CN104656665A - Novel general obstacle avoidance module for UAV (unmanned aerial vehicle) and steps - Google Patents
Novel general obstacle avoidance module for UAV (unmanned aerial vehicle) and steps Download PDFInfo
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Abstract
The invention discloses a novel general obstacle avoidance module for a UAV (unmanned aerial vehicle). The module consists of a range sensor, an inertial sensor, a single-chip microcomputer and a wireless communication module, wherein a connecting structure is as follows: the range sensor, the inertial sensor and the wireless communication module are connected with the single-chip microcomputer respectively; the single-chip microcomputer is also connected with a UAV flight control and a remote-control receiver respectively; the range sensor is used for detecting the distance between the UAV and an obstacle; the inertial sensor is used for compensating a distance error caused by inclination of the UAV during flight; the wireless communication module is responsible for transmission of the flight state of the UAV; the single-chip microcomputer is used for processing data. The module has the benefits that the module is simple in structure, stable, reliable, higher in universality and capable of effectively preventing the UAV from colliding with the obstacle and can be mounted on various UAVs through simple setting.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, can be widely used in all kinds of unmanned plane.
Background technology
In recent years, along with the development of electronic technology, all kinds of unmanned plane emerges in an endless stream, the recoverable amount also straight line rising of unmanned plane.The various occasions such as unmanned plane is widely used in scouting, surveys, takes photo by plane, performs, line walking, have a large amount of unmanned plane users and fan in world wide.
Because the user of most of unmanned plane belongs to amateur, in the process using unmanned plane, there will be a series of safety problem, be wherein the most generally exactly that unmanned plane and barrier bump against and the unmanned plane that causes damages and threat to public lives and properties.For the amateurish player of major part, be badly in need of a set of module that can realize unmanned plane barrier avoiding function.
And currently marketed most of business flies to control and do not increase income, and sensor cannot be installed additional realize and keep away barrier by amendment source code.Increase income and fly control as APM, Pixhawk etc. are with so opening source code, hardware also leaves interface, but because code is too complicated, common fan is difficult to revise and use, even if can realize after having professional person to revise keeping away barrier, but need to remodify source code along with the upgrading of firmware, to waste time and energy and difficulty is higher.Although and better simply to fly control as relative with hardware in codes such as MWC, anonymous four axles simple, its function is limited with the interface reserved, and is difficult to the requirement meeting vast unmanned plane fan.Keep away the correlative study of barrier to unmanned plane now more, but these achievements in research do not have ubiquity, the special unmanned plane that namely can only use for developer, cannot realize modularization and commercialization.
The invention provides a set of simple unmanned plane and keep away barrier module, install and use all very simple, effectively can avoid the collision of unmanned plane and barrier, and have higher ubiquity, logical simple setting just can be arranged on all kinds of unmanned plane.
Summary of the invention
The invention provides a kind of general unmanned plane and keep away barrier module, in the middle of the flight control system being arranged on remote signal demoder and unmanned plane, judge whether unmanned plane working direction exists barrier by range sensor real-time detection: if do not detect barrier or the barrier that detects comparatively far does not constitute a threat to flight safety, keep away barrier module decoded remote signal directly can be sent to unmanned plane fly control, at this moment unmanned plane is directly by manual control.If the comparatively near also judgement of barrier detected in working direction constitutes a threat to flight safety, keep away barrier module and can automatically cut off telepilot and path between flying to control, change by the control signal of keeping away barrier module output unmanned plane, keep away barrier module and automatically can plan flight path, complete and keep away barrier.Complete to keep away and to hinder and after judging that working direction does not exist the danger that collides, keep away barrier module and can open telepilot and path between flying to control, the control of unmanned plane is given back user.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of novel unmanned plane is general keeps away barrier module, and feature of the present invention is, by range sensor, inertial sensor (accelerometer, gyroscope), single-chip microcomputer and wireless communication module form; Its syndeton is: range sensor, inertial sensor, wireless communication module, connects single-chip microcomputer respectively, and inertial sensor is also connected with wireless communication module; Single-chip microcomputer also connects unmanned plane respectively and flies control, remote-control receiver; Wherein, range sensor is used for the distance between sensorcraft and barrier, and inertial sensor is for compensating the distance error caused because of inclination during unmanned plane during flying, and wireless communication module is responsible for the state of flight transmitting unmanned plane, single-chip microcomputer is used for the process of data, and its job step is:
Step 1: in unmanned plane during flying process, range sensor can detect the distance of preceding object thing in real time, single-chip microcomputer is by this distance of filtering algorithm correction, and then calculate the attitude angle of aircraft current time according to the value of inertial sensor, thus compensate the distance error caused because of craft inclination in flight course; And this distance is transferred to ground by wireless module;
Step 2: program can judge whether the distance of current time constitutes threat to flight safety, if structure threat, going to step 3, as do not constituted a threat to, going to step 6;
Step 3: single-chip microcomputer can cut off demoder and path between flying to control, obtains the control of unmanned plane, program can keep away barrier direction controlling unmanned plane up and down or left and right flight according to pre-set;
Step 4: when judge to have reached safe distance time, keep away barrier module and can run inner obstacle avoidance algorithm planning flight path, and control unmanned plane cut-through thing;
Step 5: after judging cut-through thing, keeps away barrier module and controls on the straight line of working direction before unmanned plane is got back to, and control is given back user, so far keep away barrier and complete;
Step 6: user continues to control unmanned plane during flying, gets back to step 1.
The present invention is arranged in the middle of the demoder of remote signal and the flight control system of unmanned plane, by processing remote signal, then by process after signal send to unmanned plane fly control, to complete the control to unmanned plane during flying.
The present invention by range sensor measure in real time flight working direction on barrier and unmanned plane between distance, and transfer data to keep away barrier module on single-chip microcomputer carry out data processing.In data handling procedure, filtering is carried out to the data sent back, to obtain the range information of current time unmanned plane and barrier more accurately.The data that inertia sensing unit measures are sent to single-chip microcomputer, by resolving the attitude angle that can obtain current time unmanned plane simultaneously.The distance of the attitude angle calculated and unmanned plane and barrier is carried out data fusion, the distance error owing to causing due to inclination during unmanned plane during flying can be compensated.Program can judge whether the distance after over-compensation comparatively accurately between unmanned plane and barrier can constitute a threat to flight safety.If judge not constitute a threat to flight safety, keeping away barrier module can not process the signal that demoder sends, and is directly sent to by signal and flies control; If keep away barrier module to judge that preceding object thing can constitute a threat to the flight safety of unmanned plane, then can cut off demoder and direct path between flying to control, thus obtain the control of unmanned plane, by getting around barrier according to the barrier mode of keeping away preset, to be bypassed and after the barrier that front does not exist barrier or front do not constitute a threat to flight safety temporarily when keeping away barrier module disturbance in judgement thing, keep away barrier module and can open demoder and path between flying to control, the control of unmanned plane is given back user.Current flying quality can be sent to the operator of unmanned plane by wireless communication module in real time, and operator can be allowed to know, and the distance of current time unmanned plane and barrier and unmanned plane are in normal flight pattern or under keeping away barrier pattern.
The invention has the beneficial effects as follows to have structure simple, stable, reliable, effectively can avoid the collision of unmanned plane and barrier, and have higher ubiquity, logical simple setting just can be arranged on all kinds of unmanned plane.
Accompanying drawing explanation
Fig. 1 is system construction drawing of the present invention.
Fig. 2 is that unmanned plane of the present invention keeps away barrier process flow diagram flow chart.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As Fig. 1, a kind of novel unmanned plane is general keeps away barrier module, and feature of the present invention is, by range sensor, inertial sensor (accelerometer, gyroscope), single-chip microcomputer and wireless communication module form; Its syndeton is: range sensor, inertial sensor, wireless communication module, connects single-chip microcomputer respectively, and inertial sensor is also connected with wireless communication module; Single-chip microcomputer also connects unmanned plane respectively and flies control, remote-control receiver; Its job step is: (as Fig. 2)
Step 1: in unmanned plane during flying process, range sensor can detect the distance of preceding object thing in real time, single-chip microcomputer is by this distance of filtering algorithm correction, and then calculate the attitude angle of aircraft current time according to the value of inertial sensor, thus compensate the distance error caused because of craft inclination in flight course; And this distance is transferred to ground by wireless module;
Step 2: program can judge whether the distance of current time constitutes threat to flight safety, if structure threat, going to step 3, as do not constituted a threat to, going to step 6;
Step 3: single-chip microcomputer can cut off demoder and path between flying to control, obtains the control of unmanned plane, program can keep away barrier direction controlling unmanned plane up and down or left and right flight according to pre-set;
Step 4: when judge to have reached safe distance time, keep away barrier module and can run inner obstacle avoidance algorithm planning flight path, and control unmanned plane cut-through thing;
Step 5: after judging cut-through thing, keeps away barrier module and controls on the straight line of working direction before unmanned plane is got back to, and control is given back user, so far keep away barrier and complete;
Step 6: user continues to control unmanned plane during flying, gets back to step 1.
The present invention is arranged in the middle of the demoder of remote signal and the flight control system of unmanned plane, by processing remote signal, then by process after signal send to unmanned plane fly control, to complete the control to unmanned plane during flying.
The present invention by range sensor measure in real time flight working direction on barrier and unmanned plane between distance, and transfer data to keep away barrier module on single-chip microcomputer carry out data processing.In data handling procedure, filtering is carried out to the data sent back, to obtain the range information of current time unmanned plane and barrier more accurately.The data that inertia sensing unit measures are sent to single-chip microcomputer, by resolving the attitude angle that can obtain current time unmanned plane simultaneously.The distance of the attitude angle calculated and unmanned plane and barrier is carried out data fusion, the distance error owing to causing due to inclination during unmanned plane during flying can be compensated.Program can judge whether the distance after over-compensation comparatively accurately between unmanned plane and barrier can constitute a threat to flight safety.If judge not constitute a threat to flight safety, keeping away barrier module can not process the signal that demoder sends, and is directly sent to by signal and flies control; If keep away barrier module to judge that preceding object thing can constitute a threat to the flight safety of unmanned plane, then can cut off demoder and direct path between flying to control, thus obtain the control of unmanned plane, by getting around barrier according to the barrier mode of keeping away preset, to be bypassed and after the barrier that front does not exist barrier or front do not constitute a threat to flight safety temporarily when keeping away barrier module disturbance in judgement thing, keep away barrier module and can open demoder and path between flying to control, the control of unmanned plane is given back user.Current flying quality can be sent to the operator of unmanned plane by wireless communication module in real time, and operator can be allowed to know, and the distance of current time unmanned plane and barrier and unmanned plane are in normal flight pattern or under keeping away barrier pattern.
Claims (1)
1. novel unmanned plane is general keeps away a barrier module, it is characterized in that, by range sensor, inertial sensor, single-chip microcomputer and wireless communication module form; Its syndeton is: range sensor, inertial sensor, wireless communication module, connects single-chip microcomputer respectively; Single-chip microcomputer also connects unmanned plane respectively and flies control, remote-control receiver; Wherein, range sensor is used for the distance between sensorcraft and barrier, and inertial sensor is for compensating the distance error caused because of inclination during unmanned plane during flying, and wireless communication module is responsible for the state of flight transmitting unmanned plane, single-chip microcomputer is used for the process of data, and its job step is:
Step 1: in unmanned plane during flying process, range sensor can detect the distance of preceding object thing in real time, single-chip microcomputer is by this distance of filtering algorithm correction, and then the attitude angle of aircraft current time is calculated according to the value of inertial sensor, thus compensate the distance error caused because of craft inclination in flight course, and this distance is transferred to ground by wireless module;
Step 2: program can judge whether the distance of current time constitutes threat to flight safety, if structure threat, going to step 3, as do not constituted a threat to, going to step 6;
Step 3: single-chip microcomputer can cut off demoder and path between flying to control, obtains the control of unmanned plane; Program can keep away barrier direction controlling unmanned plane up and down or left and right flight according to pre-set;
Step 4: when judge to have reached safe distance time, keep away barrier module and can run inner obstacle avoidance algorithm planning flight path, and control unmanned plane cut-through thing;
Step 5: after judging cut-through thing, keeps away barrier module and controls on the straight line of working direction before unmanned plane is got back to, and control is given back user, so far keep away barrier and complete;
Step 6: user continues to control unmanned plane during flying, gets back to step 1.
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