and right sides of the UAV respectively.
  • flanking radar 102 When the drone is flying, there is a rollover action. If the flanking radar 102 is parallel to the direction axis of the drone, then when the drone rolls over, the detection range of the flanking radar 102 can easily cover the land or under the airspace where the drone is flying. Waters. To avoid the above drawbacks, in some optional embodiments, when each wing radar 102 is installed on the tripod 202, the upper end of the wing radar 102 is close to the azimuth axis of the UAV, and the lower end of the wing radar 102 is far away from the UAV's azimuth axis. Azimuth axis.
  • the side-wing radar 102 is inclined outwards in a direction away from the frame 201, and is generally arranged in a "eight" shape. Then, when the UAV rolls over, the detection direction of the side-wing radar 102 is still not toward the ground direction, which is beneficial to the accuracy of the detection result.
  • the roll angle generated by the rollover action of the drone during flight is about 15°. Therefore, the angle between the rotation axis of each side-wing radar 102 and the rotating radar 101 can be set to 75°. That is, the angle between each wing radar 102 and the azimuth axis of the UAV is 15°. Based on this, when the rollover angle of the drone during flight is within 15° and 15°, the detection range of the flanking radar 102 can be prevented from covering the land or water area under the airspace where the drone is flying, reducing obstacles. False judgment rate.
  • the drone further includes an arm 203 extending from the fuselage 200.
  • the arm 203 can be used to carry components such as a power unit, a propeller, etc., to provide power for the drone to fly, which is not limited in this embodiment.
  • the embodiments of the present application also provide an obstacle detection method, as shown in FIG. 3, when the obstacle detection method is applied to a drone, it may include the following A step of:
  • Step 301 Detect obstacles in the direction of the wing of the UAV by using at least one wing radar installed on the UAV to obtain a first detection result.
  • Step 302 Detect obstacles in the front, back, and/or downside directions of the UAV through the rotating radar installed on the UAV to obtain a second detection result.
  • Step 302 Perform a data fusion operation on the first detection result and the second detection result through the rotating radar, and determine the position of obstacles around the drone according to the result of the data fusion operation.
  • a way of detecting obstacles in the direction of the UAV's flanks by using at least one wing radar installed on the UAV includes: detecting the obstacles in the at least one wing radar in the at least one flanking radar. For any flanking radar, calculate the azimuth and pitch of obstacles within the detection range of the flanking radar relative to the UAV based on the echo signals received by the multiple antenna arrays arranged at equal intervals on the flanking radar angle.
  • the azimuth angle of obstacles in the detection range of the side-wing radar relative to the azimuth angle of the drone is calculated based on the echo signals received by multiple antenna arrays at equal intervals on the side-wing radar.
  • a method includes: calculating the first azimuth by using the echo signals received by the multiple first antenna arrays located at the first arrangement height on the side-wing radar, using the array spacing between the multiple first antenna arrays Angle; the second azimuth angle is calculated according to the echo signals received by the multiple second antenna arrays at the second arrangement height on the side-wing radar, using the array spacing between the multiple second antenna arrays; The obtained first azimuth angle and the second azimuth angle are calculated, and the azimuth angle of the obstacle relative to the drone is calculated.
  • the pitch angle of obstacles in the detection range of the flanking radar relative to the pitch angle of the UAV is calculated through the echo signals received by multiple antenna arrays at equal intervals on the flanking radar.
  • One method includes: calculating the first phase center through the echo signals received by the multiple first antenna arrays at the first arrangement height on the flanking radar; and calculating the first phase center through at least the echo signals at the second arrangement height on the flanking radar. Calculate the second phase center from the echo signal received by a second antenna array; according to the phase difference between the first phase center and the second center and the height of the first arrangement height and the second arrangement height Difference, calculate the pitch angle of the obstacle relative to the UAV.
  • At least one wing radar installed on the UAV can detect obstacles in the direction of the UAV’s flanks, and the front side, back and/or side of the UAV can be detected by the rotating radar installed on the UAV. Or obstacles in the downside direction are detected.
  • the data fusion operation based on the detection results monitored by the above two radars can determine the location of obstacles around the UAV.
  • This obstacle detection method realizes the detection of obstacles in multiple directions and multiple angles, which is beneficial to realize all-round obstacle avoidance.
  • the execution subject of each step of the method provided in the foregoing embodiment may be the same device, or different devices may also be the execution subject of the method.
  • the execution subject of steps 301 to 304 may be device A; for another example, the execution subject of steps 301 and 302 may be device A, and the execution subject of step 303 may be device B; and so on.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.
  • the electronic device can be installed on the radar assembly and the drone provided by the foregoing embodiments.
  • the electronic device includes: a memory 401 And processor 402.
  • the memory 401 is used to store computer programs and can be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phone book data, messages, pictures, videos, etc.
  • the memory 401 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Except programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable except programmable read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic disk or optical disk.
  • the processor 402 is coupled with the memory 401, and is configured to execute the computer program in the memory 401, so as to detect obstacles in the direction of the drone's wing through at least one wing radar installed on the drone to obtain the first Detection results; through the rotating radar installed on the UAV to detect obstacles on the front, back, and/or downside of the UAV to obtain the second detection result; through the rotating radar, the first Perform a data fusion operation on the detection result and the second detection result, and determine the location of obstacles around the UAV according to the result of the data fusion operation.
  • the processor 402 when the processor 402 detects obstacles in the direction of the side wing of the drone through the at least one side wing radar installed on the drone, it is specifically configured to: target the at least one side wing Any wing radar in the radar, according to the echo signals received by a plurality of antenna arrays arranged at equal intervals on the wing radar, calculate the position of obstacles in the detection range of the wing radar relative to the UAV Angle and pitch angle.
  • the processor 402 calculates the relative difference between the obstacles in the detection range of the side-wing radar and the UAV based on the echo signals received by multiple antenna arrays at equal intervals on the side-wing radar.
  • the azimuth angle of it is specifically used to calculate the echo signals received by the multiple first antenna arrays at the first arrangement height on the side-wing radar based on the array spacing between the multiple first antenna arrays
  • the first azimuth angle; the second azimuth angle is calculated from the echo signals received by the multiple second antenna arrays at the second arrangement height on the side-wing radar, using the array spacing between the multiple second antenna arrays Calculate the azimuth angle of the obstacle relative to the UAV according to the calculated first azimuth angle and the second azimuth angle.
  • the processor 402 calculates the relative difference between the obstacles in the detection range of the flanking radar and the UAV based on the echo signals received through multiple antenna arrays at equal intervals on the flanking radar.
  • the elevation angle of the wing radar is specifically used to calculate the first phase center through the echo signals received by the multiple first antenna arrays located at the first array height on the flank radar; and to calculate the first phase center through the flank radar located in the second array.
  • the electronic device may also include other components such as a communication component 403, a power supply component 404, and an audio component 405. Only part of the components are schematically shown in FIG. 4, which does not mean that the electronic device only includes the components shown in FIG. 4.
  • the communication component 403 is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices.
  • the device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, or 5G, or a combination of them.
  • the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component may be based on near field communication (NFC) technology, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies to realise.
  • NFC near field communication
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the power supply component 404 provides power for various components of the equipment where the power supply component is located.
  • the power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device where the power supply component is located.
  • At least one wing radar installed on the UAV can detect obstacles in the direction of the UAV’s wing, and the front, back and/or side of the UAV can be detected by the rotating radar installed on the UAV. Or obstacles in the downside direction are detected.
  • the data fusion operation based on the detection results monitored by the above two radars can determine the location of obstacles around the UAV.
  • This obstacle detection method realizes the detection of obstacles in multiple directions and multiple angles, which is beneficial to realize all-round obstacle avoidance.
  • an embodiment of the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed, each step in the obstacle detection method that can be executed by the electronic device in the foregoing method embodiment can be implemented.
  • the embodiments of the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present application may adopt the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read only memory (ROM) or flash memory (flashRAM).
  • RAM random access memory
  • ROM read only memory
  • flashRAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Ensemble radar, véhicule aérien sans pilote, procédé de détection d'obstacle, dispositif et support d'enregistrement. Dans un ensemble radar (100), la direction de transmission de signal d'un radar rotatif (101) est perpendiculaire à l'axe de rotation de celui-ci, et au moins un radar à aile latérale en forme de feuille (102) est disposé sur un plan croisant une ligne droite où l'axe de rotation du radar rotatif (101) est situé. La coopération du radar rotatif (101) et du ou des radars à aile latérale (102) permet à la plage de détection de l'ensemble radar (100) de couvrir des zones de détection dans la direction radiale et la direction circonférentielle du radar rotatif (101) et de couvrir également une zone dans la direction axiale du radar rotatif (101), ce qui permet d'augmenter considérablement la plage de détection de l'ensemble radar (100), facilitant l'évitement d'obstacles omniporteurs, et améliorant la sécurité de vol d'un véhicule aérien sans pilote.
PCT/CN2019/117109 2019-11-11 2019-11-11 Ensemble radar, véhicule aérien sans pilote, procédé de détection d'obstacle, dispositif et support d'enregistrement Ceased WO2021092722A1 (fr)

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PCT/CN2019/117109 WO2021092722A1 (fr) 2019-11-11 2019-11-11 Ensemble radar, véhicule aérien sans pilote, procédé de détection d'obstacle, dispositif et support d'enregistrement
CN201980040010.9A CN112334788A (zh) 2019-11-11 2019-11-11 雷达组件、无人机、障碍物检测方法、设备及存储介质

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