CN107608371A - Four rotor automatic obstacle avoiding unmanned plane under the environment of community in urban areas - Google Patents
Four rotor automatic obstacle avoiding unmanned plane under the environment of community in urban areas Download PDFInfo
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Abstract
The invention discloses four rotor automatic obstacle avoiding unmanned planes under a kind of community in urban areas environment, including mobile system platform, ground platform, data transmission link, community in urban areas environmental model and the intelligent three-dimensional path planning algorithm module based on community in urban areas environmental model；Binocular CCD and 2D laser radar has been merged for community in urban areas building environmental model, ultrasonic radar, airborne IMU and GPS etc. are a variety of to perceive detection, location navigation sensor, pass through the no-manned plane three-dimensional obstacle-avoiding route planning method based on intelligence computation, the four rotor avoidance unmanned aerial vehicle platforms based on binocular vision and the airborne real-time online processing of laser radar data are designed and Implemented, it disclosure satisfy that the unmanned plane automatic obstacle avoiding flight of community in urban areas environment space requires, it is intelligent unmanned plane in anti-terrorism, street fighting, battlefield information detects, package delivering, electric inspection process, the condition of a disaster is maked an inspection tour, solid foundation has been laid in the extensive use such as natural environment remote sensing.
Description
Technical field
Pass through binocular CCD and 2D laser radar, ultrasonic radar, machine for community in urban areas building environment the present invention relates to one kind
A variety of detection, location navigation sensors of perceiving such as IMU and GPS are carried to three-dimensional environment perception and multi-sensor information fusion, are passed through
Intelligent three-dimensional path planning algorithm realizes the automatic obstacle avoiding unmanned plane under the environment of community in urban areas.
Background technology
In recent years, due to rotor wing unmanned aerial vehicle can VTOL, can aerial spot hover, and not by the landing influence of topography, because
This is with the use of the navigation system such as control technology, the maturation of wireless communication technology, GPS, and especially electronic component is small
Type, the development of microminiature rotor wing unmanned aerial vehicle are swift and violent.Moreover, largely it is transferred to civil area from military.So as to bring microminiature without
The upsurge of man-machine autonomous flight research.Unmanned plane automatic obstacle avoiding technology mainly needs solve following key problem：That is environment sense
Know, environment description, path planning, several respects problem such as track following.
From environment sensing with evading in terms of technology developing stage, the Air Force Research Laboratory（AFRL) always work on based on light
Electricity, radar, ultrasound etc. perceive " perceive and evade " project of unit, primarily to realizing in the range of 200 meters or so of unmanned plane
Full autonomous flight, can be quick, real to realize by a variety of sensors that are sensitive, accurate, perceiving surrounding environment in a big way
When, airborne obstacle avoidance technology.The big target surface of optics, the CCD of high pixel of project use, are realized in front of unmanned plane in a big way
Obstacle detection, meanwhile, every CCD is equipped with a step processor unit, and view data is individually handled, its data due to
Using high definition level, up to the resolution ratio of 6,000,000 pixels, and there is the processing speed of 20 frame per second.But in order to realize unmanned plane
Loading demands, CCD all very littles from weight or volume, substantially meet unmanned plane load requirements.Experimenter has found
Pass through the combination of CCD and radar so that the obstacle rate of false alarm of unmanned plane significantly reduces, but due to the size of radar and its antenna compared with
Greatly, weight is also larger so that the power source consumption of unmanned plane is larger.But it can be recognized well because radar is combined with CCD
Obstacle in space is dangerous, than more effective by avoidance new algorithm merely.Therefore, AFRL proposes an elder generation in March, 2007
Enter technological demonstration project.In order to verify the feasibility of light sensation avoidance system, AUS is on RQ.7B " shade " 200B unmanned planes
Many experiments are carried out.AFRL researcher will start a " shade " unmanned plane plan in the end of the year 2009, employ a
" electro-optic radar ", its replication experiment are irregularly held.Then, Gen Atomics and Northey Luo Pu Grumman Co., Ltd difference
Test small-sized light sensation obstacle avoidance system on " predator " and " global hawk " each developed, through improvement upgrade, its weight from
0.5Kg will be arrived under 4.5Kg, its power consumption is greatly reduced to 30W.
In June, 2005, European Defence Agency（EDA）Carry out " midair collision avoidance system "（ACAS）Project research, it is main
It is to develop long endurance using automatic control mode is used with civilian UAS, the system to want task, by specifying in the air
Control zone flithg rules, " perceive and evade " of unmanned plane is realized, mainly employ photoelectricity, laser and radar etc. and perceive member
Part.
Environment sensing element has active and passive point, and in nearly more than ten year, this field makes this by applying various sensing technologies
Kind flight control achieves prominent achievement.Wherein in the first major progress for relying on passive vision technology, there is scholar using low
The optical flow computation machine technology of cost realizes flight of the Fixed Wing AirVehicle in valley.For aircraft in complex environment avoidance
Airmanship in-flight, CMU use passive optical sensing technology, have carried out this kind of barrier of hanging cable
Height cluttered environment in rapid flight experiment.In addition, NASA Ames Research Center has also carried out the research of this aspect,
Realize the Self Adaptive Control under circumstances not known.
China's unmanned plane research at present mainly also in the external level of tracking, there has also been in automatic obstacle avoiding system compared with
Much progress, meanwhile, the unmanned plane autonomous flight research in China also integrates with international trend, focuses on leading intelligent, real-time
Property, this causes " perceive and evade " technology to become the popular research field of unmanned plane.After the eighties in last century, China starts
Various landform tracking and the research of obstacle avoidance technology, have obtained developing on a large scale very much, wherein the Wang Lixin doctor of Beijing Institute of Aeronautics over more than 20 years
Had made intensive studies in aircraft low-level penetration and control field；Hu Zhaofeng and Sun Baoting professors are in penetration cruise path
Many research work are done in terms of tracing control emulation, Jin Zhangjiang is taught in altitude wind field environmental simulation, Tactical Flight Management
Numerous studies work has been carried out in the fields such as system, Flow over mountain model, but also has carried out in terms of task grouping beneficial
Exploration；Western work great Liu Chang'an et al. achieves certain progress in terms of multiple no-manned plane coordinated path planning, and high twilight professor exists
Further investigated etc. has been carried out in terms of unmanned plane path planning algorithm.In recent years, as the civilian upsurge of big boundary unmanned plane is risen, with
Multi-rotor unmanned aerial vehicle is widely applied for the platform of carrier, is related to disaster relief cruise, forest fire protection early warning, public security People's Armed Police patrol
The fields such as anti-, agricultural plant protection.It is numerous high with Tsing-Hua University, Zhejiang University, University of Science and Technology for National Defence, Harbin Institute of Technology, Beijing Institute of Aeronautics, northern science and engineering, South Airways, southern science and engineering etc.
Flourished for the unmanned plane research boom of representative in school.These work are that unmanned plane independently perceives further going deep into for avoidance technology
Solid foundation has been established in research.But melt because Small and micro-satellite three dimensions avoidance and path planning are related to multidisciplinary technology
Close, such as control technology, sensor technology, computer technology, intelligence computation method, microelectronics embedded integration technology.People
No-manned plane three-dimensional space avoidance technology is developed on the basis of two-dimentional robot path planning, three dimensions avoidance technology is more multiple
It is miscellaneous, it is necessary to the real-time capacity of data processing is stronger, while need in environment sensing and modeling process bigger data storage and
Disposal ability.Current successfully airborne avoidance unmanned plane is simultaneously few, and most of research concentrates on three-dimensional environment modeling and path rule
It is and in the majority with laboratory on drawing, practical application it is less.
Patent of the present invention proposes according to background below demand：Because in complex environments such as community in urban areas streets, GPS is not
Good positioning signal can be provided so that IMU error can not compensate very well, it is therefore desirable to other sensors assisting navigation, enter
And perception and avoiding barrier.Although active scan radar measurement accuracy is high, sweep speed is fast, cannot get the depth letter of environment
Breath.Passive environment sensing sensing can obtain environment depth information, but easily be influenceed by natural light, therefore the main mode passively combined
More favored.The present invention uses active sensing（Laser radar）And passive sensor（CCD）The side for realizing navigation is combined with IMU
Method, pass through a variety of senses such as binocular CCD and 2D laser radar, ultrasonic radar, airborne IMU and GPS for community in urban areas building environment
Know that detection, location navigation sensor to three-dimensional environment perception and multi-sensor information fusion, are calculated by intelligent three-dimensional path planning
Method realizes the unmanned plane automatic obstacle avoiding under the environment of community in urban areas, and military fixed point anti-terrorism, lane are applied to for UAV Intelligent
War, battlefield information detection and civilian package delivering, electric inspection process, the condition of a disaster are maked an inspection tour, natural environment remote sensing remote measurement provides technology
Theories integration and practicable application platform.
The content of the invention
Pass through binocular CCD and 2D laser radar, super for community in urban areas building environment it is an object of the invention to provide one kind
A variety of detection, location navigation sensors of perceiving such as acoustic radar, airborne IMU and GPS are to three-dimensional environment perception and multi-sensor information
Fusion, the automatic obstacle avoiding unmanned plane under the environment of community in urban areas is realized by intelligent three-dimensional path planning algorithm.
The purpose of the present invention is achieved through the following technical solutions.
Four rotor automatic obstacle avoiding unmanned planes under the community in urban areas environment of the present invention, including mobile system platform, earth station are put down
Platform, data transmission link, community in urban areas environmental model and the intelligent three-dimensional path planning algorithm based on community in urban areas environmental model
Module, described mobile system platform include three-dimensional environment sensing module, UAV Flight Control module, unmanned plane mechano-electronic
Component platform, described earth station's console module include earth station's computer, ground station software, Digiplex, described number
Include wireless data transmission unit and wireless image transmission unit according to transmission link.
The three-dimensional environment sensing module includes binocular CCD vision modules, Laser Radar Scanning module, ultrasonic radar mould
Block, airborne IMU modules and GPS module, the binocular CCD vision modules be provided with left CCD camera and left camera lens and right CCD camera and
Right camera lens, the binocular CCD vision modules are connected by binocular CCD fixed plates with frame upper supporting plate, the binocular CCD fixed plates
Fixation parallel with frame upper supporting plate, is horizontally mounted, and described left CCD camera and right CCD camera keep that distance is fixedly mounted.
The Laser Radar Scanning module is connected by laser radar fixed plate with frame upper supporting plate, and the laser radar is consolidated
Fixed board is fixed on frame upper supporting plate geometric center position, right angle setting, the Laser Radar Scanning module and described binocular CCD
Vision module relative geometry position is fixed, the Laser Radar Scanning space of the Laser Radar Scanning module and described binocular
What the left CCD kens space of CCD vision modules and right CCD kens space composition three dimensions perceived is fixed on frame upper supporting plate
Geometry site.
The ultrasonic radar module includes upper ultrasonic radar and lower ultrasonic radar, and described upper ultrasonic radar is connected by screw thread
Connect and be fixed on frame upper supporting plate, send radar pulse to surface, described lower ultrasonic radar, which is connected through a screw thread, to be fixed on
On frame lower carrier plate, radar pulse is sent to underface, is communicated by UART with on-board data process plate.
Described airborne IMU modules, which are fixed on, to fly on control mainboard, including three axis accelerometer, three axis accelerometer, three axle magnetic force
Meter, altimeter, described GPS module includes GPS location circuit plate and gps antenna is formed, and described gps antenna is fixed on avoidance
The tail centre position of the frame upper supporting plate of unmanned plane.
Described UAV Flight Control module includes flying control mainboard, and described winged control mainboard includes flying control master chip, nothing
Brush motor electron speed regulator, driver, brushless electric machine electronic speed regulator and driver, fly to control master chip and be welded to jointly to fly control master
On plate, the compact of flight control system, low-power consumption ensure that.
Described unmanned plane mechano-electronic component platform includes mechanical structure unit and flying power unit, described machinery
Construction unit includes carbon fiber frame, propeller, frame upper supporting plate, frame lower carrier plate, supporting leg, protective cradle, described carbon fiber
Support is distributed using carbon fiber square tube cruciform symmetry, is fixed under frame upper supporting plate and frame and propped up by plastic bolt connection
Among plate, described propeller is connected through a screw thread the output shaft end for being fixed on brushless electric machine, and described supporting leg is consolidated by supporting leg
Fixed board is connected to carbon fiber support bottom, and described protective cradle is fixed on the end of carbon fiber support using T-shaped, described
Flying power unit include power module, two pieces of 6S batteries and four brushless electric machines, 6S battery backspin motor bottoms, by tying up
Band fastens, and four brushless electric machine cross distributions and carbon fiber support end, carbon fiber machine is fixed to by brushless electric machine fixed plate
The end of the square tube of frame.
Described community in urban areas environmental model is that the unmanned plane obtained after the simplification of true community in urban areas environment is preferable autonomous
Avoidance flight model, including multiple building obstacles, trees, electric pole, lamp stand, the platform that takes off, Landing stage, ground level without fluctuating,
Described intelligent three-dimensional path planning algorithm module is based on the intelligent three-dimensional path planning under above-mentioned community in urban areas environmental model
Method, including multi-sensor information fusion module, three-dimensional path planning module, described multi-sensor information fusion module include
Avoidance no-manned plane three-dimensional environmental data that three-dimensional environment sensing module is gathered, corresponding Multi-Sensor Data Fusion algorithm and airborne
Data processing plate, described on-board data process plate includes quickly handling computer and sensor input, at on-board data
Reason plate operation is based on embedded Linux system, and ccd sensor handles board communications, laser radar by TCP/IP and on-board data
By USB and airborne control board communications, fly control mainboard and board communications are handled by DMA and on-board data, on-board data process plate is consolidated
It is scheduled on avoidance unmanned plane frame lower carrier plate.
Described three-dimensional path planning module is passed through based on multi-sensor information fusion module and on-board data process plate
Intelligent three-dimensional path planning algorithm real-time online calculates safe and efficient three of unmanned plane automatic obstacle avoiding under the environment of community in urban areas
Tie up flight path.
As seen from the above technical solution provided by the invention, under community in urban areas environment provided in an embodiment of the present invention certainly
Main avoidance unmanned plane, due to including mobile system platform, ground platform, data transmission link, community in urban areas environmental model and
Intelligent three-dimensional path planning algorithm module based on community in urban areas environmental model, has merged binocular CCD, 2D laser radar, ultrasound
Radar, airborne IMU and GPS etc. are a variety of to perceive detection, location navigation sensor, therefore disclosure satisfy that community in urban areas environment space
The flight of unmanned plane automatic obstacle avoiding requires, is patrolled for intelligent unmanned plane in anti-terrorism, street fighting, battlefield information detection, package delivering, electric power
Solid foundation has been laid in the extensive use such as inspection, the condition of a disaster tour, natural environment remote sensing.
Brief description of the drawings
Fig. 1 is the structural representation of four rotor automatic obstacle avoiding unmanned planes under community in urban areas environment provided in an embodiment of the present invention
Figure.
Fig. 2 is the community in urban areas mould of four rotor automatic obstacle avoiding unmanned planes under community in urban areas environment provided in an embodiment of the present invention
Type figure.
Fig. 3 is that the systemic-function of four rotor automatic obstacle avoiding unmanned planes under community in urban areas environment provided in an embodiment of the present invention is shown
It is intended to.
Fig. 4 is the control flow of four rotor automatic obstacle avoiding unmanned planes under community in urban areas environment provided in an embodiment of the present invention
Figure.
In Fig. 1, Fig. 2：
1st, right CCD camera, 2, right camera lens, 3, carbon fiber frame, 4, brushless electric machine fixed plate, 5, brushless electric machine, 6, propeller, 7,
Protective cradle, 8, right CCD kens space, 9, Laser Radar Scanning space, 10, binocular CCD fixed plates, 11, the left CCD kens it is empty
Between, 12, gps antenna, 13, left camera lens, 14, left CCD camera, 15, laser radar, 16, frame upper supporting plate, 17, digital transmission module,
18th, laser radar fixed plate, 19, supporting leg fixed plate, 20, supporting leg, 21, left 6S batteries, 22, frame lower carrier plate, 23, on-board data
Process plate, 24, lower ultrasonic radar, 25, upper ultrasonic radar, 26, fly control mainboard, 27, right 6S batteries, 28, take off platform, 29, avoidance
Unmanned plane, 30, electric pole, 31, the obstacle of building I, 32, the obstacle of building II, 33, the obstacle of building III, 34, ground, 35, avoidance I flies
Walking along the street footpath, 36, the flight path of avoidance II, 37, Landing stage, 38, the obstacle of building IV, 39, trees, 40, the obstacle of building V, 41, building
The obstacle of space VI, 42, the obstacle of building VII.
Embodiment
The embodiment of the present invention will be described in further detail below.
Four rotor automatic obstacle avoiding unmanned planes under the community in urban areas environment of the present invention, its preferable embodiment are as follows.
Four rotor automatic obstacle avoiding unmanned planes under the community in urban areas environment of the present invention, including mobile system platform, earth station are put down
Platform, data transmission link, community in urban areas environmental model and the intelligent three-dimensional path planning algorithm based on community in urban areas environmental model
Module, mobile system platform, which includes three-dimensional environment sensing module, UAV Flight Control module, unmanned plane mechano-electronic component, puts down
Platform, earth station's console module include earth station's computer, ground station software, Digiplex, and data transmission link includes wireless
Data transmission unit and wireless image transmission unit.
Three-dimensional environment sensing module includes binocular CCD vision modules, Laser Radar Scanning module, ultrasonic radar module, machine
Carry IMU modules and GPS module, binocular CCD vision modules are provided with left CCD camera 14 and left camera lens 13 and right CCD camera 1 and right mirror
First 2, binocular CCD vision modules are connected by binocular CCD fixed plates 10 with frame upper supporting plate 16, binocular CCD fixed plates 10 and machine
The 16 parallel fixation of frame upper supporting plate, is horizontally mounted, and left CCD camera 1 and right CCD camera 1 keep that distance is fixedly mounted.
Laser Radar Scanning module includes laser radar 15 and laser radar fixed plate 18, and laser radar 15 passes through laser thunder
It is connected up to fixed plate 18 with frame upper supporting plate 16, laser radar fixed plate 18 is fixed on the geometric center position of frame upper supporting plate 16,
Right angle setting, laser radar 15 are fixed with binocular CCD vision module relative geometry positions, the Laser Radar Scanning of laser radar 15
Space 9 forms the fixation of three dimensions perception with the left CCD kens space 11 of binocular CCD vision modules and right CCD kens space 8
Geometry site on frame upper supporting plate 16.
Ultrasonic radar module includes upper ultrasonic radar 25 and lower ultrasonic radar 24, upper ultrasonic radar 25 be connected through a screw thread
Be fixed on frame upper supporting plate 16, to surface send radar pulse, lower ultrasonic radar 24 be connected through a screw thread the machine of being fixed on
On frame lower carrier plate 22, radar pulse is sent to underface, is communicated by UART with on-board data process plate.
Airborne IMU modules, which are fixed on, to fly on control mainboard 26, including three axis accelerometer, three axis accelerometer, three axle magnetometer, height
Degree meter, GPS module includes GPS location circuit plate and gps antenna 12 is formed, and gps antenna 12 is fixed on the frame of avoidance unmanned plane
The tail centre position of upper supporting plate 16.
UAV Flight Control module includes flying control mainboard 26, and flying control mainboard 26 includes flying control master chip, brushless electric machine electricity
Sub- speed regulator, driver, brushless electric machine electronic speed regulator and driver, fly to control master chip and be welded to jointly to fly on control mainboard 26,
It ensure that the compact of flight control system, low-power consumption.
Unmanned plane mechano-electronic component platform, which includes mechanical structure unit and flying power unit, mechanical structure unit, to be included
Carbon fiber frame 3, propeller 6, frame upper supporting plate 16, frame lower carrier plate 22, supporting leg 20, protective cradle 7, carbon fiber frame 3 are adopted
It is distributed with carbon fiber square tube cruciform symmetry, frame upper supporting plate 16 and frame lower carrier plate 22 is fixed in by plastic bolt connection
Centre, propeller 6 are connected through a screw thread the output shaft end for being fixed on brushless electric machine 5, and supporting leg 20 is connected by supporting leg fixed plate 19
To the bottom of carbon fiber frame 3, protective cradle 7 is fixed on the end of carbon fiber frame 3 using T-shaped, and flying power unit includes
Power module, left 6S batteries 21, right 6S batteries 27 and four brushless electric machines 5,6S battery backspin motor bottoms, are consolidated by bandage
Tightly, four brushless electric machine cross distributions and carbon fiber Frame end, carbon fiber frame 3 is fixed to by brushless electric machine fixed plate 4
Square tube end.
Community in urban areas environmental model is that the unmanned plane ideal automatic obstacle avoiding obtained after the simplification of true community in urban areas environment flies
Row model, including the obstacle 31 of building I, the obstacle 32 of building II, the obstacle 33 of building III, the obstacle 38 of building IV, the obstacle 40 of building V, building
The obstacle 41 of space VI, the obstacle 42 of building VII, trees 39, electric pole 30, landing 37, the platform 28 that takes off, ground 34；Ground level without rise
Volt, intelligent three-dimensional path planning algorithm module is based on the intelligent three-dimensional path planning side under above-mentioned community in urban areas environmental model
Method, including multi-sensor information fusion module, three-dimensional path planning module, multi-sensor information fusion module include three-dimensional environment
Avoidance no-manned plane three-dimensional environmental data, corresponding Multi-Sensor Data Fusion algorithm and the on-board data processing that sensing module is gathered
Plate, on-board data process plate include quick processing computer and sensor input, and the operation of on-board data process plate is based on embedding
Enter formula linux system, ccd sensor handles board communications by TCP/IP and on-board data, and laser radar passes through USB and airborne control
Making sheet communicates, and flies control mainboard and handles board communications by DMA and on-board data, on-board data process plate is fixed on avoidance unmanned plane machine
On frame lower carrier plate.
Three-dimensional path planning module is to pass through intelligence three based on multi-sensor information fusion module and on-board data process plate
Dimension path planning algorithm real-time online calculates the safe and efficient three-dimensional flight of unmanned plane automatic obstacle avoiding under the environment of community in urban areas
Path.
The invention has the advantages that and innovation：Asked for the no-manned plane three-dimensional automatic obstacle avoiding under the building environment of community in urban areas
Topic, the model of true urban cells courtyard is established, being proposed based on avoidance unmanned plane physical constraint condition and cost evaluation should
The method that avoidance flight path optimizing under the building environment of community in urban areas is carried out with intelligence computation, design and Implement and be based on binocular vision
Feel four rotor avoidance unmanned aerial vehicle platforms of real-time online processing airborne with laser radar data；Utilize multi-sensor data fusion skill
Art, the environment sensings such as binocular vision, 2D Laser Radar Scannings, ultrasonic radar and Detection Techniques are combined, are applied to
The reality of more rotor automatic obstacle avoiding unmanned planes flies in control environment, in combination with Navigation Control lists such as unmanned aerial vehicle onboard IMU and GPS
Member, many senses information mix together technology is extended in three-dimensional environment multi-rotor unmanned aerial vehicle from conventional two-dimensional environmental applications, for not
Unmanned plane automatic obstacle avoiding research in the indoor and outdoor come, the different scale environment space such as city field lays the foundation.
Specific embodiment is as follows.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, four rotor automatic obstacle avoiding unmanned planes are directed to community in urban areas under the environment of community in urban areas
Building environmental model has merged a variety of perceive such as binocular CCD and 2D laser radar, ultrasonic radar, airborne IMU and GPS and has detected, be fixed
Position navigation sensor, by the no-manned plane three-dimensional obstacle-avoiding route planning method based on intelligence computation, design and Implement based on double
Visually feel four rotor avoidance unmanned aerial vehicle platforms of real-time online processing airborne with laser radar data, disclosure satisfy that community in urban areas ring
The unmanned plane automatic obstacle avoiding flight in border space requires that whole automatic obstacle avoiding process includes three-dimensional environment perception, multi-sensor information
Fusion, three-dimensional path planning, three-dimensional track tracking autonomous control.Below by taking the Obstacle avoidance model under the environment of Fig. 2 communities in urban areas as an example,
Illustrate whole avoidance process.
Automatic obstacle avoiding unmanned plane realize multitask, real-time environment sensing, environment construction, avoidance planning it is airborne from
Main flying platform.Using embedded OSs of the open source operating system Linux as the rotor wing unmanned aerial vehicle system of automatic obstacle avoiding four.
Whole process has two parts composition, one is flying to complete in control device ARM, it is main to complete IMU data acquisitions, outdoor GPS location
Information gathering and wireless data transmission, and the rotating speed of four brushless electric machines of four axle rotor wing unmanned aerial vehicles is controlled.The second is machine
The multi-typed information system plate of load（ATOM plates）Upper progress, it is main to complete binocular vision IMAQ, processing, measurement, three-dimensional reconstruction, swash
The real-time collections of optical radar data and storage, the environmental modeling of radar data, and image merge with radar information, ultrasonic radar
Data sampling and processing.The main control MCU of two pieces of control panels realizes being quickly shared and transmitting for data by DMA, due to ATOM
Plate has 4G internal memories and 128G solid state memory spaces, is computed disclosure satisfy that the needs for calculating space, while ATOM plates use 4 cores
1.9GHz CPU, it is thus possible to ensure the real-time calculated.
In the system, environment sensing part carries out two CCD of binocular vision IMAQ, network transmission to ATOM master
Plate, complete stereoscopic vision data processing；The collection of 2D laser scanning datas passes through USB data transmission to ATOM mainboards, into caching
Wait post-processing.The data acquisition of upper ultrasonic radar and lower ultrasonic radar, it is soft that the progress of ATOM plates is transferred to by serial data
Part processing.Then the measurement of binocular stereo vision data is carried out, includes filtering, by the various processing routines of image before measurement
Weighing apparatusization etc., while calibrating procedure is applied in actual process of measurement, matched, ultimately produce the position letter of three dimensions
Breath.Pass through 2D Laser Radar Scanning data simultaneously（Moved along unmanned plane vertical direction）, each layer data storage collected is arrived
In computer, three-dimensional data matrix is formed, extracts border key point, is matched with three-dimensional environment measurement data with merging, it is final common
It is same to construct three dimensional environmental model.Three dimensional environmental model is partially completed in environment construction and flight path planning, when model provides
After the distribution of the point cloud of three-dimensional environment point cloud chart and barrier, optimal safety path search is carried out by genetic algorithm and calculated, is provided
Optimal path.Mission Control Center is the control centre of whole system software, dominates whole system environment construction, path planning
With the execution of winged control.And fly control unit when completing to fly control program, unmanned plane IMU or GPS data message need to be merged, GPS exists
In-flight play a part of assisting in flying in outdoor.Flight mainly passes through IMU and binocular vision, laser radar, ultrasonic radar etc.
The information fusion of multisensor.Flight path planning is completed, while after having merged the posture position information of unmanned plane, it is real to fly control
Apply flight control program.The flight path of planning is tracked by pid control algorithm, control brushless electric machine electricity, which is adjusted, to be realized not
Rotating speed with motor controls, so as to realize pitching, rolling, driftage and the control of throttle.This and realize nothing either manually or by remote control
Man-machine flight is similar.Meanwhile by wireless data sending link procedure, by the posture position information transmission of unmanned plane to ground
Stand, and then realize LINE REAL TIME MONITORING.
The system design of external auxiliary interface is that each passage of remote control is received by way of system I/O interrupt traps
Signal, signal contain 4 regular channels（Pitching, rolling, driftage, throttle）PPM signals, and the height electricity of two mode passageways
Ordinary mail number, mode passageway signal realize the switching of manually and automatically offline mode.Flight path controls, according to current location information
With aiming spot acquisition of information adjustment amount.Gesture stability, according to adjustment amount obtained by remote-control channel information, TRAJECTORY CONTROL and currently
Flight attitude calculates final carriage adjustment amount, and exports the brushless electricity of pose adjustment amount driving and adjust, and then drives brushless electric machine
Change rotating speed.
Four rotor automatic obstacle avoiding UAV Flight Control System software flows are as shown in Figure 4 under urban environment.This software system
System is by flying-controlled box, the planning of three-dimensional flight path, remote control and earth station's software sharing.Wherein flying-controlled box is being flown in control plate
Complete, the posture, placement data acquisition and resolving of unmanned plane are mainly realized by airborne IMU and gps signal, and obtain three
Tie up flight path planning algorithm and calculate the flight path obtained, Dui Qi No. tetra- brushless electric machines are controlled so as to track flight road
Footpath.And three-dimensional flight path planning software is in on-board data processing unit（That is ATOM）Completed on plate, mainly including binocular
The IMAQ of vision, processing, demarcation, matching, measurement, real-time collection, the processing of laser radar data, the data of ultrasonic radar
Collection, processing, and the blending algorithm realization of more middle sensing datas, the final metrical information for obtaining three-dimensional space position, structure
Three dimensional environmental space is built, the search of optimal flight paths is realized using intelligence computation method, provides optimal flight paths, is completed
Path data is sent to the ARM processing units of flying-controlled box, so as to complete three-dimensional flight path after optimal flight paths search
Accurate tracking, realize automatic obstacle avoiding fly.The data of earth station and remote control are by wireless data transmission simultaneously, with interrupt line
The mode of journey realizes the communication for flying control ARM with unmanned plane.
The design of flying-controlled box is since initialization, including flies control ARM initialization and flying-controlled box initialization, flies control ARM
Flying-controlled box initialization is carried out after initialization.Fly control ARM initialization and mainly realize hardware port, clock, timer and start
Electricity is adjusted, the initial confirmation of brushless electric machine.Flying-controlled box initializes the initial setting up for mainly realizing various sensor parameters, and respectively
The initial setting up of individual control parameter.This needs about 30ms or so.When receiving flying quality（Remote control, ground can be passed through
Stand, the unmanned plane during flying routing information that on-board data processing unit is sent or control instruction information）Afterwards, fly control ARM and pass through solution
The posture position information for trying to achieve unmanned plane is calculated, this takes around 250m or so.The posture position information resolved is obtained, it is necessary to pre-
Order track and be controlled rule calculating, about 3ms can be completed.Then Flight Control Law is calculated, it is therefore an objective to calculate the electricity of PWM outputs
Pressure reaches corresponding rotating speed so as to move brushless electric machine by electric transfer drive according to the value of calculating, and then realizes to different motor speeds
Control subscribes flight path to control unmanned plane to track.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (6)
1. four rotor automatic obstacle avoiding unmanned plane under the environment of community in urban areas, it is characterised in that put down including mobile system platform, earth station
Platform, data transmission link, community in urban areas environmental model and the intelligent three-dimensional path planning algorithm based on community in urban areas environmental model
Module；
Described mobile system platform includes three-dimensional environment sensing module, UAV Flight Control module, unmanned plane mechano-electronic
Component platform；
The three-dimensional environment sensing module includes binocular CCD vision modules, Laser Radar Scanning module, ultrasonic radar module, machine
Carry IMU modules and GPS module；
The Laser Radar Scanning module fixed plate is fixed on frame upper supporting plate geometric center position, right angle setting；
The ultrasonic radar module includes upper ultrasonic radar and lower ultrasonic radar；
Described unmanned plane mechano-electronic component platform includes mechanical structure unit and flying power unit；
Described community in urban areas environmental model is the unmanned plane ideal automatic obstacle avoiding obtained after the simplification of true community in urban areas environment
Flight model, including multiple building obstacles, trees, electric pole, lamp stand, the platform that takes off, Landing stage, ground level is without fluctuating；
Described three-dimensional path planning module is to pass through intelligence based on multi-sensor information fusion module and on-board data process plate
The safe and efficient three-dimensional that three-dimensional path planning algorithm real-time online calculates unmanned plane automatic obstacle avoiding under the environment of community in urban areas flies
Walking along the street footpath.
2. four rotor automatic obstacle avoiding unmanned plane under community in urban areas environment according to claim 1, it is characterised in that described double
Mesh CCD vision modules are provided with left CCD camera and left camera lens and right CCD camera and right camera lens, the binocular CCD vision modules pass through
Binocular CCD fixed plates are connected with frame upper supporting plate, binocular CCD fixed plates fixation parallel with frame upper supporting plate, are horizontally mounted,
Described left CCD camera and right CCD camera keep that distance is fixedly mounted.
3. four rotor automatic obstacle avoiding unmanned plane under community in urban areas environment according to claim 1, it is characterised in that described to swash
Optical radar scan module is fixed with described binocular CCD vision module relative geometry positions, the Laser Radar Scanning module
Laser Radar Scanning space forms three-dimensional with the left CCD kens space of described binocular CCD vision modules and right CCD kens space
The geometry site being fixed on frame upper supporting plate of spatial perception.
4. four rotor automatic obstacle avoiding unmanned plane under community in urban areas environment according to claim 1, it is characterised in that described
Upper ultrasonic radar, which is connected through a screw thread, to be fixed on frame upper supporting plate, and radar pulse, described lower ultrasonic thunder are sent to surface
It is fixed on up to being connected through a screw thread on frame lower carrier plate, sends radar pulse to underface, handled by UART and on-board data
Plate is communicated.
5. four rotor automatic obstacle avoiding unmanned plane under community in urban areas environment according to claim 1, it is characterised in that described
Mechanical structure unit includes carbon fiber frame, propeller, frame upper supporting plate, frame lower carrier plate, supporting leg, protective cradle, described carbon
Fibrous framework is distributed using carbon fiber square tube cruciform symmetry, and frame upper supporting plate and frame are fixed in by plastic bolt connection
Among lower carrier plate, described propeller is connected through a screw thread the output shaft end for being fixed on brushless electric machine, and described supporting leg passes through branch
Leg fixed plate is connected to carbon fiber support bottom, and described protective cradle is fixed on the end of carbon fiber support using T-shaped,
Described flying power unit includes power module, two pieces of 6S batteries and four brushless electric machines, 6S battery backspin motor bottoms, leads to
Bandage fastening, four brushless electric machine cross distributions and carbon fiber support end are crossed, it is fine to be fixed to carbon by brushless electric machine fixed plate
Tie up the end of the square tube of frame.
6. four rotor automatic obstacle avoiding unmanned plane under community in urban areas environment according to claim 1, it is characterised in that described
Intelligent three-dimensional path planning algorithm module is based on the intelligent three-dimensional paths planning method under above-mentioned community in urban areas environmental model, bag
Multi-sensor information fusion module, three-dimensional path planning module are included, described multi-sensor information fusion module includes three-dimensional ring
At avoidance no-manned plane three-dimensional environmental data, corresponding Multi-Sensor Data Fusion algorithm and the on-board data that border sensing module is gathered
Plate is managed, described on-board data process plate includes quick processing computer and sensor input, on-board data process plate fortune
Row is based on embedded Linux system, and ccd sensor handles board communications by TCP/IP and on-board data, and laser radar passes through USB
With airborne control board communications, fly control mainboard and board communications are handled by DMA and on-board data, on-board data process plate is fixed on avoidance
On unmanned plane frame lower carrier plate.
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