CN103984357A - Unmanned aerial vehicle automatic obstacle avoidance flight system based on panoramic stereo imaging device - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle automatic obstacle avoidance flight system based on a panoramic stereo imaging device. The unmanned aerial vehicle automatic obstacle avoidance flight system comprises an image acquisition module, a navigation module, a central processing unit module and a flight controller module, wherein the image acquisition module is used for collecting omni-directional stereoscopic scenes through the refraction and reflection type panoramic stereo imaging device; the navigation module is used for providing geographical coordinate information; the central processing unit module is used for conducting obstacle point detection and judgment and extraction of effective flight path obstacle points on the omni-directional stereoscopic scenes obtained by the image acquisition module according to the geographical coordinate information provided by the navigation module and designing an optimal fight path; the flight controller module is used for controlling an execution mechanism module on an unmanned aerial vehicle to conduct corresponding flight actions in real time according to the optimal fight path designed by the central processing unit module. The unmanned aerial vehicle automatic obstacle avoidance flight system based on the panoramic stereo imaging device can effectively plan the optimal fight path for the unmanned aerial vehicle in a three-dimensional environment.
Description
Technical field
The present invention relates to the autonomous control field of unmanned plane, relate in particular to a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device.
Background technology
During unmanned plane during flying, in order to reach the functions such as the detecting of expection avoiding obstacles, need to carry out Study on Trend and threat assessment to flight environment of vehicle, plan a rational flight path path, then allow miniature rotary wind type unmanned plane by the flight path path flight of this appointment or fly through interested place, to complete given task.And miniature rotary wind type unmanned plane will complete predetermined task, only the flight path path flight along planning could realize.The in the situation that of given miniature rotary wind type UAV Flight Control structure, need to carry out accurate mathematical modeling and planning control to the motion state of miniature rotary wind type unmanned plane and flight path.The unmanned plane Path Planning Technique of two dimensional surface has been obtained great successes and application widely at present, does not also have a kind of good system can in three-dimensional environment, effectively plan optimal trajectory path.
Summary of the invention
The present invention In view of the foregoing makes, and its objective is a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device is provided, can in three-dimensional environment, be unmanned plane planning optimal trajectory path effectively.
The invention provides a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device, comprising:
Image capture module, adopts refraction-reflection full-view stereo imaging device to carry out the collection of omnibearing stereo scene.
Navigation module, for providing geographic coordinate information.
CPU module, the omnibearing stereo scene that the geographic coordinate information providing according to navigation module is obtained image capture module is carried out judgement and the extraction of barrier point detection and aerial flight path barrier point, and devise optimum flight path path.
Flight controller module, the actuator module of controlling in real time on unmanned plane according to the optimal trajectory routing information of described CPU module design is carried out corresponding flare maneuver.
Wherein, described CPU module devise optimum flight path path comprises:
Step S1, sets up safe flight radius according to unmanned plane physical dimension, and computing formula is:
Wherein, safe flight radius R is rotor wing unmanned aerial vehicle by the distance that moves to hovering and fly, the maximal rate that v is unmanned plane during flying, the acceleration of a for drawing by airscrew thrust.
Step S2, the scene stereo-picture obtaining according to navigation module and image capture module carries out identification and barrier point geographic position and the extraction of depth information of barrier point.
Step S3, according to the geometric relationship between the direction of motion of unmanned plane and circumstances not known barrier point, between circumstances not known barrier point and unmanned plane spheroid, carries out non-effective path data unruly-value rejecting corresponding to invalid barrier point in working direction.
Step S4, devise optimum flight path path.
Further, described devise optimum flight path path comprises:
When detecting the first barrier point, and while only having a barrier point, distance and unmanned plane safe flight radius by the first barrier point to current unmanned aerial vehicle flight path compare, if the former is less, centered by the first barrier point, the safe flight radius of take is done and be take the tangent line that the tangent line that unmanned plane is initial point and the target of take be initial point on the circle that radius forms, get two tangent line middle distances shorter be the optimal trajectory path after upgrading.
Further, described devise optimum flight path path also comprises:
After changing flight path, again detect the second barrier point, and now described the first barrier point still has impact to flight path, or while detecting two barrier points simultaneously, first judge whether the second barrier point has threat to existing flight path, whether is it is greater than safe flight radius to the vertical range of flight path, if distance is less than safe flight radius, and two barrier points are at the homonymy of existing flight path, by the method for described calculating tangent distance, calculate and revise optimal trajectory path, if two barrier points are at the heteropleural of existing flight path, judge whether two distances between barrier point are greater than the twice of safe flight radius, when distance between two barrier points is more than or equal to the twice of unmanned plane safe flight radius, revise optimal trajectory path for to pass through between two barrier points, when distance between two barrier points is less than the twice of unmanned plane safe flight radius, revising optimal trajectory path is the outside of walking around the second barrier point.
Further, described devise optimum flight path path also comprises:
When detect more than three or three barrier point time, according to the coordinate of the control model of unmanned plane and each barrier point, build and take the three dimensions that unmanned plane center of gravity is initial point, calculate all barrier points space length between any two, reject in the region that space length is less than to safe flight radius twice, and take unmanned plane current location as starting point, according to dimensionality reduction reflection method, in remaining region, calculate and select optimal trajectory path.
Preferably, described system also comprises data-carrier store module, for storing real-time scene and the barrier point information of obtaining.
Preferably, described system also comprises power module, is described system power supply.
Preferably, described system also comprises communication module, by radio communication, real-time scene and barrier point information is sent to ground based terminal, for showing real-time scene and flight path information.
Preferably, described CPU module and flight control module are AT91SAM9G45 processor, and described data memory module is the SD card device being carried on unmanned plane.
Preferably, described unmanned plane is miniature four rotary wind type unmanned planes.
The present invention can be unmanned plane planning optimal trajectory path effectively in three-dimensional environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device of the present invention;
Fig. 2 is the flow processing schematic diagram of devise optimum flight path Path Method of the present invention;
Fig. 3 is the schematic diagram of calculating unmanned plane safe flight radius of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention more cheer and bright, below in conjunction with embodiment and with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these descriptions are exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, omitted the description to known configurations and technology, to avoid unnecessarily obscuring concept of the present invention.
The invention provides a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device, can be unmanned plane planning optimal trajectory path effectively in three-dimensional environment.
As shown in Figure 1, a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device, comprising:
Image capture module 1, adopts refraction-reflection full-view stereo imaging device to carry out the collection of omnibearing stereo scene.
Navigation module 2, for providing geographic coordinate information.
CPU module 3, the omnibearing stereo scene that the geographic coordinate information providing according to navigation module 2 is obtained image capture module is carried out judgement and the extraction of barrier point detection and aerial flight path barrier point, and devise optimum flight path path.
Flight controller module 4, the actuator module 5 of controlling in real time on unmanned plane according to the optimal trajectory routing information of CPU module 3 designs is carried out corresponding flare maneuver.
Power module 6 is system power supply.
Data-carrier store module 7, for storing real-time scene and the barrier point information of obtaining.
Communication module 8, is sent to real-time scene and barrier point information by radio communication the ground communication module 9 of ground based terminal, and on ground display module 10, shows real-time scene and flight path information.
CPU module 3 and flight control module 5 are AT91SAM9G45 processor, and data memory module 4 is for being carried in the SD card device on unmanned plane.
Unmanned plane is miniature four rotary wind type unmanned planes.
As Fig. 2, shown in Fig. 3, CPU module devise optimum flight path path comprises:
Step S1, sets up safe flight radius according to unmanned plane physical dimension.Computing formula is:
Wherein, safe flight radius R is rotor wing unmanned aerial vehicle by the distance that moves to hovering and fly, the maximal rate that v is unmanned plane during flying, the acceleration of a for drawing by airscrew thrust.
Step S2, the scene stereo-picture obtaining according to navigation module and image capture module carries out identification and barrier point geographic position and the extraction of depth information of barrier point.
Step S3, according to the geometric relationship between the direction of motion of unmanned plane and circumstances not known barrier point, between circumstances not known barrier point and unmanned plane spheroid, carries out non-effective path data unruly-value rejecting corresponding to invalid barrier point in working direction.
Step S4, devise optimum flight path path.
Further, described devise optimum flight path path comprises:
When detecting the first barrier point, and while only having a barrier point, distance and unmanned plane safe flight radius by the first barrier point to current unmanned aerial vehicle flight path compare, if the former is less, centered by the first barrier point, the safe flight radius of take is done and be take the tangent line that the tangent line that unmanned plane is initial point and the target of take be initial point on the circle that radius forms, get two tangent line middle distances shorter be the optimal trajectory path after upgrading.
Further, described devise optimum flight path path also comprises:
After changing flight path, again detect the second barrier point, and now described the first barrier point still has impact to flight path, or while detecting two barrier points simultaneously, first judge whether the second barrier point has threat to existing flight path, whether is it is greater than safe flight radius to the vertical range of flight path, if distance is less than safe flight radius, and two barrier points are at the homonymy of existing flight path, by the method for described calculating tangent distance, calculate and revise optimal trajectory path, if two barrier points are at the heteropleural of existing flight path, judge whether two distances between barrier point are greater than the twice of safe flight radius, when distance between two barrier points is more than or equal to the twice of unmanned plane safe flight radius, revise optimal trajectory path for to pass through between two barrier points, when distance between two barrier points is less than the twice of unmanned plane safe flight radius, revising optimal trajectory path is the outside of walking around the second barrier point.
Further, described devise optimum flight path path also comprises:
When detect more than three or three barrier point time, according to the coordinate of the control model of unmanned plane and each barrier point, build and take the three dimensions that unmanned plane center of gravity is initial point, calculate all barrier points space length between any two, reject in the region that space length is less than to safe flight radius twice, and take unmanned plane current location as starting point, according to dimensionality reduction reflection method, three dimensions path planning problem is converted into two dimensional surface path planning, calculate every paths required separation distance, according to minimax principle, select optimal trajectory path.
Should be understood that, above-mentioned embodiment of the present invention is only for exemplary illustration or explain principle of the present invention, and is not construed as limiting the invention.Therefore any modification of, making, be equal to replacement, improvement etc., within protection scope of the present invention all should be included in without departing from the spirit and scope of the present invention in the situation that.In addition, claims of the present invention are intended to contain whole variations and the modification in the equivalents that falls into claims scope and border or this scope and border.
Claims (10)
1. the unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device, is characterized in that, comprising:
Image capture module, adopts refraction-reflection full-view stereo imaging device to carry out the collection of omnibearing stereo scene;
Navigation module, for providing geographic coordinate information;
CPU module, the omnibearing stereo scene that the geographic coordinate information providing according to navigation module is obtained image capture module is carried out judgement and the extraction of barrier point detection and aerial flight path barrier point, and devise optimum flight path path;
Flight controller module, the actuator module of controlling in real time on unmanned plane according to the optimal trajectory routing information of described CPU module design is carried out corresponding flare maneuver.
2. system according to claim 1, is characterized in that, described CPU module devise optimum flight path path comprises:
Step S1, sets up safe flight radius according to unmanned plane physical dimension, and computing formula is:
Wherein, safe flight radius R is rotor wing unmanned aerial vehicle by the distance that moves to hovering and fly, the maximal rate that v is unmanned plane during flying, the acceleration of a for drawing by airscrew thrust;
Step S2, the scene stereo-picture obtaining according to navigation module and image capture module carries out identification and barrier point geographic position and the extraction of depth information of barrier point;
Step S3, according to the geometric relationship between the direction of motion of unmanned plane and circumstances not known barrier point, between circumstances not known barrier point and unmanned plane spheroid, carries out non-effective path data unruly-value rejecting corresponding to invalid barrier point in working direction;
Step S4, devise optimum flight path path.
3. system according to claim 2, is characterized in that, in step S4, described devise optimum flight path path comprises:
When detecting the first barrier point, and while only having a barrier point, distance and unmanned plane safe flight radius by the first barrier point to current unmanned aerial vehicle flight path compare, if the former is less, centered by the first barrier point, the safe flight radius of take is done and be take the tangent line that the tangent line that unmanned plane is initial point and the target of take be initial point on the circle that radius forms, get two tangent line middle distances shorter be the optimal trajectory path after upgrading.
4. system according to claim 3, is characterized in that, in step S4, described devise optimum flight path path also comprises:
After changing flight path, again detect the second barrier point, and now described the first barrier point still has impact to flight path, or while detecting two barrier points simultaneously, first judge whether the second barrier point has threat to existing flight path, whether is it is greater than safe flight radius to the vertical range of flight path, if distance is less than safe flight radius, and two barrier points are at the homonymy of existing flight path, by the method for described calculating tangent distance, calculate and revise optimal trajectory path, if two barrier points are at the heteropleural of existing flight path, judge whether two distances between barrier point are greater than the twice of safe flight radius, when distance between two barrier points is more than or equal to the twice of unmanned plane safe flight radius, revise optimal trajectory path for to pass through between two barrier points, when distance between two barrier points is less than the twice of unmanned plane safe flight radius, revising optimal trajectory path is the outside of walking around the second barrier point.
5. system according to claim 4, is characterized in that, in step S4, described devise optimum flight path path also comprises:
When detect more than three or three barrier point time, according to the coordinate of the control model of unmanned plane and each barrier point, build and take the three dimensions that unmanned plane center of gravity is initial point, calculate all barrier points space length between any two, reject in the region that space length is less than to safe flight radius twice, and take unmanned plane current location as starting point, according to dimensionality reduction reflection method, in remaining region, calculate and select optimal trajectory path.
6. according to the system described in claim 1 to 5 any one, it is characterized in that, described system also comprises data-carrier store module, for storing real-time scene and the barrier point information of obtaining.
7. according to the system described in claim 1 to 5 any one, it is characterized in that, described system also comprises power module, is described system power supply.
8. according to the system described in claim 1 to 5 any one, it is characterized in that, described system also comprises communication module, by radio communication, real-time scene and barrier point information is sent to ground based terminal, for showing real-time scene and flight path information.
9. according to the system described in claim 1 to 5 any one, it is characterized in that, described CPU module and flight control module are AT91SAM9G45 processor, and described data memory module is the SD card device being carried on unmanned plane.
10. according to the system described in claim 1 to 5 any one, it is characterized in that, described unmanned plane is miniature four rotary wind type unmanned planes.
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