CN105739519A - Unmanned plane laser obstacle avoidance system - Google Patents
Unmanned plane laser obstacle avoidance system Download PDFInfo
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- CN105739519A CN105739519A CN201410766209.9A CN201410766209A CN105739519A CN 105739519 A CN105739519 A CN 105739519A CN 201410766209 A CN201410766209 A CN 201410766209A CN 105739519 A CN105739519 A CN 105739519A
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- unmanned plane
- obstacle avoidance
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- avoidance
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Abstract
The invention relates to an unmanned plane laser obstacle avoidance system. The unmanned plane laser obstacle avoidance system comprises an ARM Cortex-M embedded module and an obstacle avoidance sensor module. The laser distance measurement technology is utilized, a laser distance measurement module is arranged in a distance measurement system driven by a brushless direct current motor, the distance measurement system can do 360-DEG rotation and can sense rotation angles, if an obstacle is discovered, the angle information and the distance information of the obstacle are sent to a flight control system, so the course or height are modified by the flight control system according to the data fed back by the distance measurement system to avoid the obstacle.
Description
Technical field
The present invention relates to the unmanned plane laser obstacle avoidance system of a kind of Novel integrated, it is adaptable to the avoidance of depopulated helicopter and many rotor wing unmanned aerial vehicles warns and hides obstacle function.
The present invention relates to a kind of novel unmanned plane obstacle avoidance system being core with ARMCortex-M embedded technology, solve unmanned plane in over the horizon flight course, meet with the alarm of barrier, pro-active intervention controls hang, and the function of obstacle is hidden in automatic lifting height or again planning course line.
Background technology
Current unmanned plane performance promotes gradually along with power technology updates, and unmanned plane is progressively developed into over the horizon flight by flying in sighting distance, and under over the horizon state, many employings figure passes the mode of monitoring camera and is controlled, and not yet adopts unmanned plane obstacle avoidance system.This controls to be absolutely unsafe for the over the horizon of unmanned plane.
The flying activity amount of unmanned plane is continuously increased, bring very big potential safety hazard to other aircraft in the environment of complicated spatial domain and ground third party, the harm that unmanned plane is likely to cause mainly includes midair crash and ground struck, for ensureing flight safety, the operational management of unmanned plane is generally kept scrupulous attitude by current various countries
Along with the development of sensor technology, laser range sensor module miniaturization, custom-designed scanning means is adopted to may be mounted on unmanned plane, for functions such as unmanned plane offer automatic obstacle avoidance, passive trouble alarms.
Summary of the invention
To be solved by this invention it has a problem in that, utilize laser ranging technique, laser ranging module is arranged in the range-measurement system that brshless DC motor drives, range-measurement system can 360 ° rotate and the perception anglecs of rotation, as found, the angle information of obstacle and range information are then sent to flight control system by barrier, and data modification course line that flight control system is fed back according to range-measurement system or height are with avoiding barrier.
This invention address that it technical problem is that to realize by the following technical solutions:
A kind of unmanned plane laser obstacle avoidance system, including ARMCortex-M flush bonding module and avoidance sensor assembly, described ARMCortex-M flush bonding module includes based on the airborne hardware module of STM32MCU, the embedded obstacle avoidance algorithm of airborne end；Sensor assembly adopts and uses laser range sensor, angular displacement sensor, laser range sensor is used for detecting obstacles thing distance, angular displacement sensor is changed for the Data-Link changing unmanned controller and receiver for the angle A RMCortex-M flush bonding module of barrier, it is possible to increase barrier avoiding function algorithm not destroying former flying in control link basis；Avoidance sensor assembly is used for identifying that avoidance distance, parameter pass to communication link transducer.
1, laser range sensor, angular displacement sensor technology, the signal of telecommunication will be converted to apart from, angle information, ARMCortex-M embedded technology is responsible for gathering and algorithm is converted to effective detection range and the range-measurement system anglec of rotation.
2, brshless DC motor controls technology, drives range-measurement system to rotate with fixed speed and angular range, to meet the avoidance requirement of different type of machines.
3, obstacle avoidance algorithm, increases obstacle avoidance algorithm, the angle information provided according to range-measurement system and range information, deviation from voyage route or height in flight control system.
Present invention achieves the fusion of laser range sensor technology, embedded technology and unmanned air vehicle technique, improve the safety of unmanned plane ultra-viewing distance airline operation.
Accompanying drawing explanation
Fig. 1 is unmanned plane laser obstacle avoidance system schematic diagram；
The specific embodiment of the present invention is shown in detail in by following example and accompanying drawing thereof.
Detailed description of the invention
Below in conjunction with accompanying drawing and preferred embodiment, to according to detailed description of the invention provided by the invention, structure, feature and effect thereof, describe in detail as after.
Referring to Fig. 1, brshless DC motor drives range-measurement system to rotate with fixed speed and angular range, laser range sensor and angular transducer will apart from and angle information be converted to analog voltage signal and pass to ARMCortex-M processor, through crashproof algorithm process, result is sent to flight control system deviation from voyage route, notify that ground handling operator's line of flight changes simultaneously, complete unmanned plane avoidance.
Claims (1)
1. a unmanned plane laser obstacle avoidance system, including ARMCortex-M flush bonding module and avoidance sensor assembly, it is characterised in that: described ARMCortex-M flush bonding module includes based on the airborne hardware module of STM32MCU, the embedded obstacle avoidance algorithm of airborne end；Sensor assembly adopts and uses laser range sensor, angular displacement sensor, laser range sensor is used for detecting obstacles thing distance, angular displacement sensor is changed for the Data-Link changing unmanned controller and receiver for the angle A RMCortex-M flush bonding module of barrier, it is possible to increase barrier avoiding function algorithm not destroying former flying in control link basis；Avoidance sensor assembly is used for identifying that avoidance distance, parameter pass to communication link transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410766209.9A CN105739519A (en) | 2014-12-11 | 2014-12-11 | Unmanned plane laser obstacle avoidance system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410766209.9A CN105739519A (en) | 2014-12-11 | 2014-12-11 | Unmanned plane laser obstacle avoidance system |
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| Publication Number | Publication Date |
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| CN105739519A true CN105739519A (en) | 2016-07-06 |
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| CN201410766209.9A Pending CN105739519A (en) | 2014-12-11 | 2014-12-11 | Unmanned plane laser obstacle avoidance system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125092A (en) * | 2016-08-08 | 2016-11-16 | 成都希德电子信息技术有限公司 | A kind of unmanned plane automatic obstacle-avoiding system and method based on two-dimensional laser radar |
| CN106274899A (en) * | 2016-08-29 | 2017-01-04 | 无锡卓信信息科技股份有限公司 | The laser barrier-avoiding method of a kind of pilotless automobile and system |
| CN106427776A (en) * | 2016-10-28 | 2017-02-22 | 成都格瑞思文化传播有限公司 | Vehicle reversing collision-preventing device based on rotating laser ranging radar |
| CN106647800A (en) * | 2016-10-19 | 2017-05-10 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle automatic obstacle avoidance navigation system |
| CN108287562A (en) * | 2018-01-08 | 2018-07-17 | 深圳市科卫泰实业发展有限公司 | It is a kind of can be from steady unmanned plane multisensor avoidance range-measurement system and method |
| CN108594252A (en) * | 2018-07-09 | 2018-09-28 | 广东电网有限责任公司 | A kind of laser ranging UAV system |
| CN109084735A (en) * | 2018-08-29 | 2018-12-25 | 北京航空航天大学 | A kind of tunnel monitoring abnormal state method and unmanned plane device |
| CN109945868A (en) * | 2019-03-07 | 2019-06-28 | 西安爱生技术集团公司 | A kind of unmanned plane target irradiation course line automatic planning |
-
2014
- 2014-12-11 CN CN201410766209.9A patent/CN105739519A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125092A (en) * | 2016-08-08 | 2016-11-16 | 成都希德电子信息技术有限公司 | A kind of unmanned plane automatic obstacle-avoiding system and method based on two-dimensional laser radar |
| CN106274899A (en) * | 2016-08-29 | 2017-01-04 | 无锡卓信信息科技股份有限公司 | The laser barrier-avoiding method of a kind of pilotless automobile and system |
| CN106647800A (en) * | 2016-10-19 | 2017-05-10 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle automatic obstacle avoidance navigation system |
| CN106427776A (en) * | 2016-10-28 | 2017-02-22 | 成都格瑞思文化传播有限公司 | Vehicle reversing collision-preventing device based on rotating laser ranging radar |
| CN108287562A (en) * | 2018-01-08 | 2018-07-17 | 深圳市科卫泰实业发展有限公司 | It is a kind of can be from steady unmanned plane multisensor avoidance range-measurement system and method |
| CN108287562B (en) * | 2018-01-08 | 2022-05-31 | 深圳市科卫泰实业发展有限公司 | Unmanned aerial vehicle multi-sensor obstacle avoidance and ranging system and method capable of achieving self-stability |
| CN108594252A (en) * | 2018-07-09 | 2018-09-28 | 广东电网有限责任公司 | A kind of laser ranging UAV system |
| CN109084735A (en) * | 2018-08-29 | 2018-12-25 | 北京航空航天大学 | A kind of tunnel monitoring abnormal state method and unmanned plane device |
| CN109084735B (en) * | 2018-08-29 | 2019-07-26 | 北京航空航天大学 | A kind of tunnel monitoring abnormal state method based on unmanned plane device |
| CN109945868A (en) * | 2019-03-07 | 2019-06-28 | 西安爱生技术集团公司 | A kind of unmanned plane target irradiation course line automatic planning |
| CN109945868B (en) * | 2019-03-07 | 2022-09-02 | 西安爱生技术集团公司 | Automatic planning method for target irradiation route of unmanned aerial vehicle |
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Legal Events
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| C06 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160706 |