CN103984357B - Unmanned aerial vehicle automatic obstacle avoidance flight system based on panoramic stereo imaging device - Google Patents
Unmanned aerial vehicle automatic obstacle avoidance flight system based on panoramic stereo imaging device Download PDFInfo
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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 unmanned plane Autonomous Control field, more particularly, to a kind of unmanned plane based on full-view stereo imaging device
Automatic obstacle-avoiding flight system.
Background technology
During unmanned plane during flying, in order to reach the functions such as expected detecting avoiding obstacles, need flight environment of vehicle is carried out
Study on Trend and threat assessment, plan a rational flight path path, then allow the boat that miniature rotary wind type unmanned plane is specified by this
Fly or fly through place interested, to complete given task in mark path.And miniature rotary wind type unmanned plane to complete predetermined
Task, only just enables along the flight path path flight of planning.Giving miniature rotary wind type UAV Flight Control structure
In the case of, need the kinestate to miniature rotary wind type unmanned plane and flight path to carry out accurate mathematical modeling and planning control
System.The unmanned plane Path Planning Technique of two dimensional surface achieved with great successes and is widely applied at present, does not also have one kind
System can plan optimal trajectory path in three-dimensional environment effectively well.
Content of the invention
The present invention makes in view of the foregoing, its objective is to provide a kind of unmanned plane based on full-view stereo imaging device
Automatic obstacle-avoiding flight system, can plan optimal trajectory path for unmanned plane in three-dimensional environment effectively.
The present invention provides a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device, comprising:
Image capture module, carries out omnibearing stereo scene collection using refraction-reflection full-view stereo imaging device.
Navigation module, for providing geographic coordinate information.
CPU module, full side image capture module being obtained according to the geographic coordinate information that navigation module provides
Position stereo scene carries out barrier point and detects and the judgement of aerial flight path obstructions point and extraction, and designs optimal trajectory path.
Flight controller module, the optimal trajectory routing information real-time control according to the design of described CPU module is no
Actuator module on man-machine carries out corresponding flare maneuver.
Wherein, described CPU module design optimal trajectory path includes:
Step s1, sets up safe flight radius according to unmanned plane overall dimensions, and computing formula is:
Wherein, by rotor wing unmanned aerial vehicle by moving to the distance that hovering is flown, v is unmanned plane during flying to safe flight radius r
Maximal rate, a is the acceleration being drawn by airscrew thrust.
Step s2, according to the scene stereo-picture that navigation module and image capture module obtain carry out barrier point identification and
Barrier point geographical position and extraction of depth information.
Step s3, between the direction of motion according to unmanned plane and circumstances not known barrier point, circumstances not known barrier point with unmanned
Geometrical relationship between machine spheroid, carries out the corresponding non-effective path data outlier of the invalid barrier point in direction of advance and picks
Remove.
Step s4, designs optimal trajectory path.
Further, described design optimal trajectory path includes:
When detecting the first barrier point, and during only one of which barrier point, by the first barrier point to current unmanned aerial vehicle flight path
Distance be compared with unmanned plane safe flight radius, if the former is less, centered on the first barrier point, with safe flight
Tangent line with unmanned plane as initial point and the tangent line with target as initial point are done on the circle that radius is constituted for radius, takes two tangent line middle-ranges
From shorter for the optimal trajectory path after updating.
Further, described design optimal trajectory path also includes:
Detect the second barrier point again after changing flight path, and now described first barrier point still has shadow to flight path
Ring, or when being concurrently detected two barrier points, first determine whether whether the second barrier point has threat to existing flight path, that is, it arrives boat
Whether the vertical dimension of mark is more than safe flight radius, if distance is less than safe flight radius, and two barrier points are existing
There is the homonymy of flight path, then calculate and change optimal trajectory path by the described method calculating tangent distance, if two obstacles
Point in the heteropleural of existing flight path, then judges whether the distance between two barrier points are more than the twice of safe flight radius, when two
When between individual barrier point, distance is more than or equal to the twice of unmanned plane safe flight radius, modification optimal trajectory path is to hinder from two
Pass through between hindering a little, when distance is less than the twice of unmanned plane safe flight radius between two barrier points, then change optimum boat
Mark path is the outside bypassing the second barrier point.
Further, described design optimal trajectory path also includes:
When detecting the barrier point of three or more than three, the seat of the Controlling model according to unmanned plane and each barrier point
Mark builds the three dimensions with unmanned plane center of gravity as initial point, calculates all barrier points space length between any two, by space length
Reject less than the region of safe flight radius twice, and with unmanned plane current location as starting point, according to dimensionality reduction reflection method in residue
Region in calculate and select optimal trajectory path.
Preferably, described system also includes data memory module, and the real-time scene obtaining for storage and barrier point are believed
Breath.
Preferably, described system also includes power module, is described system power supply.
Preferably, described system also includes communication module, is sent real-time scene and barrier point information by radio communication
To ground based terminal, for showing real-time scene and flight path information.
Preferably, described CPU module and flight control modules are at91sam9g45 processor, and described data is deposited
Storage 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 plan optimal trajectory path for unmanned plane in three-dimensional environment effectively.
Brief description
Fig. 1 is that a kind of structure of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device of the present invention is shown
It is intended to；
Fig. 2 is the flow processing schematic diagram of the design optimal trajectory Path Method of the present invention；
Fig. 3 is the schematic diagram of the calculating unmanned plane safe flight radius of the present invention.
Specific embodiment
For making the object, technical solutions and advantages of the present invention of greater clarity, with reference to specific embodiment and join
According to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are simply exemplary, and it is not intended to limit this
Bright scope.Additionally, in the following description, eliminate the description to known features and technology, to avoid unnecessarily obscuring this
The concept of invention.
The present invention provides a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device, can be in three-dimensional
Effectively optimal trajectory path is planned for unmanned plane in 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, carries out omnibearing stereo scene collection using refraction-reflection full-view stereo imaging device.
Navigation module 2, for providing geographic coordinate information.
CPU module 3, according to navigation module 2 provide geographic coordinate information image capture module is obtained complete
Orientation stereo scene carries out barrier point and detects and the judgement of aerial flight path obstructions point and extraction, and designs optimal trajectory road
Footpath.
Flight controller module 4, unmanned according to the optimal trajectory routing information real-time control of CPU module 3 design
Actuator module 5 on machine carries out corresponding flare maneuver.
Power module 6, is system power supply.
Data memory module 7, the real-time scene obtaining for storage and barrier point information.
Communication module 8, is sent real-time scene and barrier point information to the ground communication of ground based terminal by radio communication
Module 9, and real-time scene and flight path information are shown on ground display module 10.
CPU module 3 and flight control modules 5 are at91sam9g45 processor, and data memory module 4 is to load
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 design optimal trajectory path includes:
Step s1, sets up safe flight radius according to unmanned plane overall dimensions.Computing formula is:
Wherein, by rotor wing unmanned aerial vehicle by moving to the distance that hovering is flown, v is unmanned plane during flying to safe flight radius r
Maximal rate, a is the acceleration being drawn by airscrew thrust.
Step s2, according to the scene stereo-picture that navigation module and image capture module obtain carry out barrier point identification and
Barrier point geographical position and extraction of depth information.
Step s3, between the direction of motion according to unmanned plane and circumstances not known barrier point, circumstances not known barrier point with unmanned
Geometrical relationship between machine spheroid, carries out the corresponding non-effective path data outlier of the invalid barrier point in direction of advance and picks
Remove.
Step s4, designs optimal trajectory path.
Further, described design optimal trajectory path includes:
When detecting the first barrier point, and during only one of which barrier point, by the first barrier point to current unmanned aerial vehicle flight path
Distance be compared with unmanned plane safe flight radius, if the former is less, centered on the first barrier point, with safe flight
Tangent line with unmanned plane as initial point and the tangent line with target as initial point are done on the circle that radius is constituted for radius, takes two tangent line middle-ranges
From shorter for the optimal trajectory path after updating.
Further, described design optimal trajectory path also includes:
Detect the second barrier point again after changing flight path, and now described first barrier point still has shadow to flight path
Ring, or when being concurrently detected two barrier points, first determine whether whether the second barrier point has threat to existing flight path, that is, it arrives boat
Whether the vertical dimension of mark is more than safe flight radius, if distance is less than safe flight radius, and two barrier points are existing
There is the homonymy of flight path, then calculate and change optimal trajectory path by the described method calculating tangent distance, if two obstacles
Point in the heteropleural of existing flight path, then judges whether the distance between two barrier points are more than the twice of safe flight radius, when two
When between individual barrier point, distance is more than or equal to the twice of unmanned plane safe flight radius, modification optimal trajectory path is to hinder from two
Pass through between hindering a little, when distance is less than the twice of unmanned plane safe flight radius between two barrier points, then change optimum boat
Mark path is the outside bypassing the second barrier point.
Further, described design optimal trajectory path also includes:
When detecting the barrier point of three or more than three, the seat of the Controlling model according to unmanned plane and each barrier point
Mark builds the three dimensions with unmanned plane center of gravity as initial point, calculates all barrier points space length between any two, by space length
Reject less than the region of safe flight radius twice, and with unmanned plane current location as starting point, according to dimensionality reduction reflection method by three-dimensional
Space path planning problem is converted into two dimensional surface path planning, calculates every paths required separation distance, former according to minimax
Then, select optimal trajectory path.
It should be appreciated that the above-mentioned specific embodiment of the present invention is used only for exemplary illustration or explains the present invention's
Principle, and be not construed as limiting the invention.Therefore, that is done in the case of without departing from the spirit and scope of the present invention is any
Modification, equivalent, improvement etc., should be included within the scope of the present invention.Additionally, claims purport of the present invention
Covering the whole changes falling in scope and border or the equivalents on this scope and border and repair
Change example.
Claims (6)
1. a kind of unmanned plane automatic obstacle-avoiding flight system based on full-view stereo imaging device is it is characterised in that include: image
Acquisition module, carries out omnibearing stereo scene collection using refraction-reflection full-view stereo imaging device；Navigation module, for providing
Geographic coordinate information；CPU module, obtains to image capture module according to the geographic coordinate information that navigation module provides
Omnibearing stereo scene carry out barrier point and detect and the judgement of aerial flight path obstructions point and extraction, and design optimal trajectory
Path；Flight controller module, unmanned according to the optimal trajectory routing information real-time control of described CPU module design
Actuator module on machine carries out corresponding flare maneuver；
Described CPU module design optimal trajectory path includes:
Step s1, sets up safe flight radius according to unmanned plane overall dimensions, and computing formula is: r=v2/2a
Wherein, by rotor wing unmanned aerial vehicle by moving to the distance that hovering is flown, v is for unmanned plane during flying for safe flight radius r
Big speed, a is the acceleration being drawn by airscrew thrust；
Step s2, carries out identification and the obstacle of barrier point with image capture module according to the scene stereo-picture that navigation module is obtained
Point geographical position and extraction of depth information；
Step s3, between the direction of motion according to unmanned plane and circumstances not known barrier point, circumstances not known barrier point and unmanned plane ellipse
Geometrical relationship between spheroid, carries out the corresponding non-effective path data unruly-value rejecting of invalid barrier point in direction of advance；
Step s4, designs optimal trajectory path；
In step s4, described design optimal trajectory path includes: when detecting the first barrier point, and only one of which barrier point
When, the distance of the first barrier point to current unmanned aerial vehicle flight path is compared with unmanned plane safe flight radius, if the former is less,
The circle centered on the first barrier point, being constituted with safe flight radius for radius does tangent line with unmanned plane as initial point and with
Target be initial point tangent line, take distance in two tangent lines shorter for update after optimal trajectory path；
In step s4, described design optimal trajectory path also includes: detect the second barrier point again after changing flight path, and
Now described first barrier point still has an impact to flight path, or when being concurrently detected two barrier points, first determines whether the second barrier
Hinder and a little whether have threat to existing flight path, that is, whether it arrives the vertical dimension of flight path more than safe flight radius, if apart from little
In safe flight radius, and two barrier points in the homonymy of existing flight path, then pass through the method calculating of calculating tangent distance simultaneously
Modification optimal trajectory path, if two barrier points, in the heteropleural of existing flight path, judge that the distance between two barrier points are
The no twice more than safe flight radius, between two barrier points, distance is more than or equal to the twice of unmanned plane safe flight radius
When, modification optimal trajectory path is to pass through between two barrier points, and between two barrier points, distance is less than unmanned plane safety
During the twice of flying radius, then modification optimal trajectory path is the outside bypassing the second barrier point；
In step s4, described design optimal trajectory path also includes: when detecting the barrier point of three or more than three, according to
The coordinate of the Controlling model of unmanned plane and each barrier point builds the three dimensions with unmanned plane center of gravity as initial point, calculates all barriers
Hinder a little space length between any two, the region that space length is less than safe flight radius twice is rejected, and current with unmanned plane
Position is starting point, is calculated according to dimensionality reduction reflection method and select optimal trajectory path in remaining region.
2. system according to claim 1, it is characterised in that described system also includes data memory module, is used for depositing
Real-time scene and barrier point information that storage obtains.
3. system according to claim 1, it is characterised in that described system also includes power module, is that described system supplies
Electricity.
4. system according to claim 1 is it is characterised in that described system also includes communication module, by radio communication
Real-time scene and barrier point information are sent to ground based terminal, for showing real-time scene and flight path information.
5. system according to claim 2 is it is characterised in that described CPU module and flight control modules are
At91sam9g45 processor, described data memory module is the sd card device being carried on unmanned plane.
6. system according to claim 1 is it is characterised in that described unmanned plane is miniature four rotary wind type unmanned planes.
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