CN105589472A - Obstacle avoiding method of unmanned equipment, device and system - Google Patents
Obstacle avoiding method of unmanned equipment, device and system Download PDFInfo
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- CN105589472A CN105589472A CN201610120573.7A CN201610120573A CN105589472A CN 105589472 A CN105589472 A CN 105589472A CN 201610120573 A CN201610120573 A CN 201610120573A CN 105589472 A CN105589472 A CN 105589472A
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- 230000033001 locomotion Effects 0.000 claims abstract description 127
- 230000004888 barrier function Effects 0.000 claims description 73
- 238000001514 detection method Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 2
- 238000005036 potential barrier Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides an obstacle avoiding method of unmanned equipment, a device and a system, the obstacle information around the unmanned equipment collected by a sensor is obtained in real time. A maximum safe movement speed, a small safe movement speed, a relatively safe range, and a danger range are obtained. When obstacle information is in the danger range, the unmanned equipment is switched to enter into an obstacle avoiding driving mode. When the obstacle information is in the relatively safe range, the unmanned equipment is controlled to be in a normal driving mode. When the obstacle information is not in the danger range and is not in the relatively safe range, the unmanned equipment is controlled to be in the normal driving mode. Thus, according to the obstacle information, the maximum safe movement speed, the small safe movement speed, the relatively safe range and the danger range, the unmanned equipment can be switched to enter into an obstacle avoiding driving mode or the normal driving mode, and the collision accidents of the unmanned equipment can be effectively reduced.
Description
Technical field
The present invention relates to unmanned equipment control field, relate in particular to a kind of unmanned equipment and avoid obstacleMethod, Apparatus and system.
Background technology
Unmanned equipment comprises unmanned plane (unmanned vehicle or title UAV), automatic driving vehicleDeng the smart machine that there is certain oneself and control function, in World War II and extensively should since invention laterFor civil and military field. At present, there is commercial unmanned plane, especially rotary wings unmanned plane, asFour oar aircraft. Most of unmanned planes have similar function, as highly controlled, automatically to wind resistance holding positionPut, destination patrol automatically, follows function and monitors mobile people or object, etc.
The critical function that unmanned equipment must have is avoiding obstacles, to guarantee its security,Prevent the collision of it and object or person. Wherein, the unmanned equipment of business has barrier avoiding function, but not yet ripe,It is unexpected that the collision rate that not yet declines to a great extent is avoided so that unmanned equipment can move in various environment.
Summary of the invention
Based on this, be necessary to provide a kind of effective unmanned equipment to avoid the method for obstacle, install and beSystem.
Unmanned equipment is avoided a method for obstacle, comprising:
The unmanned equipment that Real-time Obtaining sensor gathers obstacle information around;
Obtain maximum safety movement speed, less safety movement speed, comparatively safe scope and risk range;
In the time that described obstacle information is in described risk range, switches described unmanned equipment and enter and keep awayBarrier driving model, keeps away the unmanned equipment stop motion of barrier driving model control by described, then according in real timeThe described obstacle information obtaining is determined safety movement path, controls described unmanned equipment according to described peaceThe motion of full motion path;
In the time that described obstacle information is in described comparatively safe scope, control described unmanned equipment placeIn conventional driving model, control described movement velocity not higher than described less safety movement speed;
When described obstacle information is not in described risk range and not in described comparatively safe scopeTime, control described unmanned equipment in conventional driving model, control described movement velocity not higher than describedMaximum safety movement speed.
Above-mentioned unmanned equipment is avoided the method for obstacle, and what can gather according to Real-time Obtaining sensor is unmannedSteer obstacle information around, and the maximum safety movement speed of obtaining, less safety movement speedDegree, comparatively safe scope, risk range, switch described unmanned equipment and enter and keep away barrier driving model or normalRule driving model. So, can make obstacle information that unmanned equipment collects not at described dangerous modelEnclose with interior and not in described comparatively safe scope time, control described unmanned equipment and drive in routinePattern; In the time that described obstacle information is in described comparatively safe scope, control described unmanned equipmentIn conventional driving model; In the time that described obstacle information is in described danger, switch described unmannedEquipment enters keeps away barrier driving model. So, can effectively reduce the collision accident of unmanned equipment.
Unmanned equipment is avoided a device for obstacle, comprising:
Complaint message acquisition module, the unmanned equipment gathering for Real-time Obtaining sensor obstacle aroundThing information;
Parameter acquisition module, for obtaining maximum safety movement speed, less safety movement speed, relatively pacifyingGamut and risk range;
Keep away barrier mode control module, in the time that described obstacle information is in described risk range, switchDescribed unmanned equipment enters keeps away barrier driving model, hinders unmanned the establishing of driving model control by described keeping awayStandby stop motion, then determine safety movement path according to the described obstacle information of Real-time Obtaining, described in controlUnmanned equipment moves according to described safety movement path;
Normal mode control module, in the time that described obstacle information is in described comparatively safe scope,Control described unmanned equipment in conventional driving model, control described movement velocity not higher than described lessSafety movement speed;
Described normal mode control module, also for working as described obstacle information not in described risk rangeAnd not in described comparatively safe scope time, control described unmanned equipment in conventional driving model,Control described movement velocity not higher than described maximum safety movement speed.
Above-mentioned unmanned equipment is avoided the device of obstacle, can be according to complaint message acquisition module Real-time ObtainingThe unmanned equipment that sensor gathers obstacle information around, and the maximum obtained of parameter acquisition moduleSafety movement speed, less safety movement speed, comparatively safe scope, risk range, switch described unmannedSteer enters keeps away barrier driving model or conventional driving model. So, can make unmanned equipment collectionThe obstacle information arriving is in described risk range and not in described comparatively safe scope time, routineMode control module can be controlled described unmanned equipment in conventional driving model; When described barrier letterWhile ceasing in described comparatively safe scope, normal mode control module can be controlled described unmanned equipmentIn conventional driving model; In the time that described obstacle information is in described danger, keep away barrier mode control moduleCan switch described unmanned equipment enters and keeps away barrier driving model. So, can effectively reduce unmannedThe collision accident of equipment.
Unmanned equipment is avoided a system for obstacle, comprising:
Above-mentioned unmanned equipment is avoided the device of obstacle;
Be arranged at the rotating shaft at unmanned equipment middle part, described rotating shaft is perpendicular to screw rotation placePlane;
Sensor, is arranged on described rotating shaft.
This system, can be according to Real-time Obtaining owing to comprising that above-mentioned unmanned equipment avoids the device of obstacleThe unmanned equipment that sensor gathers obstacle information around, and the maximum safety movement speed of obtaining,Less safety movement speed, comparatively safe scope, risk range, switch described unmanned equipment and enter and keep awayBarrier driving model or conventional driving model. The obstacle information that so, can make unmanned equipment collectNot in described risk range and not in described comparatively safe scope time, control described unmanned establishingStandby in conventional driving model; In the time that described obstacle information is in described comparatively safe scope, control instituteState unmanned equipment in conventional driving model; In the time that described obstacle information is in described danger, cutChanging described unmanned equipment enters and keeps away barrier driving model. So, can effectively reduce unmanned equipmentCollision story.
Brief description of the drawings
Fig. 1 is the flow chart that a kind of unmanned equipment of embodiment is avoided the method for obstacle;
Fig. 2 is the flow chart that the unmanned equipment of another kind of embodiment is avoided the method for obstacle;
Fig. 3 is the structural representation that a kind of unmanned equipment of embodiment is avoided the device of obstacle;
Fig. 4 is the structural representation that the unmanned equipment of another kind of embodiment is avoided the device of obstacle;
Fig. 5 be a kind of unmanned equipment that a turn-sensitive device is set of embodiment avoid obstacle beThe structural representation of system;
Fig. 6 be a kind of unmanned equipment that two turn-sensitive devices are set of embodiment avoid obstacle beThe structural representation of system.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing, provide preferred embodiment of the present invention. But the present invention can come in many different formsRealize, be not limited to embodiment described herein. On the contrary, provide the object of these embodiment be make rightThe understanding of disclosure of the present invention is more comprehensively thorough.
Unless otherwise defined, all technology and the scientific terminology using herein and belong to technology of the present inventionThe implication that the technical staff in field understands is conventionally identical. The art using in description of the present invention hereinLanguage, just in order to describe the object of specific embodiment, is not intended to be restriction the present invention. Use hereinTerm " or/and " comprise one or more relevant Listed Items arbitrarily with all combinations.
As shown in Figure 1, for the unmanned equipment of one embodiment of the present invention is avoided the method for obstacle, bagDraw together:
S110: the unmanned equipment that Real-time Obtaining sensor gathers obstacle information around.
Unmanned equipment can be unmanned plane, can be also automatic driving vehicle.
S130: obtain maximum safety movement speed, less safety movement speed, comparatively safe scope and dangerDanger scope.
Maximum safety movement speed, less safety movement speed, comparatively safe scope and risk range are passableWhen presetting in the time that unmanned equipment dispatches from the factory or moving, selected according to default multiple values by user.
In an embodiment, maximum safety movement speed is that unmanned equipment can enter danger thereinScope to be to slow down zero movement velocity before interior, as, can be 5.5 meter per seconds. Less safety movement speed isUnmanned equipment can be decelerated to zero movement velocity before collision obstacle, as, can be 1 meter per second.Wherein maximum safety movement speed is greater than less safety movement speed. Risk range can be by unmanned equipmentMaximum movement speed and be decelerated to time of zero by maximum movement speed and determine, by unmanned equipmentPerformance own determines. Comparatively safe scope can be by the maximum movement speed of unmanned equipment, by maximum speedDegree is decelerated to time of zero and risk range is determined. Further, risk range and comparatively safe scope are alsoCollection period and sensor transmission obstacle information by sensor are true to the transmission time of unmanned equipmentFixed.
S150: in the time that described obstacle information is in described risk range, switch described unmanned equipmentEnter and keep away barrier driving model, keep away the unmanned equipment stop motion of barrier driving model control by described, then rootDescribed obstacle information according to Real-time Obtaining is determined safety movement path, controls described unmanned equipment basisThe motion of described safety movement path.
Keeping away barrier driving model is the mode of operation of automatically moving, and the now motion of unmanned equipment is not subject to remote controlThe control of device, but first control unmanned equipment stop motion, then according to the described barrier of Real-time ObtainingInformation is determined safety movement path, controls described unmanned equipment and moves according to described safety movement path.
S170: in the time that described obstacle information is in described comparatively safe scope, control described unmannedEquipment, in conventional driving model, is controlled described movement velocity not higher than described less safety movement speed.
Conventional driving model for taking movement velocity not higher than described less safety movement speed as prerequisite, according to distantThe control campaign of control device.
S190: when described obstacle information is not in described risk range and not in described comparatively safe scopeIn time, control described unmanned equipment in conventional driving model, control described movement velocity not higher thanDescribed maximum safety movement speed.
Conventional driving model for taking movement velocity not higher than described maximum safety movement speed as prerequisite, according to distantThe control campaign of control device.
Above-mentioned unmanned equipment is avoided the method for obstacle, and what can gather according to Real-time Obtaining sensor is unmannedSteer obstacle information around, and the maximum safety movement speed of obtaining, less safety movement speedDegree, comparatively safe scope, risk range, switch described unmanned equipment and enter and keep away barrier driving model or normalRule driving model. So, can make obstacle information that unmanned equipment collects not at described dangerous modelEnclose with interior and not in described comparatively safe scope time, control described unmanned equipment and drive in routinePattern; In the time that described obstacle information is in described comparatively safe scope, control described unmanned equipmentIn conventional driving model; In the time that described obstacle information is in described danger, switch described unmannedEquipment enters keeps away barrier driving model. So, can effectively reduce the collision accident of unmanned equipment.
In an embodiment, described obstacle information comprises obstacle distance therein; Described default dangerous modelEnclose the scope that is less than default minimum safe distance for described obstacle distance; Described default comparatively safe scope isDescribed obstacle distance is not more than the scope of default maximum detectable range.
In an embodiment, described unmanned equipment is unmanned plane therein, and obstacle information is three-dimensional letterBreath. Sensor position is initial point, and the direction of motion of unmanned equipment is the first dimension direction, is parallel toThe bottom surface of unmanned equipment the direction vertical with described the first dimension direction are two-dimensional directional, perpendicular to nothingThe bottom surface of people's steer the direction vertical with the first dimension direction are third dimension direction.
As shown in Figure 2, in an embodiment, described unmanned equipment is unmanned plane, described biography thereinSensor is turn-sensitive device; Described obstacle information comprises obstacle distance, barrier angular width and obtainsThe linear width of barrier.
After step S110, also comprise step:
S120: the linear width of barrier of determining judgement according to described obstacle distance, barrier angular width.
Particularly, the linear width of the barrier of judgement equals obstacle distance and is multiplied by barrier angular width.
S122: when the barrier linearity width of the linear width of the barrier that obtains described in basis and described judgementWhen relative mistake distance is greater than default relative error threshold value, control unmanned equipment stop motion.
When the linear width of the barrier that obtains described in basis and the relative mistake of the barrier linearity width of described judgementWhen distance is greater than default relative error threshold value, illustrate that the obstacle information that sensor gathers may be wrong, control nothingThe stop motion of people's steer, can ensure the safety traffic of unmanned equipment. Relative error threshold value canGet 10%.
In an embodiment, obstacle information comprises angle information and obstacle distance therein. Now, dangerDanger scope is also by the safety of the direction of motion of unmanned equipment and angle information and the default non-direction of motionDistance is determined. So, can in the non-direction of motion, set in advance the safe distance being less than in the direction of motion,In order to avoid be less than the ultimate range of risk range at obstacle distance, but its angle information is not established unmannedIn the standby direction of motion, and send spurious alarm.
In an embodiment, step S110 comprises therein:
Receive described sensor along main shaft send pulse signal and break the barriers return described pulse signal itBetween duration;
According to sending described pulse signal and receiving duration and the described pulse signal between described pulse signalSpread speed determine the obstacle distance of described obstacle information;
Wherein, the time interval between the described pulse signal of adjacent twice transmission is according to the biography of described pulse signalBroadcasting the maximum detectable range of speed and described sensor determines.
As, the aerial spread speed of acoustic impluse signal is about 343 meter per seconds. If maximum detectable rangeBe 6 meters, the barrier that acoustic impluse signal passes to maximum detectable range from the transmitter of sonar sensor againThe time of passing the receiver of sonar sensor back is that maximum detectable range is multiplied by 2 again divided by acoustic impluse signalSpread speed, is about 35ms. Overlapping for fear of pulse signal, send between acoustic impluse signal for twiceThe time interval can be set to 50ms.
In an embodiment, described sensor is turn-sensitive device therein; The rotary speed of described sensorBy described installation of sensors in rotating shaft rotary speed determine; Described rotary speed is by described sensorDetection angles width and determining for the time interval gathering between the pulse signal of described obstacle information.
Particularly, rotary speed should be at least detection angles width divided by the time interval, so ensure rotationSensor can collect the obstacle information in each angle.
In order to ensure all potential barriers being detected, bump avoiding, turn-sensitive device needsWill be also determined to the shortest time of the ultimate range of risk range by the ultimate range of comparatively safe scope. For example,When a unmanned plane flies to a wall, it detects that described wall is being greater than comparatively safe scope the most at firstLarge distance, during as 6 meters, this distance is not in risk range still. Then work as sensor rotation onceWall again detected, this distance should be greater than the border of risk range, as 2 meters. One of sensor rotationThe time in cycle should be shorter than or equal unmanned plane from 6 meters of shortest times of going to 2 meters of distances. If nobody drivesThe maximum speed of sailing equipment is 20 kilometers/hour=5.5 meter per seconds (fast as bicycle), the rotating speed of turn-sensitive deviceBe preferably designed as 2RPS above (per second 2 turn), or swing circle is in 500 milliseconds.
The time interval, swing circle between detection angles width, pulse signal need meet some requirements.
As, the rotational time that is swing circle for 500ms, the time interval of 50ms means that sensor is everyTurning 36 degree will once gather, measure. Detect barrier for fear of omitting, we need to increase inspectionAngle measurement width is at least 36 degree. In a word, the minimum detection angular width of turn-sensitive device is:
Minimum detection angular width=(time interval/swing circle) * 360 spent.
In an embodiment, also comprise step therein:
When described unmanned equipment is during in conventional driving model, if receive the order of landing, described in contractionThe rotating shaft of sensor.
So, while avoiding UAV Landing, damage sensor or rotating shaft.
As shown in Figure 3, for the unmanned equipment of one embodiment of the present invention is avoided the device of obstacle, bagDraw together:
Complaint message acquisition module 110, the unmanned equipment gathering for Real-time Obtaining sensor barrier aroundHinder thing information.
Unmanned equipment can be unmanned plane, can be also automatic driving vehicle.
Parameter acquisition module 130, for obtaining maximum safety movement speed, less safety movement speed, relativeSafe range and risk range.
Maximum safety movement speed, less safety movement speed, comparatively safe scope and risk range are passableWhen presetting in the time that unmanned equipment dispatches from the factory or moving, selected according to default multiple values by user.
In an embodiment, maximum safety movement speed is that unmanned equipment can enter danger thereinScope to be to slow down zero movement velocity before interior, as, can be 5.5 meter per seconds. Less safety movement speed isUnmanned equipment can be decelerated to zero movement velocity before collision obstacle, as, can be 1 meter per second.Wherein, maximum safety movement speed is greater than less safety movement speed. Risk range can be established by unmannedStandby maximum movement speed and be decelerated to time of zero by maximum movement speed and determine, by unmanned equipmentPerformance own determine. Comparatively safe scope can be by the maximum movement speed of unmanned equipment, by maximumSpeed is decelerated to time of zero and risk range is determined. Further, risk range and comparatively safe scopeAlso send the transmission time of obstacle information to unmanned equipment by collection period and the sensor of sensorDetermine.
Keep away barrier mode control module 150, in the time that described obstacle information is in described risk range, cutChange described unmanned equipment and enter and keep away barrier driving model, to keep away the control of barrier driving model unmanned by describedEquipment stop motion, then determine safety movement path according to the described obstacle information of Real-time Obtaining, control instituteStating unmanned equipment moves according to described safety movement path.
Keeping away barrier driving model is the mode of operation of automatically moving, and the now motion of unmanned equipment is not subject to remote controlThe control of device, but first control unmanned equipment stop motion, then according to the described barrier of Real-time ObtainingInformation is determined safety movement path, controls described unmanned equipment and moves according to described safety movement path.
Normal mode control module 190, for working as described obstacle information in described comparatively safe scopeTime, control described unmanned equipment in conventional driving model, control described movement velocity not higher than describedLess safety movement speed.
Conventional driving model for taking movement velocity not higher than described less safety movement speed as prerequisite, according to distantThe control campaign of control device.
Normal mode control module 190, for when described obstacle information not in described risk range and notIn described comparatively safe scope time, control described unmanned equipment in conventional driving model, controlDescribed movement velocity is not higher than described maximum safety movement speed.
Conventional driving model for taking movement velocity not higher than described maximum safety movement speed as prerequisite, according to distantThe control campaign of control device.
Above-mentioned unmanned equipment is avoided the device of obstacle, can be real-time according to complaint message acquisition module 110Obtain unmanned equipment that sensor gathers obstacle information around, and parameter acquisition module 130 obtainsThe maximum safety movement speed of getting, less safety movement speed, comparatively safe scope, risk range, switchDescribed unmanned equipment enters keeps away barrier driving model or conventional driving model. So, can make unmannedThe obstacle information that equipment collects is not in described risk range and not in described comparatively safe scopeTime, normal mode control module 190 can be controlled described unmanned equipment in conventional driving model; WhenDescribed obstacle information is in described comparatively safe scope time, and semi custom mode control module 190 can be controlledMake described unmanned equipment in conventional driving model; In the time that described obstacle information is in described danger,Keeping away barrier mode control module 150 can switch described unmanned equipment and enter and keep away barrier driving model. So,Can effectively reduce the collision accident of unmanned equipment.
In an embodiment, described obstacle information comprises obstacle distance therein; Described default dangerous modelEnclose the scope that is less than default minimum safe distance for described obstacle distance; Described default comparatively safe scope isDescribed obstacle distance is not more than the scope of default maximum detectable range.
In an embodiment, described unmanned equipment is unmanned plane therein, and obstacle information is three-dimensional letterBreath. Sensor position is initial point, and the direction of motion of unmanned equipment is the first dimension direction, is parallel toThe bottom surface of unmanned equipment the direction vertical with described the first dimension direction are two-dimensional directional, perpendicular to nothingThe bottom surface of people's steer the direction vertical with the first dimension direction are third dimension direction.
As shown in Figure 4, in an embodiment, described unmanned equipment is unmanned plane, described biography thereinSensor is turn-sensitive device; Described obstacle information comprises obstacle distance, barrier angular width and obtainsThe linear width of barrier.
This device also comprises suddenly:
Judge width determination module 120, for determining and sentence according to described obstacle distance, barrier angular widthThe linear width of disconnected barrier.
Particularly, the linear width of the barrier of judgement equals obstacle distance and is multiplied by barrier angular width.
Width error judge module 122, for the linear width of barrier and described judgement when obtaining described in basisThe relative mistake of the linear width of barrier when being greater than default relative error threshold value, control unmanned equipment and stopOnly motion.
When the linear width of the barrier that obtains described in basis and the relative mistake of the barrier linearity width of described judgementWhen distance is greater than default relative error threshold value, illustrate that the obstacle information that sensor gathers may be wrong, control nothingThe stop motion of people's steer, can ensure the safety traffic of unmanned equipment. Relative error threshold value canGet 10%.
In an embodiment, obstacle information comprises angle information and obstacle distance therein. Now, dangerDanger scope is also by the safety of the direction of motion of unmanned equipment and angle information and the default non-direction of motionDistance is determined. So, can in the non-direction of motion, set in advance the safe distance being less than in the direction of motion,In order to avoid be less than the ultimate range of risk range at obstacle distance, but its angle information is not established unmannedIn the standby direction of motion, and send spurious alarm.
In an embodiment, complaint message acquisition module 110 comprises therein:
Duration receiving element, sends pulse signal and breaks the barriers along main shaft for receiving described sensorReturn to the duration between described pulse signal;
Distance determining unit, for according to send described pulse signal and receive between described pulse signal timeSpread speed long and described pulse signal is determined the obstacle distance of described obstacle information;
Wherein, the time interval between the described pulse signal of adjacent twice transmission is according to the biography of described pulse signalBroadcasting the maximum detectable range of speed and described sensor determines.
As, the aerial spread speed of acoustic impluse signal is about 343 meter per seconds. If maximum detectable rangeBe 6 meters, the barrier that acoustic impluse signal passes to maximum detectable range from the transmitter of sonar sensor againThe time of passing the receiver of sonar sensor back is that maximum detectable range is multiplied by 2 again divided by acoustic impluse signalSpread speed, is about 35ms. Overlapping for fear of pulse signal, send between acoustic impluse signal for twiceThe time interval can be set to 50ms.
In an embodiment, described sensor is turn-sensitive device therein; The rotary speed of described sensorBy described installation of sensors in rotating shaft rotary speed determine; Described rotary speed is by described sensorDetection angles width and determining for the time interval gathering between the pulse signal of described obstacle information.
Particularly, rotary speed should be at least detection angles width divided by the time interval, so ensure rotationSensor can collect the obstacle information in each angle.
In order to ensure all potential barriers being detected, bump avoiding, turn-sensitive device needsWill be also determined to the shortest time of the ultimate range of risk range by the ultimate range of comparatively safe scope. For example,When a unmanned plane flies to a wall, it detects that described wall is being greater than comparatively safe scope the most at firstLarge distance, during as 6 meters, this distance is not in risk range still. Then work as sensor rotation onceWall again detected, this distance should be greater than the border of risk range, as 2 meters. One of sensor rotationThe time in cycle should be shorter than or equal unmanned plane from 6 meters of shortest times of going to 2 meters of distances. If nobody drivesThe maximum speed of sailing equipment is 20 kilometers/hour=5.5 meter per seconds (fast as bicycle), the rotating speed of turn-sensitive deviceBe preferably designed as 2RPS above (per second 2 turn), or swing circle is in 500 milliseconds.
The time interval, swing circle between detection angles width, pulse signal need meet some requirements.
As, the rotational time that is swing circle for 500ms, the time interval of 50ms means that sensor is everyTurning 36 degree will once gather, measure. Detect barrier for fear of omitting, we need to increase inspectionAngle measurement width is at least 36 degree. In a word, the minimum detection angular width of turn-sensitive device is:
Minimum detection angular width=(time interval/swing circle) * 360 spent.
In an embodiment, this device also comprises therein:
Installation shaft is shunk module, for when described unmanned equipment is during in conventional driving model, if receptionTo the order of landing, shrink the rotating shaft of described sensor.
So, while avoiding UAV Landing, damage sensor or rotating shaft.
What the present invention also provided that a kind of and said method and unmanned equipment corresponding to device avoids obstacle isSystem, comprising:
Above-mentioned unmanned equipment is avoided the device of obstacle;
Be arranged at the rotating shaft at unmanned equipment middle part, described rotating shaft is perpendicular to screw rotation placePlane;
Sensor, is arranged on described rotating shaft.
This system, can be according to Real-time Obtaining owing to comprising that above-mentioned unmanned equipment avoids the device of obstacleThe unmanned equipment that sensor gathers obstacle information around, and the maximum safety movement speed of obtaining,Less safety movement speed, comparatively safe scope, risk range, switch described unmanned equipment and enter and keep awayBarrier driving model or conventional driving model. The obstacle information that so, can make unmanned equipment collectNot in described risk range and not in described comparatively safe scope time, control described unmanned establishingStandby in conventional driving model; In the time that described obstacle information is in described comparatively safe scope, control instituteState unmanned equipment in conventional driving model; In the time that described obstacle information is in described danger, cutChanging described unmanned equipment enters and keeps away barrier driving model. So, can effectively reduce unmanned equipmentCollision accident.
Particularly, unmanned equipment is unpiloted four oar aircraft. Described rotating shaft and described four oarsThe distance of four flight oars of aircraft is identical. So, can avoid and the interference of screw and other parts.
In an embodiment, described sensor comprises turn-sensitive device therein. So, can reduce sensingThe quantity of device also covers whole diameter of Spherical Volume. Measure in four oar aircraft attached by a turn-sensitive deviceNear obstacle information. Fig. 5 shows turn-sensitive device 300 and covers an example in border circular areas. IfWhen four oar aircraft often need along continuous straight runs flight, such border circular areas is crucial. Turn-sensitive device300 are arranged on the middle part of four oar aircraft 100, make its position for all 4 screws 101Be symmetrical, the distance of 4 screws 101 of turn-sensitive device 300 distances equates. Turn-sensitive device 300One end at rotating shaft 200 away from fuselage, can rotate around axis 201, makes this turn-sensitive device 300Can face any angle and direction. The height of rotating shaft 200 is enough high, to make turn-sensitive device 300Do not cover screw 101 by its detection border 301 and 302 defined surveyed areas, and turn-sensitive device300 can not detect screw 101. When turn-sensitive device 300 rotates to 360 while spending from 0, around do not coverThe space of lid is the conical area of four oar aircraft 100 above and belows. Therein in an embodiment,Top and the bottom of four oar aircraft 100 are respectively arranged with sensor. Cover four oar aircraft so, comprehensivelyWhole space around.
In an embodiment, described sensor is sonar sensor therein.
In order to keep away barrier, we need to know obstacle distance. Such distance meet have enough spaces andResponse time is to avoid collision. In order to achieve this end, sonar sensor is one and well selects. By343 meter per seconds in the speed of sound, to the barrier of the interior ultimate range of investigative range, as 5 meters, back and forthTime is 29ms. For the distance of 5 meters, the range error that the measure error of 1ms is corresponding 0.2 meter, this footWith the minimum range arranging, as: the motion of unmanned plane during apart from 2 meters, barrier, stopped. Be less than 1ms as requiredMeasure error, its required electronic device is very simple. So, can improve unmanned equipment and avoid barrierThe cost performance of the device hindering.
As shown in Figure 6, in an embodiment, the quantity of described sensor is multiple therein. We canAnother turn-sensitive device 400 is installed on the side of turn-sensitive device 300, and it upward but banking. WhenWhen turn-sensitive device 400 rotates together with turn-sensitive device 300, it has covered the upper and lower circle of four oar aircraftConical region. The surveyed area of turn-sensitive device 400 can be to be less than or greater than turn-sensitive device 300, as long asBoth have some overlapping surveyed areas to guarantee there is no blind area or miss obstacle. The rotation being shown in Fig. 6 passesThe surveyed area that sensor 400 is defined by border 401 and 402 and turn-sensitive device 300 by border 301Overlapping with 302 detection zones that define. These two turn-sensitive devices 300 and 400 have covered four oar aircraftThe hemispherical space of top. Particularly, can with top accordingly below turn-sensitive device is also set, asThis can cover four oar aircraft whole space around.
Above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, butCan not therefore be interpreted as the restriction to the scope of the claims of the present invention. It should be pointed out that for this areaThose of ordinary skill, without departing from the inventive concept of the premise, can also make multiple distortion and changeEnter, these all belong to protection scope of the present invention. Therefore, the protection domain of patent of the present invention should be with appended powerProfit requires to be as the criterion.
Claims (10)
1. unmanned equipment is avoided a method for obstacle, it is characterized in that, comprising:
The unmanned equipment that Real-time Obtaining sensor gathers obstacle information around;
Obtain maximum safety movement speed, less safety movement speed, comparatively safe scope and risk range;
In the time that described obstacle information is in described risk range, switches described unmanned equipment and enter and keep awayBarrier driving model, keeps away the unmanned equipment stop motion of barrier driving model control by described, then according in real timeThe described obstacle information obtaining is determined safety movement path, controls described unmanned equipment according to described peaceThe motion of full motion path;
In the time that described obstacle information is in described comparatively safe scope, control described unmanned equipment placeIn conventional driving model, control described movement velocity not higher than described less safety movement speed;
When described obstacle information is not in described risk range and not in described comparatively safe scopeTime, control described unmanned equipment in conventional driving model, control described movement velocity not higher than describedMaximum safety movement speed.
2. unmanned equipment according to claim 1 is avoided the method for obstacle, it is characterized in that instituteStating unmanned equipment is unmanned plane, and described sensor is turn-sensitive device; Described obstacle information comprises barrierThe linear width of barrier that hinders thing distance, barrier angular width and obtain; Described Real-time Obtaining sensor is adoptedAfter the step of the unmanned equipment of collection obstacle information around, also comprise step:
Determine the linear width of barrier of judgement according to described obstacle distance, barrier angular width;
When the linear width of the barrier that obtains described in basis and the relative mistake of the barrier linearity width of described judgementWhen distance is greater than default relative error threshold value, control unmanned equipment stop motion.
3. unmanned equipment according to claim 1 is avoided the method for obstacle, it is characterized in that instituteThe step of the unmanned equipment of stating the collection of Real-time Obtaining sensor obstacle information around comprises:
Receive described sensor along main shaft send pulse signal and break the barriers return described pulse signal itBetween duration;
According to sending described pulse signal and receiving duration and the described pulse signal between described pulse signalSpread speed determine the obstacle distance of described obstacle information;
Wherein, the time interval between the described pulse signal of adjacent twice transmission is according to the biography of described pulse signalBroadcasting the maximum detectable range of speed and described sensor determines.
4. unmanned equipment according to claim 1 is avoided the method for obstacle, it is characterized in that instituteStating sensor is turn-sensitive device; The rotary speed of described sensor by described installation of sensors in rotating shaftRotary speed determine; Described rotary speed is by the detection angles width of described sensor with for described in gatheringThe time interval between the pulse signal of obstacle information is determined.
5. unmanned equipment is avoided a device for obstacle, it is characterized in that, comprising:
Complaint message acquisition module, the unmanned equipment gathering for Real-time Obtaining sensor obstacle aroundThing information;
Parameter acquisition module, for obtaining maximum safety movement speed, less safety movement speed, relatively pacifyingGamut and risk range;
Keep away barrier mode control module, in the time that described obstacle information is in described risk range, switchDescribed unmanned equipment enters keeps away barrier driving model, hinders unmanned the establishing of driving model control by described keeping awayStandby stop motion, then determine safety movement path according to the described obstacle information of Real-time Obtaining, described in controlUnmanned equipment moves according to described safety movement path;
Normal mode control module, in the time that described obstacle information is in described comparatively safe scope,Control described unmanned equipment in conventional driving model, control described movement velocity not higher than described lessSafety movement speed;
Described normal mode control module, also for working as described obstacle information not in described risk rangeAnd not in described comparatively safe scope time, control described unmanned equipment in conventional driving model,Control described movement velocity not higher than described maximum safety movement speed.
6. unmanned equipment according to claim 5 is avoided the device of obstacle, it is characterized in that instituteStating unmanned equipment is unmanned plane, and described sensor is turn-sensitive device; Described obstacle information comprises barrierThe linear width of barrier that hinders thing distance, barrier angular width and obtain; Described device also comprises:
Judge width determination module, for determining judgement according to described obstacle distance, barrier angular widthThe linear width of barrier;
Width error judge module, for when according to described in the linear width of the barrier that obtains and described judgementWhen the relative mistake distance of the linear width of barrier is greater than default relative error threshold value, controls unmanned equipment and stopMotion.
7. unmanned equipment according to claim 5 is avoided the device of obstacle, it is characterized in that instituteState complaint message acquisition module, comprising:
Receive described sensor along main shaft send pulse signal and break the barriers return described pulse signal itBetween duration, the time interval between the described pulse signal of adjacent twice transmission is according to the biography of described pulse signalBroadcasting the maximum detectable range of speed and described sensor determines;
According to sending described pulse signal and receiving duration and the described pulse signal between described pulse signalSpread speed determine the obstacle distance of described obstacle information.
8. unmanned equipment according to claim 5 is avoided the device of obstacle, it is characterized in that instituteStating sensor is turn-sensitive device; The rotary speed of described sensor by described installation of sensors in rotating shaftRotary speed determine; Described rotary speed is by the detection angles width of described sensor with for described in gatheringThe time interval between the pulse signal of obstacle information is determined.
9. unmanned equipment is avoided a system for obstacle, it is characterized in that, comprising:
Unmanned equipment described in claim 5-8 any one is avoided the device of obstacle;
Be arranged at the rotating shaft at unmanned equipment middle part, described rotating shaft is perpendicular to screw rotation placePlane;
Sensor, is arranged on described rotating shaft.
10. unmanned equipment according to claim 9 is avoided the device of obstacle, it is characterized in that,Described sensor is sonar sensor, and the quantity of described sensor is multiple.
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