CN105083573A - Unmanned aerial vehicle anti-collision system and anti-collision method thereof - Google Patents
Unmanned aerial vehicle anti-collision system and anti-collision method thereof Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle anti-collision system and an anti-collision method thereof and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle anti-collision system comprises an unmanned aerial vehicle, a central processing unit, a ground control unit, a distance measuring sensor, an inertial sensor and a wireless communication module. The wireless communication module comprises a vehicle-mounted part and a ground part. The central processing unit, the distance measuring sensor, the inertial sensor and the vehicle-mounted part of the wireless communication module are all installed on the unmanned aerial vehicle. The ground part of the wireless communication module is installed on the ground control unit. The ground control unit is connected with the unmanned aerial vehicle through the wireless communication module and controls the unmanned aerial vehicle to fly. The anti-collision unmanned aerial vehicle system aims at solving the problems that an unmanned aerial vehicle anti-collision system in the prior art is complex in structure, high in manufacturing cost and low in safety performance, and is low in manufacturing cost, simple in structure and high in safety performance.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more specifically to the crashproof unmanned vehicle system of one and avoiding collision thereof.
Background technology
Unmanned vehicle is the not manned craft utilizing radio robot to handle with the process controller provided for oneself.Unmanned vehicle performs flight orders by pre-set flight instruction or remote controller, is widely used in the fields such as monitoring, mapping, photography, relay communication.Unmanned vehicle system is generally made up of many parts such as unmanned vehicle, ground station, telecommand equipment, communication apparatus and accessory equipments.Its commercial value is huge, and it can provide good periphery visual field, can carry out advertising display, take photo by plane, the activity such as television relay and security monitoring.
There is the obstacles such as large number quipments, light fixture, furniture due to the interior space, cause unmanned vehicle flight space narrow and small; Inevitably there is the more dangerous solid obstacle such as trees, high tension cord and unpredictalbe flow obstacle such as people, vehicle in the space that outdoor unmanned vehicle flies, the security requirement that unmanned vehicle is driven is increased greatly.In remote control distributor process, manipulation personnel need to read corresponding flight attitude parameter by ground station, easily cause aircraft accident and maloperation to postpone.Therefore, a kind of unmanned vehicle system and automatic collision method thereof of automatic collision is just needed.
Such as application number is " Hedgehopping obstacle avoiding subsystem for electric line patrol unmanned helicopter " patent of 201120124969.1, the method proposing to use distance measuring sensor, vision sensor and electromagnetic field detection sensor to combine carries out power-line patrolling, promotes the reliability of walking operation.This utility model is for power-line patrolling, for employing vision sensor, in order to obtain graphicinformation clearly, need professional high resolution image equipment, not only increase the load of unmanned vehicle, and have adverse influence to the control and cruise duration etc. of unmanned vehicle; Due to the particularity of transmission line of electricity, the electromagnetic field complex around transmission line of electricity, and affect seriously by factors such as environment.
Still there is common technical matters in existing unmanned vehicle anti-collision technique:
1, existing unmanned vehicle collision avoidance system, complex structure, manufacturing cost is high;
2, existing unmanned vehicle collision avoidance system, needs well-trained technical flight person or operator, is unfavorable for popularizing;
3, existing unmanned vehicle collision avoidance system, operationally, safety is low, and is difficult to compromise between security and alerting ability, once there is accident, loses very large; Existing unmanned vehicle collision avoidance system, needs the equipment such as GPS, position fixing system to assist crashproof usually, causes its bad adaptability.
Summary of the invention
In order to overcome the defect existed in above-mentioned prior art, the invention provides a kind of crashproof unmanned vehicle system and avoiding collision thereof.The object of the invention is intended to solve unmanned vehicle collision avoidance system complex structure in prior art, manufacturing cost is high, safety performance is low problem.Low cost of manufacture of the present invention, structure are simple, safety performance is high.
In order to solve above-mentioned deficiency of the prior art, the present invention is achieved through the following technical solutions:
A kind of crashproof unmanned vehicle system, is characterized in that: comprise unmanned vehicle, central processing unit, terrestrial contr, distance measuring sensor, inertial sensor and wireless communication module; Described wireless communication module comprises airborne portion and ground segment; Described central processing unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle; Described wireless communication module ground segment is arranged on terrestrial contr; Described terrestrial contr is connected by wireless communication module and unmanned vehicle, and controls unmanned vehicle flight.
Described central processing unit comprise sensor data acquisition, with terrestrial contr data exchange, data processing central process unit, for storing the data memory of data, for the I/O interface be connected with external device.
Described terrestrial contr comprises intelligent mobile terminal, control module, I/O interface for being connected with external device.
Described distance measuring sensor, wireless communication module airborne portion and inertial sensor are connected with the I/O interface of central processing unit respectively.
Described wireless communication module ground segment is connected with the I/O interface of terrestrial contr.
The quantity of described distance measuring sensor is 6, is arranged on the top of unmanned vehicle, below, front, rear, left, right respectively.
Described system also comprises alarm unit; Described alarm unit is connected with the I/O interface of central processing unit; Described alarm unit comprises one or both the combination in annunciator and warning indicator lamp.
Described system also comprises inertial sensor, and described inertial sensor is arranged on unmanned vehicle, and is connected with the I/O interface of central processing unit.
Described unmanned vehicle comprises body, actuating device and storage battery, and actuating device is connected with the I/O interface of central processing unit.
Described actuating device comprises screw propeller, brushless motor and electricity and adjusts; Described electricity adjusts one end to be connected with brushless motor; The other end is connected with the I/O interface of central processing unit.
An avoiding collision for crashproof unmanned vehicle system, is characterized in that its step is as follows:
1), after unmanned vehicle lift-off, distance measuring sensor numerical value is read; If the numerical value of distance measuring sensor is less than or equal to safety distance threshold value on the direction that unmanned vehicle advances, enter step 2), otherwise enter step 3);
2) unmanned vehicle decelerates to speed with peak acceleration is 0 acceleration/accel of also cancelling in deceleration direction immediately, makes it be in floating state, enters step 4);
3) unmanned vehicle performs the flight directive control of terrestrial contr;
4) wait for new flight directive and return step 1).
The avoiding collision of described a kind of crashproof unmanned vehicle system, is characterized in that: described safety distance threshold value specifically refers to: unmanned vehicle in a certain direction from present speed reduce speed now that the speed that this side up is zero during this period of time in the summation of the distance of flying and surplus distance.
The avoiding collision of described a kind of crashproof unmanned vehicle system, also comprise and obtain unmanned vehicle peak acceleration step: independently control unmanned vehicle state of flight in each direction successively by terrestrial contr, it is made to reach peak acceleration, and the peak acceleration calculated in conjunction with inertial sensor by central processing unit on each direction, and be stored in data memory.
Compared with prior art, the useful technique effect that the present invention brings shows:
1, low cost of manufacture of the present invention, structure is simple, and easy to operate, safety is high, and equipment is few, is convenient for carrying and performs various flight attitude by terrestrial contr control unmanned vehicle, utilize central processing unit to realize automatic collision.
2, the present invention adopts terrestrial contr to control the flight of unmanned vehicle, and central processing unit realizes automatic collision, and the capability of reaction for emergency case is strong, requires that the reaction of operating personal is low, thus greatly strengthens its safety.
3, the present invention can use in indoor, outdoor, and without the need to GPS, the equipment such as high precision pick up camera, strong adaptability, has saved cost, decreases its weight, adds cruise duration.
4, the crashproof operation that the present invention is all, all by central processing unit for processing, does not need to carry out academic program to the driver behavior of unmanned vehicle, thus has saved the training cost of operating personal.
Accompanying drawing explanation
Fig. 1 is unmanned flight's system schematic of the present invention;
Fig. 2 is the control flow chart of the inventive method.
Detailed description of the invention
Embodiment 1
As a preferred embodiment of the present invention, with reference to Figure of description 1, present embodiment discloses:
A kind of crashproof unmanned vehicle system, comprises unmanned vehicle, central processing unit, terrestrial contr, distance measuring sensor, inertial sensor and wireless communication module; Described wireless communication module comprises airborne portion and ground segment; Described central processing unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle; Described wireless communication module ground segment is arranged on terrestrial contr; Described terrestrial contr is connected by wireless communication module and unmanned vehicle, and controls unmanned vehicle flight.
Embodiment 2
As the another preferred embodiment of the present invention, with reference to Figure of description 1, present embodiment discloses:
A kind of crashproof unmanned vehicle system, comprises unmanned vehicle, central processing unit, terrestrial contr, distance measuring sensor, inertial sensor and wireless communication module; Described wireless communication module comprises airborne portion and ground segment; Described central processing unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle; Described wireless communication module ground segment is arranged on terrestrial contr; Described terrestrial contr is connected by wireless communication module and unmanned vehicle, and controls unmanned vehicle flight.Described central processing unit comprise sensor data acquisition, with terrestrial contr data exchange, data processing central process unit, for storing the data memory of data, for the I/O interface be connected with external device.Described terrestrial contr comprises intelligent mobile terminal, control module, I/O interface for being connected with external device.Described distance measuring sensor, wireless communication module airborne portion and inertial sensor are connected with the I/O interface of central processing unit respectively.Described wireless communication module ground segment is connected with the I/O interface of terrestrial contr.The quantity of described distance measuring sensor is 6, is arranged on the top of unmanned vehicle, below, front, rear, left, right respectively.Described system also comprises alarm unit; Described alarm unit is connected with the I/O interface of central processing unit; Described alarm unit comprises one or both the combination in annunciator and warning indicator lamp.Described system also comprises inertial sensor, and described inertial sensor is arranged on unmanned vehicle, and is connected with the I/O interface of central processing unit.Described unmanned vehicle comprises body, actuating device and storage battery, and actuating device is connected with the I/O interface of central processing unit.Described actuating device comprises screw propeller, brushless motor and electricity and adjusts; Described electricity adjusts one end to be connected with brushless motor; The other end is connected with the I/O interface of central processing unit.
Embodiment 3
As the another preferred embodiment of the present invention, with reference to Figure of description 1, present embodiment discloses:
A kind of crashproof unmanned vehicle system, comprises unmanned vehicle, central processing unit, terrestrial contr, distance measuring sensor, inertial sensor and wireless communication module; Described wireless communication module comprises airborne portion and ground segment; Described central processing unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle; Described wireless communication module ground segment is arranged on terrestrial contr; Described terrestrial contr is connected by wireless communication module and unmanned vehicle, and controls unmanned vehicle flight.Described central processing unit comprise sensor data acquisition, with terrestrial contr data exchange, data processing central process unit, for storing the data memory of data, for the I/O interface be connected with external device.Described terrestrial contr comprises intelligent mobile terminal, control module, I/O interface for being connected with external device.Described distance measuring sensor, wireless communication module airborne portion and inertial sensor are connected with the I/O interface of central processing unit respectively.Described wireless communication module ground segment is connected with the I/O interface of terrestrial contr.The quantity of described distance measuring sensor is 6, is arranged on the top of unmanned vehicle, below, front, rear, left, right respectively.Described system also comprises alarm unit; Described alarm unit is connected with the I/O interface of central processing unit; Described alarm unit comprises one or both the combination in annunciator and warning indicator lamp.Described system also comprises inertial sensor, and described inertial sensor is arranged on unmanned vehicle, and is connected with the I/O interface of central processing unit.Described unmanned vehicle comprises body, actuating device and storage battery, and actuating device is connected with the I/O interface of central processing unit.Described actuating device comprises screw propeller, brushless motor and electricity and adjusts; Described electricity adjusts one end to be connected with brushless motor; The other end is connected with the I/O interface of central processing unit.Described actuating device comprises screw propeller, brushless motor and electricity and adjusts; Described electricity adjusts one end to be connected with brushless motor; The other end is connected with the I/O interface of central processing unit.
A unmanned vehicle system for automatic collision, comprising central process unit, distance measuring sensor, inertial sensor, annunciator, actuating device, wireless communication module, terrestrial contr.
Described central process unit is the core of whole hardware platform.The Typical Representative of central process unit is micro controller system, the integrated ROM/EPROM of this chip internal, RAM, bus, bus logic, Timer/Counter, house dog, I/O, serial port, pulse duration modulation output, the various necessary function such as A/D, D/A, FlashRAM, EEPROM and peripheral hardware.Data are all sent into central process unit by I/O interface by all sensors, and terrestrial contr is connected with the I/O of central process unit by radio data communication module, and control command is sent into central process unit.Central process unit is according to after these information fusion calculations.This example adopts the STM32F103ZET6 microcontroller of ST Microelectronics.
Described distance measuring sensor adopts infrared pickoff, output be analog signal, totally 6, measure up and down the distance of obstacle all around respectively, it is all connected with the A/D mouth of central process unit.
Described inertial sensor is used for detecting and acceleration measurement, inclination, shock and vibration, rotation and multifreedom motion, and is connected with the iic bus of central process unit.
Described annunciator is connected with the I/O interface of central process unit; Described actuating device comprises screw propeller, brushless motor, electricity tune.One end that electricity is adjusted is connected with brushless motor, and one end is connected with the PWM mouth of central process unit.
Described terrestrial contr refers to the remote controller on ground by radio telecommand unmanned vehicle.As commercially available fatabaT8FG type unmanned vehicle flight remote controller.
Described radio data communication module is used for the communication between terrestrial contr and central process unit, and on the one hand, terrestrial contr controls the flight of unmanned vehicle by radio communication module; On the other hand, central process unit can by radio data communication module control unit transmission dangerous information earthward under the situation of danger.Terrestrial contr, central process unit are equipped with radio data communication module.
Owing to there is a large amount of unpredictalbe flow obstacle in space, this just requires to do to understand in detail to unmanned vehicle periphery situation, therefore thereon under the infrared pickoff of range finding is all around installed.
After unmanned vehicle lift-off, independently control the acceleration/accel on its each direction successively with terrestrial contr, make it reach maximum, and to calculate the peak acceleration on each direction in conjunction with inertial sensor by central processing unit, and be stored in data memory.
Central process unit, while receive the data from infrared pickoff, receives the control command from terrestrial contr.According to these two data, central process unit controls the flight of unmanned vehicle.The distance of an obstacle surveyed by 6 infrared pickoffs every 10ms, record the previous numerical value of each infrared pickoff in data memory.Central process unit judges the condition of a hazardous flight every 10ms, if this condition is set up, microcontroller judges now on the line, the flight directive that unmanned vehicle does not accept terrestrial contr controls, decelerate to speed with peak acceleration be 0 and cancel the acceleration/accel in deceleration direction immediately, make it be in floating state, and by alarm equipment alarm and earthward control unit send dangerous information remind operating personal take measures.Then, the new flight directive from terrestrial contr waited for by unmanned vehicle.Until the condition of hazardous flight is not set up, the flight directive of ground station can be re-executed.
The condition of hazardous flight described above refers to: the numerical value of some infrared pickoffs is less than or equal to safety distance threshold value.
Described safety distance threshold value, recorded by central process unit, inertial sensor, specific as follows: independently to control unmanned vehicle state of flight in each direction successively by terrestrial contr, it is made to reach peak acceleration, and the peak acceleration calculated in conjunction with inertial sensor by central processing unit on each direction, and be stored in data memory.
Embodiment 4
As the another preferred embodiment of the present invention, with reference to Figure of description 2, present embodiment discloses:
An avoiding collision for crashproof unmanned vehicle system, is characterized in that its step is as follows:
1), after unmanned vehicle lift-off, distance measuring sensor numerical value is read; If the numerical value of distance measuring sensor is less than or equal to safety distance threshold value on the direction that unmanned vehicle advances, enter step 2), otherwise enter step 3);
2) unmanned vehicle decelerates to speed with peak acceleration is 0 acceleration/accel of also cancelling in deceleration direction immediately, makes it be in floating state, enters step 4);
3) unmanned vehicle performs the flight directive control of terrestrial contr;
4) wait for new flight directive and return step 1).
The avoiding collision of described a kind of crashproof unmanned vehicle system, is characterized in that: described safety distance threshold value specifically refers to: unmanned vehicle in a certain direction from present speed reduce speed now that the speed that this side up is zero during this period of time in the summation of the distance of flying and surplus distance.
The avoiding collision of described a kind of crashproof unmanned vehicle system, also comprise and obtain unmanned vehicle peak acceleration step: independently control unmanned vehicle state of flight in each direction successively by terrestrial contr, it is made to reach peak acceleration, and the peak acceleration calculated in conjunction with inertial sensor by central processing unit on each direction, and be stored in data memory.
Above-mentioned example is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.
Claims (10)
1. a crashproof unmanned vehicle system, is characterized in that: comprise unmanned vehicle, central processing unit, terrestrial contr, distance measuring sensor, inertial sensor and wireless communication module; Described wireless communication module comprises airborne portion and ground segment; Described central processing unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle; Described wireless communication module ground segment is arranged on terrestrial contr; Described terrestrial contr is connected by wireless communication module and unmanned vehicle, and controls unmanned vehicle flight.
2. a kind of crashproof unmanned vehicle system as claimed in claim 1, it is characterized in that: described central processing unit comprise sensor data acquisition, with terrestrial contr data exchange, data processing central process unit, for storing the data memory of data, for the I/O interface be connected with external device.
3. a kind of crashproof unmanned vehicle system as claimed in claim 1 or 2, is characterized in that: described terrestrial contr comprises intelligent mobile terminal, control module, I/O interface for being connected with external device.
4. a kind of crashproof unmanned vehicle system as claimed in claim 2, is characterized in that: described distance measuring sensor, wireless communication module airborne portion and inertial sensor are connected with the I/O interface of central processing unit respectively.
5. a kind of crashproof unmanned vehicle system as claimed in claim 3, is characterized in that: described wireless communication module ground segment is connected with the I/O interface of terrestrial contr.
6. a kind of crashproof unmanned vehicle system as claimed in claim 1, is characterized in that: the quantity of described distance measuring sensor is 6, is arranged on the top of unmanned vehicle, below, front, rear, left, right respectively.
7. a kind of crashproof unmanned vehicle system as claimed in claim 1, is characterized in that: described system also comprises alarm unit; Described alarm unit is connected with the I/O interface of central processing unit; Described alarm unit comprises one or both the combination in annunciator and warning indicator lamp.
8. an avoiding collision for crashproof unmanned vehicle system, is characterized in that its step is as follows:
1), after unmanned vehicle lift-off, distance measuring sensor numerical value is read; If the numerical value of distance measuring sensor is less than or equal to safety distance threshold value on the direction that unmanned vehicle advances, enter step 2), otherwise enter step 3);
2) unmanned vehicle decelerates to speed with peak acceleration is 0 acceleration/accel of also cancelling in deceleration direction immediately, makes it be in floating state, enters step 4);
3) unmanned vehicle performs the flight directive control of terrestrial contr;
4) wait for new flight directive and return step 1).
9. the avoiding collision of a kind of crashproof unmanned vehicle system as claimed in claim 8, is characterized in that: described safety distance threshold value specifically refers to: unmanned vehicle in a certain direction from present speed reduce speed now that the speed that this side up is zero during this period of time in the summation of the distance of flying and surplus distance.
10. the avoiding collision of a kind of crashproof unmanned vehicle system as claimed in claim 8, also comprise and obtain unmanned vehicle peak acceleration step: independently control unmanned vehicle state of flight in each direction successively by terrestrial contr, it is made to reach peak acceleration, and the peak acceleration calculated in conjunction with inertial sensor by central processing unit on each direction, and be stored in data memory.
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| CN106527482A (en) * | 2016-12-07 | 2017-03-22 | 易瓦特科技股份公司 | Unmanned aerial vehicle flight control method and device |
| CN106681314A (en) * | 2016-12-07 | 2017-05-17 | 易瓦特科技股份公司 | Flight control method and device of unmanned aerial vehicle |
| CN106502268A (en) * | 2016-12-07 | 2017-03-15 | 易瓦特科技股份公司 | A kind of UAV Flight Control method and apparatus |
| CN106681314B (en) * | 2016-12-07 | 2020-04-28 | 易瓦特科技股份公司 | Unmanned aerial vehicle flight control method and device |
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| CN106915452A (en) * | 2017-03-10 | 2017-07-04 | 佛山市神风航空科技有限公司 | A kind of composite aircraft landing system |
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| CN108628344A (en) * | 2018-06-28 | 2018-10-09 | 上海应用技术大学 | Quadrotor device |
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