CN104656665B - A kind of general avoidance module of new unmanned plane and step - Google Patents
A kind of general avoidance module of new unmanned plane and step Download PDFInfo
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- CN104656665B CN104656665B CN201510099457.7A CN201510099457A CN104656665B CN 104656665 B CN104656665 B CN 104656665B CN 201510099457 A CN201510099457 A CN 201510099457A CN 104656665 B CN104656665 B CN 104656665B
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Abstract
A kind of general avoidance module of new unmanned plane, the present invention is by range sensor, inertial sensor, single-chip microcomputer and wireless communication module composition；Its attachment structure is：Range sensor, inertial sensor, wireless communication module, connects single-chip microcomputer respectively；Single-chip microcomputer is also respectively connected with unmanned plane and flies control, remote-control receiver；Wherein, range sensor is used for the distance between sensorcraft and barrier, inertial sensor is used for range error caused by compensating inclination during because of unmanned plane during flying, and wireless communication module is responsible for transmitting the state of flight of unmanned plane, and single-chip microcomputer is used for the processing of data.The beneficial effects of the invention are as follows, it is stable, reliable with simple in construction, it is possible to prevente effectively from the collision of unmanned plane and barrier, and with higher generality, logical individual be simply provided can be just arranged on all kinds of unmanned planes.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, it can be widely used in all kinds of unmanned planes.
Background technology
In recent years, with the development of electronic technology, all kinds of unmanned planes emerge in an endless stream, and the recoverable amount of unmanned plane is also on straight line
Rise.Unmanned plane be widely used in scouting, survey, take photo by plane, performing, the various occasions such as line walking, have substantial amounts of unmanned plane in world wide
User and fan.
Because the user of most of unmanned plane belongs to amateur, occur that one is during unmanned plane is used
The safety problem of row, wherein most common is exactly that unmanned plane is damaged and to public life with unmanned plane caused by barrier collision
Order the threat of property.For most of amateurish player, urgent need is a set of can to realize the module of unmanned plane barrier avoiding function.
And currently marketed most of business flies control and not increased income, it is impossible to by changing source code and installing sensing additional
Device realizes avoidance.Increase income and fly control such as APM, Pixhawk etc. with so opening source code, interface is also left on hardware, but be due to generation
Code is excessively complicated, and common fan is difficult to change and use, even if avoidance can be realized by having after professional person's modification, but with
The upgrading of firmware needs to remodify source code, wastes time and energy and difficulty is higher.And better simply winged control such as MWC, anonymous four axle
Although code and hardware are relatively easy, its function and the interface reserved are limited, it is difficult to meet vast unmanned plane fan's
It is required that.Correlative study now to unmanned plane avoidance is more, but these achievements in research do not have generality, that is, is only used for exploitation
On the special unmanned plane that person uses, it is impossible to realize modularization and commercialization.
The present invention provides a set of simple unmanned plane avoidance module, installs and using all very simples, it is possible to prevente effectively from
The collision of unmanned plane and barrier, and with higher generality, logical individual be simply provided can just be arranged on all kinds of unmanned planes
On.
The content of the invention
The present invention provides a kind of general unmanned plane avoidance module, installed in the flight of remote signal decoder and unmanned plane
In the middle of control system, by range sensor real-time detection and judge in unmanned plane direction of advance whether there is barrier：If
Barrier is not detected or the barrier detected does not constitute a threat to flight safety farther out, and avoidance module can will be decoded distant
Control signal is transmitted directly to unmanned plane and flies control, and at this moment unmanned plane is directly by manual control.If the barrier detected in direction of advance
Hinder thing relatively near and judge to constitute a threat to flight safety, avoidance module can automatically cut off remote control and fly logical between controlling
Road, changes the control signal that unmanned plane is exported by avoidance module, and avoidance module can plan flight path automatically, complete avoidance.Complete
Avoidance simultaneously judges that direction of advance is not present after the danger that collides, and avoidance module can open remote control and fly the path between control, by nothing
Man-machine control gives back user.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of general avoidance module of new unmanned plane, feature of present invention is, by range sensor, inertial sensor（Accelerate
Degree meter, gyroscope）, single-chip microcomputer and wireless communication module composition；Its attachment structure is：Range sensor, inertial sensor, nothing
Line communication module, single-chip microcomputer is connected respectively, inertial sensor is also connected with wireless communication module；Single-chip microcomputer is also respectively connected with nobody
Machine flies control, remote-control receiver；Wherein, range sensor is used for the distance between sensorcraft and barrier, inertial sensor
Range error caused by for compensating inclination during because of unmanned plane during flying, wireless communication module is responsible for transmitting the flight of unmanned plane
State, single-chip microcomputer is used for the processing of data, and its job step is：
Step 1：During unmanned plane during flying, range sensor can detect the distance of front obstacle in real time, and single-chip microcomputer leads to
The filtering algorithm amendment distance is crossed, then the value further according to inertial sensor calculates the attitude angle at aircraft current time, so that
Compensate because craft inclination in flight course and caused by range error；And transmit the distance to ground by wireless module；
Step 2：Program can judge whether the distance at current time constitutes threat to flight safety, if structure is threatened,
3 are gone to step, does not constitute a threat to such as, goes to step 6；
Step 3：Single-chip microcomputer can cut off decoder and fly the path between control, obtain the control of unmanned plane, program can be by
According to the flight of above and below pre-set avoidance direction controlling unmanned plane or left and right；
Step 4：When judging to have reached safe distance, the obstacle avoidance algorithm planning that avoidance module can run inside flies
Walking along the street footpath, and control unmanned plane cut-through thing；
Step 5：After cut-through thing is judged, before avoidance module control unmanned plane is returned on the straight line of direction of advance,
And control is given back into user, so far avoidance is completed；
Step 6：User continues to control unmanned plane during flying, returns to step 1.
The present invention is in the middle of the decoder of remote signal and the flight control system of unmanned plane, by remote signal
Handled, then the signal after processing is sent to the winged control of unmanned plane, to complete the control to unmanned plane during flying.
The present invention measures the distance between barrier and unmanned plane in flight direction of advance by range sensor in real time,
And transfer data to the progress data processing of the single-chip microcomputer in avoidance module.The data sent back are carried out in data handling procedure
Filtering, to obtain the range information of current time more accurately unmanned plane and barrier.Inertia sensing unit is measured simultaneously
Data be sent to single-chip microcomputer, by resolve can obtain the attitude angle of current time unmanned plane.By counted attitude angle with
The distance of unmanned plane and barrier carries out data fusion, due to distance caused by inclination when can compensate due to unmanned plane during flying
Error.Program can judge whether the distance between accurate unmanned plane and barrier can be to flight safety structures after overcompensation
Into threat.If it is determined that not constituted a threat to flight safety, avoidance module will not be handled the signal that decoder is sent,
Directly send a signal to winged control；If avoidance module judges that front obstacle can constitute a threat to the flight safety of unmanned plane,
Decoder can then be cut off and fly the direct path between control, so that the control of unmanned plane is obtained, by according to set in advance
Avoidance mode gets around barrier, when avoidance module disturbance in judgement thing has been bypassed and the barrier in barrier or front is not present in front
Hinder thing temporarily flight safety is not constituted a threat to after, avoidance module can open decoder and fly control between path, by unmanned plane
Control gives back user.Current flying quality can be sent to the operator of unmanned plane in real time by wireless communication module, can
To allow operator to know, the distance and unmanned plane of current time unmanned plane and barrier are to be in normal flight pattern or keep away
Under barrier pattern.
The beneficial effects of the invention are as follows, it is stable, reliable with simple in construction, it is possible to prevente effectively from unmanned plane and barrier
Collision, and with higher generality, logical is simply provided and can just be arranged on all kinds of unmanned planes.
Brief description of the drawings
Fig. 1 is the system construction drawing of the present invention.
Fig. 2 is the unmanned plane avoidance process flow diagram flow chart of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Such as Fig. 1, a kind of new general avoidance module of unmanned plane, feature of present invention is, by range sensor, inertial sensor
（Accelerometer, gyroscope）, single-chip microcomputer and wireless communication module composition；Its attachment structure is：Range sensor, inertia sensing
Device, wireless communication module, single-chip microcomputer is connected respectively, inertial sensor is also connected with wireless communication module；Single-chip microcomputer also connects respectively
Connect unmanned plane and fly control, remote-control receiver；Its job step is：（Such as Fig. 2）
Step 1：During unmanned plane during flying, range sensor can detect the distance of front obstacle in real time, and single-chip microcomputer leads to
The filtering algorithm amendment distance is crossed, then the value further according to inertial sensor calculates the attitude angle at aircraft current time, so that
Compensate because craft inclination in flight course and caused by range error；And transmit the distance to ground by wireless module；
Step 2：Program can judge whether the distance at current time constitutes threat to flight safety, if structure is threatened,
3 are gone to step, does not constitute a threat to such as, goes to step 6；
Step 3：Single-chip microcomputer can cut off decoder and fly the path between control, obtain the control of unmanned plane, program can be by
According to the flight of above and below pre-set avoidance direction controlling unmanned plane or left and right；
Step 4：When judging to have reached safe distance, the obstacle avoidance algorithm planning that avoidance module can run inside flies
Walking along the street footpath, and control unmanned plane cut-through thing；
Step 5：After cut-through thing is judged, before avoidance module control unmanned plane is returned on the straight line of direction of advance,
And control is given back into user, so far avoidance is completed；
Step 6：User continues to control unmanned plane during flying, returns to step 1.
The present invention is in the middle of the decoder of remote signal and the flight control system of unmanned plane, by remote signal
Handled, then the signal after processing is sent to the winged control of unmanned plane, to complete the control to unmanned plane during flying.
The present invention measures the distance between barrier and unmanned plane in flight direction of advance by range sensor in real time,
And transfer data to the progress data processing of the single-chip microcomputer in avoidance module.The data sent back are carried out in data handling procedure
Filtering, to obtain the range information of current time more accurately unmanned plane and barrier.Inertia sensing unit is measured simultaneously
Data be sent to single-chip microcomputer, by resolve can obtain the attitude angle of current time unmanned plane.By counted attitude angle with
The distance of unmanned plane and barrier carries out data fusion, due to distance caused by inclination when can compensate due to unmanned plane during flying
Error.Program can judge whether the distance between accurate unmanned plane and barrier can be to flight safety structures after overcompensation
Into threat.If it is determined that not constituted a threat to flight safety, avoidance module will not be handled the signal that decoder is sent,
Directly send a signal to winged control；If avoidance module judges that front obstacle can constitute a threat to the flight safety of unmanned plane,
Decoder can then be cut off and fly the direct path between control, so that the control of unmanned plane is obtained, by according to set in advance
Avoidance mode gets around barrier, when avoidance module disturbance in judgement thing has been bypassed and the barrier in barrier or front is not present in front
Hinder thing temporarily flight safety is not constituted a threat to after, avoidance module can open decoder and fly control between path, by unmanned plane
Control gives back user.Current flying quality can be sent to the operator of unmanned plane in real time by wireless communication module, can
To allow operator to know, the distance and unmanned plane of current time unmanned plane and barrier are to be in normal flight pattern or keep away
Under barrier pattern.
Claims (1)
1. a kind of general avoidance module of new unmanned plane, it is characterized in that, by range sensor, inertial sensor, single-chip microcomputer and
Wireless communication module is constituted；Its attachment structure is：Range sensor, inertial sensor, wireless communication module, connects monolithic respectively
Machine；Single-chip microcomputer is also respectively connected with unmanned plane and flies control, remote-control receiver；Wherein, range sensor is used for sensorcraft and obstacle
The distance between thing, inertial sensor is used for range error, radio communication caused by compensating inclination during because of unmanned plane during flying
Module is responsible for transmitting the state of flight of unmanned plane, and single-chip microcomputer is used for the processing of data, and its job step is：
Step 1：During unmanned plane during flying, range sensor can detect the distance of front obstacle in real time, and single-chip microcomputer passes through filter
The ripple algorithm amendment distance, then further according to inertial sensor value calculate aircraft current time attitude angle, so as to compensate
Because of craft inclination in flight course and caused by range error, and the distance is transmitted to ground by wireless module；
Step 2：Program can judge whether the distance at current time constitutes threat to flight safety, if structure is threatened, turn step
Rapid 3, do not constitute a threat to such as, go to step 6；
Step 3：Single-chip microcomputer can cut off decoder and fly the path between control, obtain the control of unmanned plane；Program can be according to pre-
Fly above and below the avoidance direction controlling unmanned plane first set or left and right；
Step 4：When judging to have reached safe distance, avoidance module can run the obstacle avoidance algorithm planning flight road of inside
Footpath, and control unmanned plane cut-through thing；
Step 5：After cut-through thing is judged, before avoidance module control unmanned plane is returned on the straight line of direction of advance, and will
Control gives back user, and so far avoidance is completed；
Step 6：User continues to control unmanned plane during flying, returns to step 1.
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| CN201510099457.7A CN104656665B (en) | 2015-03-06 | 2015-03-06 | A kind of general avoidance module of new unmanned plane and step |
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| EP3353706A4 (en) | 2015-09-15 | 2019-05-08 | SZ DJI Technology Co., Ltd. | System and method for supporting smooth target following |
| CN105083573B (en) * | 2015-09-22 | 2018-07-13 | 西华大学 | A kind of anticollision unmanned vehicle system and its avoiding collision |
| CN107305383A (en) * | 2016-04-22 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of method of automatic obstacle-avoiding and the robot using this method |
| CN105912026A (en) * | 2016-06-15 | 2016-08-31 | 上海未来伙伴机器人有限公司 | Flying robot obstacle avoiding device and flying robot obstacle avoiding method |
| CN106054925A (en) * | 2016-07-13 | 2016-10-26 | 国网福建省电力有限公司 | Multi-matching unmanned plane autonomous obstacle avoiding system |
| CN106005406A (en) * | 2016-07-18 | 2016-10-12 | 燕山大学 | Self-obstacle-avoiding and fixed-point-tracking spherical aircraft |
| CN106092141B (en) | 2016-07-19 | 2019-03-01 | 纳恩博（常州）科技有限公司 | A kind of method and device improving relative position sensor performance |
| CN106406347B (en) * | 2016-10-28 | 2020-04-03 | 易瓦特科技股份公司 | Unmanned aerial vehicle flight control method and device |
| CN109891351B (en) * | 2016-11-15 | 2022-05-06 | 深圳市大疆创新科技有限公司 | Method and system for image-based object detection and corresponding movement adjustment manipulation |
| CN106527480A (en) * | 2016-12-02 | 2017-03-22 | 南京航空航天大学 | Multi-sensor fusion obstacle avoiding system of unmanned aerial vehicle and method |
| CN108227731B (en) * | 2016-12-15 | 2020-08-07 | 比亚迪股份有限公司 | Unmanned aerial vehicle anti-collision method and device |
| CN106843282B (en) * | 2017-03-17 | 2020-11-03 | 东南大学 | M100 development platform-based area complete search and obstacle avoidance system and method |
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