CN105892489B - A kind of automatic obstacle avoiding UAV system and control method based on Multi-sensor Fusion - Google Patents
A kind of automatic obstacle avoiding UAV system and control method based on Multi-sensor Fusion Download PDFInfo
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Abstract
The invention discloses a kind of automatic obstacle avoiding UAV system and control method based on Multi-sensor Fusion, environmental information real-time detection module realizes that the information that the environment of surrounding is measured in real time and be will test is transmitted to barrier Data Analysis Services module using multi-sensor fusion technology；Barrier Data Analysis Services module carries out environmental structure perception to the environmental information of received surrounding and constructs the barrier locating for determining；Avoidance decision-making module determines avoidance decision according to the output result of barrier Data Analysis Services module, drives power plant module to realize that unmanned plane hides peripheral obstacle by flight control system.The present invention is respectively arranged with binocular machine vision system in the body surrounding of unmanned plane, realize three-dimensional Reconstruction, cooperate the millimetre-wave radar of ultrasonic unit and direction of advance simultaneously, keep barrier-avoiding method more comprehensive, has the characteristics that detection of obstacles real-time is high, visual detection distance is remote, rate is high respectively.
Description
Technical field
The present invention relates to the operating maintenance fields of electric system, and in particular to a kind of independently keeping away based on Multi-sensor Fusion
Hinder UAV system and control method.
Background technique
By the technical research and practical application of many years, unmanned plane inspection has developed into a kind of efficient, inexpensive aerial
Inspection technology is to solve one of the important means of power transmission line intelligent inspection, failure is prevented greatly mention in the hidden danger stage
It is horizontal to rise electric system power transmission and distribution Operations, Administration and Maintenance.For unmanned plane, automatic obstacle-avoiding system is that unmanned plane smoothly completes
The important safety guarantee of aerial mission plays a crucial role the flight path planning ability of unmanned plane, very great Cheng
The intelligence and safety of unmanned plane are reflected on degree.
Application No. is " a kind of barrier-avoiding methods and its device of unmanned plane " of " 201310334960.7 ", essentially disclose one
Kind of unmanned plane barrier-avoiding method and its device based on mankind's avoid-obstacle behavior, but do not provide how the side of real-time detection barrier
Method.Application No. is " the multiple avoidance obstacle methods of unmanned plane for power-line patrolling " of " 201310036235.1 ", have merged two
Weight barrier-avoiding method, but need to download transmission line of electricity magnetic distribution model and transmission line of electricity three-dimensional in embedded flight controller
It is complex to calculate implementation process for model data.
In conclusion avoidance of the unmanned plane barrier-avoiding method of the prior art for unmanned plane inspection operation, effect are not
It is very ideal, still there are many problems to need to solve.
Summary of the invention
To solve the shortcomings of the prior art, the invention discloses it is a kind of based on the automatic obstacle avoiding of Multi-sensor Fusion without
Man-machine system and control method are measured in real time by environment of the Multi-sensor Fusion to surrounding, and the information that will test is logical
After crossing environment and the calculating of barrier Data Analysis Services module, flight control system is passed through by avoidance decision-making module and drives power plant module real
Existing unmanned plane is effectively hidden to peripheral obstacle, improves the monitoring range of unmanned plane, ensures UAV system transmission line of electricity
The safety of inspection.
To achieve the above object, concrete scheme of the invention is as follows:
A kind of automatic obstacle avoiding UAV system based on Multi-sensor Fusion, comprising:
Environmental information real-time detection module is measured in real time the environment of surrounding using multi-sensor fusion technology realization
And the information that will test is transmitted to barrier Data Analysis Services module；
Barrier Data Analysis Services module carries out environmental structure perception building to the environmental information of received surrounding and determines
Locating barrier；
Avoidance decision-making module determines avoidance decision according to the output result of barrier Data Analysis Services module, by flying control
System drive power plant module realizes that unmanned plane hides peripheral obstacle.
Further, the environmental information real-time detection module includes ultrasonic unit, millimetre-wave radar, inertial sensor
And binocular machine vision system.
Further, the ultrasonic unit is mounted on the top of rack, and the bracket of ultrasonic unit by fixed frame
Surrounding is separately installed with binocular machine vision system, and inertial sensor and direction of advance millimetre-wave radar are located at the preceding appearance of rack
On face.
Further, the two sides of the rack are equipped with power plant module by fixed link, pacify on the output end of power plant module
Equipped with propeller.
Further, the bottom of the rack is equipped with contractile undercarriage.
Further, the structure of the ultrasonic unit is semicircle, and interference preventer is installed in ultrasonic unit.
A kind of automatic obstacle avoiding UAV system control method based on Multi-sensor Fusion, comprising:
Unmanned plane ambient enviroment raw information is obtained using environmental information real-time detection module；
By environment raw information input environment and barrier Data Analysis Services module, environmental structure perception building is carried out；
Construct space connected region, according to the Disorder Model combination distance measuring unit of foundation obtain fuselage and barrier away from
From, using Artificial Potential Field Method carry out local paths planning avoid barrier from colliding；
Autonomous type Safe path planning increasingly constructs collision avoidance point in planning space with random path drawing method and keeps away
The flight path figure for hitting route segment composition searches for the optimal path from the unmanned plane of origin-to-destination, i.e., in flight path figure
Route searching on flight path figure；
Avoidance decision-making module determines avoidance decision according to the output result of barrier Data Analysis Services module, by flying control
System drive power plant module realizes that unmanned plane hides peripheral obstacle.
Further, when environmental structure perception building, together by the binocular machine vision system buildup of unmanned plane surrounding,
The three-dimension measuring system for constituting big visual space range receives body surface in environment using the camera in binocular vision system
Characteristic point, and anaglyph is obtained by Stereo matching, determines depth image later, and carry out environmental structure perception building.
Further, when constructing space connected region, Disorder Model is initially set up, the knot of improved space Octree is used
Obstacle is described in structure, and the spatial cuboids containing entire scene are divided into eight sub- cube grids by three directions,
It is organized into an Octree；
If contained scenery dough sheet number is greater than given threshold value in a certain sub-cube grid, make for the sub-cube into one
The subdivision of step, until above-mentioned subdivision process dough sheet number contained by each leaf node of Octree is respectively less than given threshold value,
And fuselage is obtained at a distance from barrier in conjunction with direction of advance millimetre-wave radar echo-signal.
Further, space connected region is constructed further include: carry out local paths planning using Artificial Potential Field Method, pass through nothing
The surrounding binocular machine vision system of man-machine carrying obtains a new three dimensional closure environment；
Scanning is combined into multiresolution barrier map, in part in order to avoid barrier collision, carries out unmanned plane during flying
Local paths planning in region.
Further, the steering engine that flight control system is delivered to unmanned plane during flying device servo mechanism by controlling signal, and according to
Inertial guidance data and flight path generate flight control instruction, and unmanned plane receives flight control instruction, to control unmanned plane to barrier
Object is hindered to carry out avoidance.
Beneficial effects of the present invention:
Modular structure of the present invention is stable, reliable, it is possible to prevente effectively from the collision of unmanned plane and all types of barriers, passes through mould
Blockization design can be mounted on all kinds of unmanned planes, be respectively arranged with binocular machine vision system in the body surrounding of unmanned plane,
It realizes three-dimensional Reconstruction, while cooperating the millimetre-wave radar of ultrasonic unit and direction of advance, keep barrier-avoiding method more comprehensive,
Have the characteristics that detection of obstacles real-time is high, visual detection distance is remote, rate is high respectively.Significantly improve barrier real-time detection
Efficiency, ensured the flight safety of unmanned plane cruising inspection system, had broad application prospects.
Detailed description of the invention
Fig. 1 is system global structure figure of the invention；
Fig. 2 is the principle of the present invention block diagram；
Fig. 3 is avoidance obstacle flow chart of the invention；
In Fig. 2: 1- inertial sensor；2- environment and barrier Data Analysis Services module；3- direction of advance millimeter wave thunder
It reaches；4- binocular machine vision system；5- ultrasonic unit；6- propeller；7- power plant module；8- undercarriage；9- avoidance decision model
Block；10- rack；11- flight control system.
Specific embodiment:
The present invention is described in detail with reference to the accompanying drawing:
As shown in Figs. 1-2, a kind of automatic obstacle avoiding UAV system based on Multi-sensor Fusion, including environment and barrier
Data Analysis Services module 2, ultrasonic unit 5, propeller 6, power plant module 7, avoidance decision-making module 9 and rack 10；The machine
It is specially processor that environment and barrier Data Analysis Services module 2, the module are equipped on the preceding outer surface of frame 10, for real
Now the analysis of environment and barrier data is handled, inertial sensor 1 and direction of advance millimetre-wave radar 3, and inertial sensor 1
It is located at the top of environment Yu barrier Data Analysis Services module 2, the inside installation of rack 10 with direction of advance millimetre-wave radar 3
There is avoidance decision-making module 9, ultrasonic unit 5 is mounted on the top of rack 10, and the bracket four of ultrasonic unit 5 by fixed frame
It is separately installed with binocular machine vision system 4 week, the two sides of rack 10 are equipped with power plant module 7, power plant module 7 by fixed link
Output end on propeller 6 is installed, inertial sensor 1, direction of advance millimetre-wave radar 3, binocular machine vision system 4 and super
The output end and environment of acoustic wave device 5 and the input terminal of barrier Data Analysis Services module 2 are electrically connected, environment and barrier
The output end of Data Analysis Services module 2 and the input terminal of avoidance decision-making module 9 are electrically connected, the output of avoidance decision-making module 9
End is connect by flight control system 11 with the input terminal of power plant module 7, and ultrasonic unit 5 is semicircle, and in ultrasonic unit 5
Interference preventer is installed, the bottom of rack 10 is equipped with contractile undercarriage 8.
Inertial sensor 1 is detection and measurement acceleration, inclination, shock and vibration, rotation and multiple degrees of freedom (DoF) movement
Sensor.Inertial sensor 1 is used for the navigation of aircraft, orientation；Direction of advance millimetre-wave radar 3 is used for the obstacle of direction of advance
Object ranging；Top ultrasonic unit 5 is used for the obstacle distance that survey aircraft top is likely encountered；Binocular machine vision system 4
For constructing the three-dimensional environment around aircraft.
The environment and obstacle information that avoidance decision-making module 9 is provided based on environment and barrier Data Analysis Services module 2,
Simple Robot dodge strategy is executed to simple obstacle object, avoiding barrier is given to complex barrier object and the new air route cooked up.
Power plant module 7 includes: motor, electron speed regulator, electricity tune connecting plate, blade, battery.Effect is the height for executing aircraft
Control, course, speed control are spent, to execute flight according to the new air route that avoidance decision-making module 9 provides.
Flight control system 11 integrates various sensors, flight controller, power-supply system, cable and executing agency on machine.Flight
Control system 11 is a close loop negative feedback control system, it can control unmanned plane and realizes fixed height automatically, vectoring, determines appearance
State flight, flight attitude is more stable when controlling maneuvering flight, to guarantee the safe falling of unmanned plane.
A kind of automatic obstacle avoiding UAV system control method based on Multi-sensor Fusion is as shown in figure 3, include following
Step: step 1: unmanned plane during flying environment information acquisition；Step 2: environment and barrier Data Analysis Services；Step 3: building is empty
Between connected region；Step 4: autonomous type Safe path planning；Step 5: avoidance decision；Step 6: implementing avoidance.
Step 1: unmanned plane ambient enviroment raw information is obtained based on multisensor.Pass through the direction of advance of unmanned aerial vehicle onboard
Millimetre-wave radar, top ultrasonic sensor and binocular machine vision system obtain unmanned plane ambient enviroment raw information.
Step 2: by environment raw information input environment and barrier Data Analysis Services module, carrying out environmental structure perception
Building.
Together by the binocular machine vision system buildup of unmanned plane surrounding, the three-dimensional measurement of big visual space range is constituted
System, the characteristic point of body surface in environment is received using the camera in binocular vision system, and is obtained by Stereo matching
Anaglyph determines depth image later, and carries out environmental structure perception building.
Environmental structure perception building is exactly to construct the space structure around unmanned plane, the building in step 3 by simulation
Space connected region is the unmanned plane ambient enviroment obtained based on second step, under the premise of avoiding colliding with barrier, is obtained
The space connected region that can be used for flying, it can be understood as space segment shared by barrier is rejected in three-dimensional space, it is remaining
The space being connected to.
Step 3: building space connected region.
Disorder Model is initially set up, obstacle is described using the structure of improved space Octree.It will be containing entire
The spatial cuboids of scene are divided into eight sub- cube grids by three directions, are organized into an Octree.If a certain son is vertical
Contained scenery dough sheet number is greater than given threshold value in cube grid, then makees further subdivision for the sub-cube.Above-mentioned subdivision
Until process dough sheet number contained by each leaf node of Octree is respectively less than given threshold value, and combine direction of advance millimeter
Wave radar echo signal obtains obstacle distance.
Determine barrier method: first is that obstacle distance is obtained based on direction of advance millimetre-wave radar echo-signal, second is that
A new three dimensional closure environment is obtained by the surrounding binocular machine vision system that unmanned plane carries.Scanning is combined into more resolutions
Rate barrier map.
Secondly local paths planning is carried out using Artificial Potential Field Method, the surrounding binocular machine vision system carried by unmanned plane
System obtains a new three dimensional closure environment.Scanning is combined into multiresolution barrier map, in part in order to avoid barrier
Collision carries out the local paths planning in unmanned plane during flying region.Local paths planning is used for aircraft itself Real Time Obstacle Avoiding, with letter
Single Robot dodge strategy combines.
Step 4: autonomous type Safe path planning.Path planning process is divided into study and two stages of inquiry, in study rank
Section increasingly constructs the flight of collision avoidance point and collision avoidance route segment composition in planning space with probabilistic roadmap (PRM) method
Route map G=(V, E), V are the set of collision avoidance point in route map, and E is the set of collision avoidance route segment in figure.On inquiry phase, road
Path search is the optimal path searched in flight path figure from the unmanned plane of origin-to-destination, the i.e. road on flight path figure
Path search.It can disappear in conjunction with the constraint condition of unmanned plane, such as type, flying height, speed, projected resources on flight path figure
Consumption greatly reduces, and is conducive to the variable task route searching of unmanned plane.It can be wanted simultaneously according to planning time and memory space
It asks, the fine degree of setting path figure.Autonomous type Safe path planning is combined with complicated Robot dodge strategy, needs flying control ground
Standing, (software) is middle to be realized.
Step 5: Robot dodge strategy selection and decision.Generally be divided into the Robot dodge strategy of two ranks: simple Robot dodge strategy and
Complicated Robot dodge strategy.Simple Robot dodge strategy handles barrier avoidance by way of the obstacle detouring that hovers and climb.Complicated avoidance is main
It is to handle avoidance by way of rerouting and dynamic lane planning, this mode is for handling keeping away for complex barrier object
Barrier.
By local paths planning, the disposable achievable barrier hidden may be considered simple obstacle object；Based on office
Portion path planning combination space connected region is abandoned if can still encounter new barrier after completing simple Robot dodge strategy
Simple Robot dodge strategy needs to carry out Safe path planning, handles complex barrier object avoidance, an avoidance can be hidden in simple terms
Barrier is considered simple obstacle object, is encountered new barrier due to an avoidance and is then thought that these barriers constitute complexity
Barrier.
Step 6: implementing avoidance movement, avoidance decision-making module is delivered to unmanned plane during flying device servo mechanism by controlling signal
Steering engine, and flight control instruction is generated according to inertial guidance data and flight path, unmanned plane receives flight control instruction, to control
Unmanned plane processed carries out avoidance to barrier.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of automatic obstacle avoiding UAV system based on Multi-sensor Fusion, characterized in that include:
Environmental information real-time detection module, using multi-sensor fusion technology realization the environment of surrounding is measured in real time and incite somebody to action
The information detected is transmitted to environment and barrier Data Analysis Services module；
It is true that environment and barrier Data Analysis Services module carry out environmental structure perception building to the environmental information of received surrounding
Fixed locating barrier；
Avoidance decision-making module determines avoidance decision according to the output result of environment and barrier Data Analysis Services module, by flying
Control system drive power plant module realizes that unmanned plane hides peripheral obstacle；
When environmental structure perception building, together by the binocular machine vision system buildup of unmanned plane surrounding, it is empty to constitute big vision
Between range three-dimension measuring system, using in binocular vision system camera receive environment in body surface characteristic point, and
Anaglyph is obtained by Stereo matching, determines depth image later, and carries out environmental structure perception building；
When constructing space connected region, Disorder Model is initially set up, obstacle is carried out using the structure of improved space Octree
Spatial cuboids containing entire scene are divided into eight sub- cube grids by three directions, are organized into one eight by description
Fork tree；If contained scenery dough sheet number is greater than given threshold value in a certain sub-cube grid, make for the sub-cube further
Subdivision, until above-mentioned subdivision process dough sheet number contained by each leaf node of Octree is respectively less than given threshold value, and
Fuselage is obtained at a distance from barrier in conjunction with direction of advance millimetre-wave radar echo-signal；Construct space connected region further include:
Local paths planning is carried out using Artificial Potential Field Method, obtains one newly by the surrounding binocular machine vision system that unmanned plane carries
Three dimensional closure environment；Scanning is combined into multiresolution barrier map, in part in order to avoid barrier collision, carries out nobody
Local paths planning in machine flight range；
Autonomous type Safe path planning, path planning process are divided into study and two stages of inquiry, in the study stage, with random
Route map (PRM) method increasingly construct collision avoidance point and collision avoidance route segment composition in planning space flight path figure G=(V,
E), V is the set of collision avoidance point in route map, and E is the set of collision avoidance route segment in figure；In inquiry phase, route searching is to fly
The optimal path from the unmanned plane of origin-to-destination, the i.e. route searching on flight path figure are searched in walking along the street line chart；
Implement avoidance movement, avoidance decision-making module is delivered to the steering engine of unmanned plane during flying device servo mechanism by control signal, and
Flight control instruction is generated according to inertial guidance data and flight path, unmanned plane receives flight control instruction, to control unmanned plane
Avoidance is carried out to barrier.
2. a kind of automatic obstacle avoiding UAV system based on Multi-sensor Fusion as described in claim 1, characterized in that described
Environmental information real-time detection module includes ultrasonic unit, millimetre-wave radar, inertial sensor and binocular machine vision system.
3. a kind of automatic obstacle avoiding UAV system based on Multi-sensor Fusion as claimed in claim 2, characterized in that described
Ultrasonic unit is mounted on the top of rack by fixed frame, and the bracket surrounding of ultrasonic unit is separately installed with binocular machine
Vision system, inertial sensor and direction of advance millimetre-wave radar are located on the preceding outer surface of rack.
4. a kind of automatic obstacle avoiding UAV system based on Multi-sensor Fusion as claimed in claim 3, characterized in that described
The two sides of rack are equipped with power plant module by fixed link, are equipped with propeller on the output end of power plant module.
5. a kind of automatic obstacle avoiding UAV system based on Multi-sensor Fusion as claimed in claim 3, characterized in that described
The bottom of rack is equipped with contractile undercarriage；The structure of the ultrasonic unit is semicircle, and is pacified in ultrasonic unit
Fill interference preventer.
6. based on a kind of control method of the automatic obstacle avoiding UAV system based on Multi-sensor Fusion described in claim 1,
It is characterized in that, comprising:
Unmanned plane ambient enviroment raw information is obtained using environmental information real-time detection module；
By environment raw information input environment and barrier Data Analysis Services module, environmental structure perception building is carried out；
Space connected region is constructed, fuselage is obtained at a distance from barrier according to the Disorder Model combination distance measuring unit of foundation, benefit
Manually potential field method progress local paths planning avoids barrier from colliding；
Autonomous type Safe path planning increasingly constructs collision avoidance point and collision avoidance road in planning space with random path drawing method
The flight path figure of diameter section composition searches for the optimal path from the unmanned plane of origin-to-destination in flight path figure, that is, is flying
Route searching on walking along the street line chart；
Avoidance decision-making module determines avoidance decision according to the output result of environment and barrier Data Analysis Services module, by flying
Control system drive power plant module realizes that unmanned plane hides peripheral obstacle；
When environmental structure perception building, together by the binocular machine vision system buildup of unmanned plane surrounding, it is empty to constitute big vision
Between range three-dimension measuring system, using in binocular vision system camera receive environment in body surface characteristic point, and
Anaglyph is obtained by Stereo matching, determines depth image later, and carries out environmental structure perception building；
When constructing space connected region, Disorder Model is initially set up, obstacle is carried out using the structure of improved space Octree
Spatial cuboids containing entire scene are divided into eight sub- cube grids by three directions, are organized into one eight by description
Fork tree；
If contained scenery dough sheet number is greater than given threshold value in a certain sub-cube grid, make for the sub-cube further
Subdivision until above-mentioned subdivision process dough sheet number contained by each leaf node of Octree is respectively less than given threshold value, and is tied
It closes direction of advance millimetre-wave radar echo-signal and obtains fuselage at a distance from barrier；
Construct space connected region further include: carry out local paths planning using Artificial Potential Field Method, four carried by unmanned plane
All binocular machine vision systems obtain a new three dimensional closure environment；Scanning is combined into multiresolution barrier map, in office
Portion carries out the local paths planning in unmanned plane during flying region in order to avoid barrier collision；
Implement avoidance movement, avoidance decision-making module is delivered to the steering engine of unmanned plane during flying device servo mechanism by control signal, and
Flight control instruction is generated according to inertial guidance data and flight path, unmanned plane receives flight control instruction, to control unmanned plane
Avoidance is carried out to barrier.
7. a kind of control method of the automatic obstacle avoiding UAV system based on Multi-sensor Fusion as claimed in claim 6,
Be characterized in, flight control system is delivered to the steering engine of unmanned plane during flying device servo mechanism by controlling signal, and according to inertial guidance data and
Flight path generates flight control instruction, and unmanned plane receives flight control instruction, keeps away to control unmanned plane to barrier
Barrier.
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