CN103778523B - Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof - Google Patents
Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof Download PDFInfo
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- CN103778523B CN103778523B CN201410008988.6A CN201410008988A CN103778523B CN 103778523 B CN103778523 B CN 103778523B CN 201410008988 A CN201410008988 A CN 201410008988A CN 103778523 B CN103778523 B CN 103778523B
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a vertical take-off and landing unmanned aerial vehicle applied to logistics. The unmanned aerial vehicle comprises a vehicle body with a rotor. Cameras which point to the lower front of the unmanned aerial vehicle are respectively arranged at the front left part and the front right part of the vehicle body. The spacing between two cameras is a constant value, and the light axes are parallel. Strong light sources of light signals which can be modulated and are provided for the cameras and a consignee are matched. A photoelectric sensor is arranged in front of the vehicle body. Distance sensors are arranged above, below and around the vehicle body. The unmanned aerial vehicle and a server carry out wireless communication through a mobile communication network. According to the invention, a precise positioning and obstacle avoidance method of the unmanned aerial vehicle is provided, is especially suitable for the vertical take-off and landing unmanned aerial vehicle, can carry out autonomous obstacle avoidance, and has the advantage of accurate and safe operation.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, specially a kind of VUAV for logistics and its accurate fixed
Position and barrier-avoiding method.
Background technology
In part remote districts, the income that express mail brings is difficult to floating network construction, maintains consumed fund, and this is mesh
What front logistics was known together in the industry.And adopt " unmanned plane " to carry out transport and can effectively improve dispensing efficiency, reduce manpower, transport power into
This, especially VTOL（VTOL, Vertical Take-Off and Landing）Unmanned plane can be met towards addressee to be used
The express delivery deliveries at family and the actual demand of the logistics business towards small-sized express mail Distribution Center.Therefore by VUAV
It is applied to the good developing direction that logistics distribution is logistics.
Generally, carrying out logistics business using VTOL VUAVs has an insoluble problem, i.e.,：Complicated ring
Logistics unmanned plane and the orientation problem and avoidance problem received between object under border.Unmanned plane transport express mail ideal situation should be by
Express mail is sent into and is received in object handss by unmanned plane, and the positioning precision that this process needs is at least in decimetre rank.And satellite fix
Precision is then generally unable to reach this requirement：Terminal cost increase hundreds times can be caused using differential position system, and due to positioning
Signaling reflex, in built-up city, it is impossible to ensure locating effect；Positioning precision can be caused using conventional satellite fix
It is not enough（Perfect condition is usually 2m precision）, in the more place of high building, as satellite-signal is reflected by high building, positioning precision meeting
Further decline.Case above is limited to, in order to ensure the safety of unmanned plane logistics business, its goods throws in place can only be
Certain opening, and cannot perform sign for operation, it is impossible to solve the problems, such as " last ten meters " of unmanned plane logistics, increased receipts
The difficulty of receiving of goods object, so as to the practicality for causing logistics unmanned plane is had a greatly reduced quality.Further, since the position of consignee is not
Fixed, local environment is also had nothing in common with each other, so in this complete logistics progress also needing to be accurately positioned consignee
And the barrier near avoiding, and the requirement is unable to reach using satellite fix.
The content of the invention
It is an object of the invention to overcome above-mentioned deficiency, there is provided a kind of unmanned plane for logistics is accurately positioned and avoidance
Method, the method can be used for VTOL（VTOL）Logistics unmanned plane.
To realize above-mentioned technical purpose, the scheme that the present invention is provided is：A kind of VUAV, including with rotor
Fuselage, the left front portion of the fuselage and right front portion are respectively equipped with points to photographic head on the lower side in front of unmanned plane, between two photographic head
Away from for definite value and optical axis is parallel, the intense light source of the modulated optical signal that photographic head is equipped with consignee is engaged；The fuselage
Front arranges photoelectric sensor；The upper and lower and surrounding of the fuselage arranges range sensor；Unmanned plane is with server by movement
Communication network carries out radio communication.
The present invention also provides a kind of being accurately positioned and barrier-avoiding method for above-mentioned VUAV, including following step
Suddenly.
Step one, server obtain place of receipt coordinate, obtain target spatial domain coordinate and directioin parameter according to this coordinate, make
In the visual line of sight of place of receipt, direction highly necessarily be greater than periphery and build essentially toward place of receipt the parameter correspondence position
Build thing height.
Step 2, server add target spatial domain coordinate and directioin parameter to the list of unmanned plane task scheduling and make nobody
Machine performs aerial mission.
Step 3, unmanned plane have reached target spatial domain to server report after flying to correspondence spatial domain coordinate, and start search
Optical signal, starts simultaneously at timing, if kinds of goods be identified sign for before timing beyond preset value, skip to step 12.
Step 4, server receive informed by network service after unmanned plane reaches the report of target spatial domain coordinate receive it is right
As.
Step 5, object of receiving constantly irradiate aerial unmanned plane using modulated optical signal, and the optical signal includes receiving
Square identity information, manifest information and check information, and can take the circumstances into consideration to be encrypted signal.
Step 6, unmanned plane sense luminous point using two photographic head, persistently search for if luminous point is not searched；If search
To luminous point then according to each luminous point for searching each camera picture position calculation luminous point relative to the horizontal of photographic head
And regulation of longitudinal angle, go out effective highlighted quantity further according to the distance computation of two photographic head and each effectively high bright spot is taken the photograph with each
As distance and the direction of head.
Step 7, according to gained information, the photographic head angle of depression and photographic head and photoelectric sensor relative position in previous step
Information, unmanned plane obtain bearing data of each luminous point relative to photoelectric sensor, control photoelectric sensing according to this bearing data
The pitching of device and steering spindle make photoelectric sensor point to aiming pip, and carry out Information Authentication to aiming pip, if being proved to be successful
Then this luminous point is kept following the trail of, Information Authentication is carried out to next luminous point if authentication failed.
Luminous point after being proved to be successful is set as impact point by step 8, unmanned plane, and sets up three shaft spaces for the impact point
Coordinate system, in the space coordinates axle perpendicular to horizontal plane, then according to gained impact point phase in step 6 and step 7
For the orientation and distance, the photographic head angle of depression, photographic head installation site and unmanned plane pitching, roll, bearing data of photographic head
Impact point and unmanned plane relative bearing can be obtained.
Step 9, according to the data obtained in previous step, unmanned plane horizontally toward points to impact point all the time, near target
Point, and safe distance is kept to try one's best with the barrier of surrounding using sidesway and rise and fall according to range-sensor data, but
Critical distance is cannot be below, if optical signal interrupts during unmanned plane is close to impact point, step 12 is skipped to.
Step 10, when unmanned plane and impact point distance be less than safe distance when, carried using the mode of acousto-optic-electric or communication
Show that object of receiving receives kinds of goods.
Step 11, object of receiving carry out electronics using optical signal or network service and sign for, and unmanned plane is confirmed to be signed for asking
After asking release kinds of goods locking, acquiring object kinds of goods of receiving, unmanned plane by photoelectric sensor perception kinds of goods it is picked after pass through
To server, network service confirms that kinds of goods are signed for successfully, server storage electronics is signed for document and made a copy for object of receiving；If signing
Receive flow process not completing, and timing is without departing from preset value then return to step four.
Step 12, unmanned plane according to range sensor away from all directions barrier to safe distance, be then lifted out
Height is extremely contour with target spatial domain coordinate, then the target spatial domain coordinate that flies to.
Step 13, complete task after, unmanned plane makes a return voyage to unmanned plane base and is safeguarded.
And, the electronics in the step 11 sign for be consignee by the intense light source of modulated optical signal to unmanned plane
Transmitting optical signal is signed for, or, consignee is signed for server by network service, server will be signed for information again and lead to
Cross mobile communications network and feed back to unmanned plane, complete electronics and sign for action.
The invention has the beneficial effects as follows：The mode of logistics transportation is carried out there is provided a kind of unmanned plane, vertical rising is especially suitable for
Drop formula unmanned plane, energy automatic obstacle avoiding, its operation precise and safety, feasibility are high, convenient to carry out.
Description of the drawings
Fig. 1 is the structure block diagram of unmanned plane in the present invention.
Fig. 2 is the operating diagram of photographic head in the present invention.
Fig. 3 is method of the present invention flow chart.
Specific embodiment
With reference to embodiment, the invention will be further described.
A kind of VUAV that the present embodiment is provided, as depicted in figs. 1 and 2, including the fuselage with rotor, institute
The left front portion and right front portion for stating fuselage is respectively equipped with and points to photographic head on the lower side in front of unmanned plane, the optical axis of two photographic head it is parallel and
Spacing is definite value；The front of the fuselage arranges photoelectric sensor；The upper and lower and surrounding of the fuselage arranges range sensor；Receive
Goods people is equipped with the modulated intense light source of optical signal and is engaged with the photographic head of unmanned plane；Unmanned plane passes through mobile phone signal with server
Net carries out radio communication.
The intense light source of the modulated optical signal provisioned in above-mentioned consignee, can help guide positioning and can communicate, and by force
Light source is easily obtained, for example, the smart mobile phone with flash lamp.
The present embodiment also provides a kind of being accurately positioned and barrier-avoiding method for above-mentioned VUAV, says for convenience
Bright method of the present invention step, needs to pre-suppose that following parameter：
1. assume that unmanned plane center is zero, the just front horizontal direction of unmanned plane is positive y-axis, and unmanned plane is just right
Horizontal direction is positive x-axis, is positive z-axis perpendicular to horizontal plane upwardly direction；
2. the coordinate of two photographic head is respectively when assuming that unmanned plane is in horizontality or soWith,
I.e. spacing is, pointing direction is just front downward biasRadian,；
3. when assuming that unmanned plane is in horizontality, photoelectric sensor installation site is；
4. set the real-time angle of depression of unmanned plane as, in real time right roll angle be,,；
5. assume that unmanned plane hasIndividual range sensor is evenly distributed on around which, the pointing direction of each range sensor
All represented with unit vector, vectorial array can be obtained, wherein includingIndividual unit vector, successively with each range sensor sensing side
To correspondence；
6. assume that " more remote ", " safe distance ", " critical distance " are respectively、With, wherein；
7. timer periods are assumed, time-out time is。
The present embodiment provide a kind of unmanned plane for logistics be accurately positioned and barrier-avoiding method is during application, such as
Fig. 3, specifically includes following steps.
Step 1：Server obtains place of receipt information, but can not directly allow logistics unmanned plane to fly to the place, Yi Mianyin
Satellite fix precision is deteriorated or barrier causes unmanned plane accident occur.Target spatial domain coordinate and direction ginseng are obtained according to this coordinate
Number, makes the parameter correspondence position in the visual line of sight of place of receipt, and direction highly necessarily be greater than week essentially toward place of receipt
Side depth of building.As the requirement of the parameter is more loose, parameter values are also relatively easy to arrange.The step is intended to unmanned plane and cuts
Shift to before the accurate positioning method provided using the present invention in the open unscreened environment in top, in case satellite fix is smart
Degree declines to a great extent.
Step 2：Server adds target spatial domain coordinate and directioin parameter to the list of unmanned plane task scheduling and makes nobody
Machine performs task.
Step 3：Unmanned plane has reached target spatial domain coordinate to server report after reaching correspondence spatial domain coordinate, completes head
Towards adjustment, then start searchlight signal, while timer starts timing, before unmanned plane perception kinds of goods are picked, i.e.,, then skip to step 12.
Step 4：Server receive informed by network service after unmanned plane reaches the report of target spatial domain coordinate receive it is right
As.
Step 5：Object of receiving constantly irradiates aerial unmanned plane using optical signal, includes but are not limited to receive in optical signal
Cargo interests identity information, manifest information and check information, and can take the circumstances into consideration to be encrypted signal.
Step 6：Unmanned plane senses luminous point using two photographic head, persistently searches for if high bright spot is not searched；If searching
Rope to luminous point then according to each luminous point for searching each camera picture position calculation luminous point relative to photographic head horizontal stroke
To and regulation of longitudinal angle, further according to two photographic head distance computation go out effective highlighted quantity and each effectively high bright spot and each
The distance of photographic head and direction.
It is origin that photographic head pixel coordinate is center, and to the right, upwards, positive z-axis are dead ahead to positive y-axis to positive x-axis, set up base
In the coordinate system of photographic head, the corresponding coordinate system of the photographic head of left and right two is respectivelyWith.According to photographic head producer number
According to each pixel has the corresponding transverse direction and longitudinal direction angle relative to photographic head, and setting is laterally to the right for just, setting is vertical
To the mapping function just, to there is pixel unit direction vector corresponding with pixel on the upper side（The mapping function also voluntarily can be surveyed
Take）：
,
Meet condition：
,
As photographic head can only also meet condition from front entering light：
。
The corresponding direction vector of pixel can be obtained is（It is exclusively used in stating the unit vector of directioin parameter）：
Wherein, luminous point judges simply judge there is each picture of photographic head real-time pictures by RGB threshold test pixel color
Plain colour component is：
RGB threshold values are respectively：、、。
Meet when simultaneously：
Then it is judged to the pixel of luminous point.
Qualified pixel can merge into a spot treatments, the picture included using which by light point coordinates if adjacent
The weighted mean of vegetarian refreshments coordinate, can obtain the luminous point coordinate array that left photographic head is obtained：
… …
, the luminous point coordinate array that right photographic head is obtained：
… …
。
Then light point coordinates is substituted into：
,
During left photographic head can be obtained, luminous point is relative to left photographic head position vector array：
… …
,
In right photographic head, luminous point is relative to left photographic head position vector array：
… …
。
Actual luminous point can be imaged in two photographic head in left and right respectively, and luminous point pairing in two photographic head of left and right can be obtained reality
The imaging of border luminous point, actual spot in left photographic head, the corresponding relation of imaging of the actual spot in right photographic head.In
Each element withIn each element attempt matching, it is assumed that corresponding two elements of left and right photographic head being matched are followed successively byWith, matching condition is：
And：。
Constant is set againWith, exist：
,
I.e.：
,
Have：
, can obtain actual spot and left and right two photographic head distance and direction be expressed as vector and be respectively：
With
Step 7：With unmanned plane right as positive x-axis, front is positive y-axis, and top is that positive z-axis set up the coordinate based on unmanned plane
System.By the actual spot finally obtained in step 6 respectively with left and right two photographic head position vector byWithSit
Mark system is converted intoCoordinate system, transformation equation is：
I.e.：
。
Photoelectric sensor is to a left side（It is right）The position vector of photographic head is（）, it is left（It is right）Photographic head is to reality
Luminous point based on（）Above the position vector Jing of coordinate system, transformation equation can be exchanged into and be based onThe vector of coordinate system
Value, both are added the position vector that can obtain photoelectric sensor to actual spot, and then can obtain each actual spot relative to light
The position vector of electric transducer, if gained position vector collection is combined into position vector array：
… …
Photoelectric sensor is made to point to reality successively according to the pitching of the direction controlling photoelectric sensor of vector representation and steering spindle
Border luminous point simultaneously carries out Information Authentication to luminous point, this luminous point is kept following the trail of, to next if authentication failed if being proved to be successful
Individual actual spot carries out Information Authentication, until obtaining aiming pip.
Step 8：This luminous point is set as into impact point after unmanned plane checking luminous point information success（I.e. in step 7Vector
An element in array, if which is）, set up three shaft space coordinate systems, unmanned plane center is used as coordinate system original
Point, coordinate system x, y-axis are parallel with ground level, and positive y-axis and unmanned plane dead ahead are to corresponding.WillWith unmanned plane pitching, horizontal stroke
The associative operation of roll angle degrees of data can obtain aiming pip with unmanned plane relative bearing vector（Spatial coordinate based on horizontal plane
System）, concrete grammar is rightPitching and roll coordinate transform are carried out successively（Coordinate transform order can be overturned）.Pitching becomes
Change equation：
I.e.：
With roll transformation equation：
I.e.：
,
WillPitching transformation equation is substituted into, acquired results substitute into roll transformation equation again and are just obtained。
Step 9：According in step 8（In this stepData are by continuous real-time update）, make the water of unmanned plane
Flat direction points to impact point all the time, then near impact point, and according to range-sensor data using sidesway and rise and fall come
Safe distance is kept as far as possible with the barrier of surrounding, but cannot be below critical distance.
If array, contain：
… …
,
It is corresponding in turn to the instantaneous value of the surveyed obstacle distance of each range sensor.
If unmanned plane motion-vector,,Orientation references unmanned plane moving direction is pointed to,With nothing
Man-machine mobile dynamics is related,Computational methods it is as follows：
Work as arrayMiddle all elements are all higher thanShi You：
,
Work as arrayIn there is element and be less than, and all elements are all higher thanShi You：
Work as arrayMiddle presence is less thanElement when have：
In addition, then immediately entering step 12 if optical signal interrupts during unmanned plane is close to impact point.
Step 10：When the distance of unmanned plane and impact point is less than safe distance, i.e.,, using acousto-optic-electric or logical
The mode of letter points out object reception kinds of goods of receiving.
Step 11：Object of receiving carries out electronics using optical signal or network service and signs for, and unmanned plane is confirmed signs for request
And release the locking of kinds of goods, acquiring object kinds of goods of receiving, unmanned plane perceive kinds of goods it is picked after by network service to server
Confirm that kinds of goods are signed for successfully, server storage electronics is signed for document and made a copy for object of receiving；Net can also be passed through by consignee
Network communication is signed for server, and server will be signed for information again and feed back to unmanned plane by mobile communications network, complete electricity
Son signs for action.If signing for flow process not completing, and timing being without departing from preset value then return to step 4.
Step 12：Unmanned plane according to range sensor away from all directions barrier to relatively remote, with reference in step 9
Inside have：
When：
When, have：
Otherwise have：
.Treat that unmanned plane is highly approximately equal to next target spatial domain coordinate height, then the next target spatial domain coordinate that flies to.
Step 13：After completing all tasks, unmanned plane makes a return voyage to unmanned plane base and is safeguarded.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvement or deformation can also be made, these improve or deform also should
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of VUAV is accurately positioned and barrier-avoiding method, comprises the steps：
Step one, server obtain place of receipt coordinate, obtain target spatial domain coordinate and directioin parameter according to this coordinate, make the ginseng
In the visual line of sight of place of receipt, direction highly necessarily be greater than surrounding building height towards place of receipt to number correspondence position；
Step 2, server add target spatial domain coordinate and directioin parameter to the list of unmanned plane task scheduling and make unmanned plane hold
Row aerial mission；
Step 3, unmanned plane have reached target spatial domain to server report after flying to correspondence spatial domain coordinate, and start to search for light letter
Number, start simultaneously at timing, if kinds of goods be identified sign for before timing beyond preset value, skip to step 12；
Step 4, server are received after unmanned plane reaches the report of target spatial domain coordinate and inform object of receiving by network service；
Step 5, object of receiving constantly irradiate aerial unmanned plane using modulated optical signal, and the optical signal includes recipient body
Part information, manifest information and check information；
Step 6, unmanned plane sense luminous point using two photographic head, persistently search for if luminous point is not searched；If searching light
Point then according to each luminous point for searching each camera picture position calculation luminous point relative to the horizontal and vertical of photographic head
To angle, go out effective highlighted quantity and each effective high bright spot and each photographic head further according to the distance computation of two photographic head
Distance and direction；
Step 7, each the effectively distance and directional information of high bright spot and each photographic head, photographic head is obtained according to step 6 bow
Angle and photographic head and photoelectric sensor relative position information, unmanned plane obtain direction number of each luminous point relative to photoelectric sensor
According to, controlling the pitching of photoelectric sensor and steering spindle according to this bearing data makes photoelectric sensor point to aiming pip, and to mesh
Mark luminous point carries out Information Authentication, this luminous point is kept following the trail of if being proved to be successful, next light is clicked through if authentication failed
Row information is verified；
Luminous point after being proved to be successful is set as impact point by step 8, unmanned plane, and sets up three shaft space coordinates for the impact point
System, in the space coordinates axle perpendicular to horizontal plane, then according to gained impact point in step 6 and step 7 relative to
The orientation of photographic head and distance, the photographic head angle of depression, photographic head installation site and unmanned plane pitching, roll, bearing data can be obtained
Impact point and unmanned plane relative bearing；
Step 9, according to the data obtained in previous step, unmanned plane horizontally toward points to impact point all the time, near impact point,
And safe distance is kept to try one's best with the barrier of surrounding using sidesway and rise and fall according to range-sensor data, but can not
Less than critical distance, if optical signal interrupts during unmanned plane is close to impact point, step 12 is skipped to；
Step 10, when unmanned plane and impact point distance be less than safe distance when, using the mode of acousto-optic-electric or communication point out receive
Goods object receives kinds of goods；
Step 11, object of receiving carry out electronics using optical signal or network service and sign for, and unmanned plane is confirmed after signing for request
The locking of kinds of goods is released, acquiring object kinds of goods of receiving, unmanned plane are picked rear by network by photoelectric sensor perception kinds of goods
Communicate and confirm that kinds of goods are signed for successfully to server, server storage electronics is signed for document and made a copy for object of receiving；If signing for stream
Journey is not completed, and timing is without departing from preset value then return to step four；
Step 12, unmanned plane according to range sensor away from all directions barrier to safe distance, be then lifted out height
It is extremely contour with target spatial domain coordinate, then the target spatial domain coordinate that flies to；
Step 13, complete task after, unmanned plane makes a return voyage to unmanned plane base and is safeguarded.
2. VUAV according to claim 1 is accurately positioned and barrier-avoiding method, it is characterised in that：The step
Electronics in rapid 11 is signed for, and to be consignee launch optical signal to unmanned plane by the intense light source of modulated optical signal is signed for,
Or, consignee is signed for server by network service, server will be signed for information again and be fed back by mobile communications network
To unmanned plane, complete electronics and sign for action.
3. VUAV according to claim 1 is accurately positioned and barrier-avoiding method, it is characterised in that：It is described to hang down
Straight landing unmanned plane includes that the fuselage with rotor, the left front portion of the fuselage and right front portion are respectively equipped with front of sensing unmanned plane
Photographic head on the lower side, two camera pitches are for definite value and optical axis is parallel, the modulated optical signal that photographic head is equipped with consignee
Intense light source is engaged；The front of the fuselage arranges photoelectric sensor；The upper and lower and surrounding of the fuselage arranges range sensor；
Unmanned plane carries out radio communication by mobile communications network with server.
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