CN105083573B - A kind of anticollision unmanned vehicle system and its avoiding collision - Google Patents
A kind of anticollision unmanned vehicle system and its avoiding collision Download PDFInfo
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- CN105083573B CN105083573B CN201510606155.4A CN201510606155A CN105083573B CN 105083573 B CN105083573 B CN 105083573B CN 201510606155 A CN201510606155 A CN 201510606155A CN 105083573 B CN105083573 B CN 105083573B
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Abstract
The invention discloses a kind of anticollision unmanned vehicle systems and its avoiding collision to be related to unmanned vehicle technical field.The present invention includes unmanned vehicle, central processing unit, terrestrial contr, distance measuring sensor, inertial sensor and wireless communication module；The wireless communication module includes airborne portion and above ground portion；The central processing unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle；The wireless communication module above ground portion is mounted on terrestrial contr；Module establishes connection to the terrestrial contr with unmanned vehicle by radio communication, and controls unmanned vehicle flight.Mesh of the present invention solves the problems, such as that unmanned vehicle anti-collision system is complicated in the prior art, manufacturing cost is high, security performance is low.Manufacturing cost of the present invention is low, simple in structure, security performance is high.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more specifically to a kind of anticollision unmanned vehicle system and its
Avoiding collision.
Background technology
Unmanned vehicle is the not manned vehicle manipulated using radio robot and the presetting apparatus provided for oneself.
Unmanned vehicle by pre-set flight instruct or remote controler execute flight orders, be widely used in monitoring, mapping, photography, in
After fields such as communications.Unmanned vehicle system is generally set by unmanned vehicle, earth station, remote control equipment, communication apparatus and auxiliary
It is standby that multi-sections point is waited to constitute.Its commercial value is huge, it can provide good periphery visual field, can carry out advertising display, take photo by plane,
Television relay and security monitoring etc. are movable.
Since there are the barriers such as large number of equipment, lamps and lanterns, furniture for the interior space, cause unmanned vehicle flight space narrow
It is small；Inevitably exist in the space that outdoor unmanned vehicle is flown the relatively hazardous solid obstacle such as trees, high-voltage line and
Unpredictalbe flow obstacle such as people, vehicle, the security requirement driven to unmanned vehicle greatly increase.In remote control distributor
Operator needs to read corresponding flight attitude parameter by earth station in journey, be easy to cause aircraft accident and maloperation is prolonged
Late.It is therefore desirable to the unmanned vehicle system and its automatic collision method of a kind of automatic collision.
Such as application No. is 201120124969.1《Power-line patrolling unmanned helicopter hedgehopping obstacle avoidance
System》Patent proposes to carry out electric power with the method that distance measuring sensor, visual sensor and electromagnetic field detection sensor are combined
Line walking promotes the reliability of walking operation.This utility model is directed to power-line patrolling, for using visual sensor, in order to obtain
Clearly image information needs professional high resolution image equipment, not only increases the load of unmanned vehicle, and to nobody
The control of aircraft and cruise duration etc. have detrimental effect；Due to the particularity of transmission line of electricity, the electromagnetism around transmission line of electricity
Field complex, and influenced seriously by factors such as environment.
Existing unmanned vehicle anti-collision technique still has common technical problem：
1, existing unmanned vehicle anti-collision system, complicated, manufacturing cost is high；
2, existing unmanned vehicle anti-collision system, needs well-trained technical flight person or operator, is unfavorable for
It popularizes；
3, existing unmanned vehicle anti-collision system, at runtime, safety is low, and be difficult to compromise between security and flexibly
Property, once there is accident, loss is very big；Existing unmanned vehicle anti-collision system, it usually needs the equipment such as GPS, positioning system
It assists to complete anticollision, leads to its bad adaptability.
Invention content
In order to overcome above-mentioned defect existing in the prior art, the present invention provides a kind of anticollision unmanned vehicle system and
Its avoiding collision.The object of the invention is intended to solve in the prior art that unmanned vehicle anti-collision system is complicated, manufacturing cost
Problem high, security performance is low.Manufacturing cost of the present invention is low, simple in structure, security performance is high.
In order to solve above-mentioned deficiency in the prior art, the present invention is achieved through the following technical solutions：
A kind of anticollision unmanned vehicle system, it is characterised in that：Including unmanned vehicle, central processing unit, ground control
Unit, distance measuring sensor, inertial sensor and wireless communication module processed；The wireless communication module includes airborne portion and ground
Part；The central processing unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed in nobody
On aircraft；The wireless communication module above ground portion is mounted on terrestrial contr；The terrestrial contr passes through nothing
Line communication module is established with unmanned vehicle and is connected, and controls unmanned vehicle flight.
The central processing unit includes sensor data acquisition and terrestrial contr data exchange, data processing
Central processing unit, data storage for storing data, the I/O interfaces for being connect with external equipment.
The terrestrial contr includes that intelligent mobile terminal, control module, the I/O for being connect with external equipment connect
Mouthful.
The distance measuring sensor, wireless communication module airborne portion and inertial sensor respectively with the I/ of central processing unit
O Interface connects.
The I/O interfaces of the wireless communication module above ground portion and terrestrial contr connect.
The quantity of the distance measuring sensor is 6, be separately mounted to the top of unmanned vehicle, lower section, front, rear,
Left, right.
The system also includes alarm units；The alarm unit and the I/O interfaces of central processing unit connect；The report
Alert unit includes the combination of one or both of alarm and alarm lamp.
The system also includes inertial sensor, the inertial sensor is mounted on unmanned vehicle, and and centre
Manage the I/O interfaces connection of unit.
The unmanned vehicle includes body, driving device and accumulator, and the I/O of driving device and central processing unit connects
Mouth connection.
The driving device includes that propeller, brushless motor and electricity are adjusted；The electricity adjusts one end to be connect with brushless motor；It is another
End is connect with the I/O interfaces of central processing unit.
A kind of avoiding collision of anticollision unmanned vehicle system, it is characterised in that its step are as follows：
1) after unmanned vehicle lift-off, distance measuring sensor numerical value is read；If the ranging on the direction that unmanned vehicle advances
The numerical value of sensor is less than or equal to safety distance threshold, enters step 2）, otherwise enter step 3）；
2) unmanned vehicle with peak acceleration decelerate to speed be 0 and immediately revocation deceleration direction on acceleration, make
It is in floating state, enters step 4）；
3) unmanned vehicle executes the flight directive control of terrestrial contr；
4) new flight directive and return to step 1 are waited for）.
A kind of avoiding collision of the anticollision unmanned vehicle system, it is characterised in that：The safety distance threshold tool
Body refers to：Unmanned vehicle in a certain direction from present speed reduce speed now be zero to the speed that this side up this period
The summation of interior flown distance and surplus distance.
A kind of avoiding collision of anticollision unmanned vehicle system further includes obtaining unmanned vehicle peak acceleration
Step：By terrestrial contr successively independent control unmanned vehicle state of flight in each direction, maximum is reached
Acceleration is used in combination the peak acceleration of central processing unit combination inertial sensor calculating in each direction, and is stored in data
In memory.
Compared with prior art, technique effect beneficial caused by the present invention is shown：
1, manufacturing cost of the present invention is low, simple in structure, easy to operate, safe, and equipment is few, and being convenient for carrying can pass through ground
Face control unit control unmanned vehicle executes various flight attitudes, and automatic collision is realized using central processing unit.
2, the present invention using the flight of terrestrial contr control unmanned vehicle, realize automatic anti-by central processing unit
It hits, it is strong for the respond of emergency case, it is desirable that the reaction of operating personnel is low, to greatly enhance its safety.
3, the present invention indoors, it is outdoor all can be used, without GPS, the equipment such as high-precision video camera are adaptable, section
About cost, reduces its weight, increases cruise duration.
4, all anticollision operations of the present invention need not be driven to unmanned vehicle by central processing unit for processing
It sails operation and carries out academic program, to save the training cost of operating personnel.
Description of the drawings
Fig. 1 is unmanned flight's system schematic of the present invention；
Fig. 2 is the control flow chart of the method for the present invention.
Specific implementation mode
Embodiment 1
As a preferred embodiment of the present invention, with reference to Figure of description 1, present embodiment discloses：
A kind of anticollision unmanned vehicle system, including unmanned vehicle, central processing unit, terrestrial contr, ranging
Sensor, inertial sensor and wireless communication module；The wireless communication module includes airborne portion and above ground portion；In described
Central Processing Unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle；Institute
Wireless communication module above ground portion is stated on terrestrial contr；The terrestrial contr by radio communication module with
Unmanned vehicle establishes connection, and controls unmanned vehicle flight.
Embodiment 2
As another preferred embodiment of the present invention, with reference to Figure of description 1, present embodiment discloses：
A kind of anticollision unmanned vehicle system, including unmanned vehicle, central processing unit, terrestrial contr, ranging
Sensor, inertial sensor and wireless communication module；The wireless communication module includes airborne portion and above ground portion；In described
Central Processing Unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle；Institute
Wireless communication module above ground portion is stated on terrestrial contr；The terrestrial contr by radio communication module with
Unmanned vehicle establishes connection, and controls unmanned vehicle flight.The central processing unit include sensor data acquisition, with
Terrestrial contr data exchange, data processing central processing unit, data storage for storing data, be used for and outside
The I/O interfaces of equipment connection.The terrestrial contr includes intelligent mobile terminal, control module, for connecting with external equipment
The I/O interfaces connect.The distance measuring sensor, wireless communication module airborne portion and inertial sensor respectively with central processing unit
I/O interfaces connection.The I/O interfaces of the wireless communication module above ground portion and terrestrial contr connect.The ranging
The quantity of sensor is 6, is separately mounted to top, lower section, front, rear, left, the right of unmanned vehicle.The system
System further includes alarm unit；The alarm unit and the I/O interfaces of central processing unit connect；The alarm unit includes alarm
The combination of one or both of device and alarm lamp.The system also includes inertial sensor, the inertial sensor peace
It is connect on unmanned vehicle, and with the I/O interfaces of central processing unit.The unmanned vehicle includes body, driving dress
It sets and accumulator, the I/O interfaces of driving device and central processing unit connect.The driving device includes propeller, brushless electricity
Machine and electricity are adjusted；The electricity adjusts one end to be connect with brushless motor；The other end and the I/O interfaces of central processing unit connect.
Embodiment 3
As another preferred embodiment of the present invention, with reference to Figure of description 1, present embodiment discloses：
A kind of anticollision unmanned vehicle system, including unmanned vehicle, central processing unit, terrestrial contr, ranging
Sensor, inertial sensor and wireless communication module；The wireless communication module includes airborne portion and above ground portion；In described
Central Processing Unit, distance measuring sensor, inertial sensor and wireless communication module airborne portion are installed on unmanned vehicle；Institute
Wireless communication module above ground portion is stated on terrestrial contr；The terrestrial contr by radio communication module with
Unmanned vehicle establishes connection, and controls unmanned vehicle flight.The central processing unit include sensor data acquisition, with
Terrestrial contr data exchange, data processing central processing unit, data storage for storing data, be used for and outside
The I/O interfaces of equipment connection.The terrestrial contr includes intelligent mobile terminal, control module, for connecting with external equipment
The I/O interfaces connect.The distance measuring sensor, wireless communication module airborne portion and inertial sensor respectively with central processing unit
I/O interfaces connection.The I/O interfaces of the wireless communication module above ground portion and terrestrial contr connect.The ranging
The quantity of sensor is 6, is separately mounted to top, lower section, front, rear, left, the right of unmanned vehicle.The system
System further includes alarm unit；The alarm unit and the I/O interfaces of central processing unit connect；The alarm unit includes alarm
The combination of one or both of device and alarm lamp.The system also includes inertial sensor, the inertial sensor peace
It is connect on unmanned vehicle, and with the I/O interfaces of central processing unit.The unmanned vehicle includes body, driving dress
It sets and accumulator, the I/O interfaces of driving device and central processing unit connect.The driving device includes propeller, brushless electricity
Machine and electricity are adjusted；The electricity adjusts one end to be connect with brushless motor；The other end and the I/O interfaces of central processing unit connect.The drive
Dynamic device includes that propeller, brushless motor and electricity are adjusted；The electricity adjusts one end to be connect with brushless motor；The other end and central processing list
The I/O interfaces connection of member.
A kind of unmanned vehicle system of automatic collision, including central processing unit, distance measuring sensor, inertia sensing
Device, alarm, driving device, wireless communication module, terrestrial contr.
The central processing unit is the core of entire hardware platform.The Typical Representative of central processing unit is microcontroller, should
Chip interior integrates ROM/EPROM, RAM, bus, bus logic, Timer/Counter, house dog, I/O, serial port, pulsewidth tune
Make various necessary functions and the peripheral hardwares such as output, A/D, D/A, Flash RAM, EEPROM.All sensors pass through I/O interfaces
Data are sent into central processing unit, terrestrial contr is connected by radio data communication module with the I/O of central processing unit,
Control instruction is sent into central processing unit.After central processing unit is according to these information fusion calculations.The example is partly led using meaning method
The STM32F103ZET6 microcontrollers of body company.
The distance measuring sensor uses infrared sensor, and output is analog signal, totally 6, before measuring up and down respectively
The distance of left and right barrier afterwards is all connect with the A/D of central processing unit mouths.
The inertial sensor is for detecting and measuring acceleration, inclination, shock and vibration, rotation and multiple degrees of freedom fortune
It is dynamic, and be connected with the iic bus of central processing unit.
The alarm is connected with the I/O interfaces of central processing unit；The driving device includes propeller, brushless electricity
Mechanical, electrical tune.One end that electricity is adjusted is connect with brushless motor, the PWM mouths connection of one end and central processing unit.
The terrestrial contr refers to the remote controler by wireless remotecontrol unmanned vehicle on ground.It is such as commercially available
FatabaT8FG type unmanned vehicle flight remote controllers.
The radio data communication module is for the communication between terrestrial contr and central processing unit, a side
Face, terrestrial contr control the flight of unmanned vehicle by radio communication module；On the other hand, central processing unit is being endangered
Danger situation under can by radio data communication module earthward control unit send dangerous information.Terrestrial contr,
Central processing unit is equipped with radio data communication module.
It is detailed this requires making to unmanned vehicle periphery situation due to there are a large amount of unpredictalbe flow obstacles in space
It is thin to understand, thus on it under the infrared sensor of ranging is all around installed.
After unmanned vehicle lift-off, with the acceleration on terrestrial contr successively independent control each of which direction, make it
Reach maximum, the peak acceleration of central processing unit combination inertial sensor calculating in each direction is used in combination, and be stored in number
According in memory.
Central processing unit receives the data from infrared sensor on one side, receives the control from terrestrial contr on one side
Instruction.According to the two data, central processing unit controls the flight of unmanned vehicle.6 infrared sensors are surveyed every 10ms
The distance of barrier records the previous numerical value of each infrared sensor in data storage.Central processing unit every
10ms judges the condition of a hazardous flight, if this condition is set up, microcontroller judgement is now in danger, unmanned vehicle
The flight directive control for not receiving terrestrial contr decelerates to speed with peak acceleration and is 0 and cancels deceleration direction immediately
On acceleration, be at floating state, and pass through alarm equipment alarm and earthward control unit sends dangerous information and reminds
Operating personnel take measures.Then, unmanned vehicle waits for the new flight directive from terrestrial contr.Until danger flies
Capable condition is not set up, and the flight directive of earth station can be re-executed.
The condition of hazardous flight described above refers to：The numerical value of some infrared sensor is less than or equal to safe distance threshold
Value.
The safety distance threshold, it is to be measured by central processing unit, inertial sensor, it is specific as follows：It is controlled by ground
Unit processed independent control unmanned vehicle state of flight in each direction successively, reaches peak acceleration, center is used in combination
Processing unit combination inertial sensor calculates peak acceleration in each direction, and is stored in data storage.
Embodiment 4
As another preferred embodiment of the present invention, with reference to Figure of description 2, present embodiment discloses：
A kind of avoiding collision of anticollision unmanned vehicle system, it is characterised in that its step are as follows：
1) after unmanned vehicle lift-off, distance measuring sensor numerical value is read；If the ranging on the direction that unmanned vehicle advances
The numerical value of sensor is less than or equal to safety distance threshold, enters step 2）, otherwise enter step 3）；
2) unmanned vehicle with peak acceleration decelerate to speed be 0 and immediately revocation deceleration direction on acceleration, make
It is in floating state, enters step 4）；
3) unmanned vehicle executes the flight directive control of terrestrial contr；
4) new flight directive and return to step 1 are waited for）.
A kind of avoiding collision of the anticollision unmanned vehicle system, it is characterised in that：The safety distance threshold tool
Body refers to：Unmanned vehicle in a certain direction from present speed reduce speed now be zero to the speed that this side up this period
The summation of interior flown distance and surplus distance.
A kind of avoiding collision of anticollision unmanned vehicle system further includes obtaining unmanned vehicle peak acceleration
Step：By terrestrial contr successively independent control unmanned vehicle state of flight in each direction, maximum is reached
Acceleration is used in combination the peak acceleration of central processing unit combination inertial sensor calculating in each direction, and is stored in data
In memory.
Examples detailed above be only to clearly illustrate example of the present invention, and not be to embodiments of the present invention
Restriction.For those of ordinary skill in the art, other not similar shapes can also be made on the basis of the above description
The variation or variation of formula.There is no necessity and possibility to exhaust all the enbodiments.It is all in the spirit and principles in the present invention
Within made by all any modification, equivalent and improvement etc., should all be included in the scope of protection of the claims of the present invention.
Claims (4)
1. a kind of avoiding collision of anticollision unmanned vehicle system, the unmanned vehicle system include unmanned vehicle, center
Processing unit, terrestrial contr, distance measuring sensor, inertial sensor and wireless communication module；The wireless communication module packet
Include airborne portion and above ground portion；The central processing unit, distance measuring sensor, inertial sensor and wireless communication module are airborne
Part is installed on unmanned vehicle；The wireless communication module above ground portion is mounted on terrestrial contr；Describedly
Module establishes connection to face control unit with unmanned vehicle by radio communication, and controls unmanned vehicle flight；The center
Processing unit includes the central processing unit of sensor data acquisition and terrestrial contr data exchange, data processing, for depositing
The data storage for storing up data, the I/O interfaces for being connect with external equipment；The quantity of the distance measuring sensor is 6, respectively
Mounted on the top of unmanned vehicle, lower section, front, rear, left, right；The system also includes alarm units；The report
Alert unit and the I/O interfaces of central processing unit connect；The alarm unit includes one kind in alarm and alarm lamp
Or two kinds of combination；It is characterized in that：The step of avoiding collision, is as follows：
1）After unmanned vehicle lift-off, distance measuring sensor numerical value is read；If the ranging sensing on the direction that unmanned vehicle advances
The numerical value of device is less than or equal to safety distance threshold, enters step 2）, otherwise enter step 3）；
2）Unmanned vehicle with peak acceleration decelerate to speed be 0 and immediately revocation deceleration direction on acceleration, make at its
In floating state, 4 are entered step）；
3）Unmanned vehicle executes the flight directive control of terrestrial contr；
4）Wait for new flight directive and return to step 1）；
Further include obtaining unmanned vehicle peak acceleration step：Pass through terrestrial contr successively independent control unmanned vehicle
State of flight in each direction reaches peak acceleration, is used in combination central processing unit combination inertial sensor to calculate every
Peak acceleration on a direction, and be stored in data storage；
The safety distance threshold specifically refers to：Unmanned vehicle reduces speed now from present speed to this direction in a certain direction
On speed by the summation of distance and surplus distance flown in zero this period.
2. a kind of avoiding collision of anticollision unmanned vehicle system as described in claim 1, it is characterised in that：The ground control
Unit processed includes intelligent mobile terminal, control module, the I/O interfaces for being connect with external equipment.
3. a kind of avoiding collision of anticollision unmanned vehicle system as described in claim 1, it is characterised in that：The ranging passes
Sensor, wireless communication module airborne portion and inertial sensor are connect with the I/O interfaces of central processing unit respectively.
4. a kind of avoiding collision of anticollision unmanned vehicle system as claimed in claim 2, it is characterised in that：Described is wireless
The I/O interfaces of communication module above ground portion and terrestrial contr connect.
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| CN106527482B (en) * | 2016-12-07 | 2020-06-16 | 易瓦特科技股份公司 | Unmanned aerial vehicle flight control method and device |
| CN106628205A (en) * | 2017-01-06 | 2017-05-10 | 四川克瑞斯航空科技有限公司 | Anti-collision device for flight of unmanned aerial vehicle |
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| FR3087915B1 (en) * | 2018-10-31 | 2021-09-17 | Thales Sa | ANTI-COLLISION DEVICE, AVIONICS PROTECTION SYSTEM, ANTI-COLLISION PROCESS AND ASSOCIATED COMPUTER PROGRAM |
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