CN105912026A - Flying robot obstacle avoiding device and flying robot obstacle avoiding method - Google Patents
Flying robot obstacle avoiding device and flying robot obstacle avoiding method Download PDFInfo
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- CN105912026A CN105912026A CN201610424513.4A CN201610424513A CN105912026A CN 105912026 A CN105912026 A CN 105912026A CN 201610424513 A CN201610424513 A CN 201610424513A CN 105912026 A CN105912026 A CN 105912026A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004888 barrier function Effects 0.000 claims description 17
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 238000011897 real-time detection Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000008447 perception Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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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
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- 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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flying robot obstacle avoiding device and a flying robot obstacle avoiding method. The flying robot obstacle avoiding device comprises a plurality of detectors installed on the external surface of the flying robot, and the detection areas of any two adjacent detectors in the plurality of detectors are superposed, so that the flying robot obstacle avoiding device is capable of detecting the object approaching the flying robot from any direction in a preset distance range around the flying robot.
Description
Technical field
The present invention relates to flying robot's design field, be specifically related to a kind of flying robot's fault avoidnig device and flight
Obstacle Avoidance.
Background technology
Flying robot's is of a great variety, and common Miniature Vehicle robot has that mobility is good, takeoff and anding place
Little advantage, flies in the range of (sighting distance) that can be the most limited, therefore has purposes the most widely.
In some use occasions, flying robot can realize low latitude and monitor in real time, it is thus achieved that resolution high, clear
Image.Typically, flying robot may be used for the work such as the fire prevention tour in forest field and city, aerial shooting.
Along with flying robot's systematic difference deeply, need to fly under indoor or complex environment, accordingly, it would be desirable to flight
Robot has the function of avoidance.
At present, before the avoidance sensor that the flying robot of the function with avoidance carries is installed in flying robot
Portion.Thus, owing to sensor exists detection blind area, often cannot realize 360 degree of models of surrounding arbitrary plane
The perception enclosed.
Therefore, those skilled in the art be devoted to develop one be capable of surrounding arbitrary plane 360
Flying robot's fault avoidnig device of the perception of degree scope and flying robot's barrier-avoiding method.
Summary of the invention
Because the drawbacks described above of prior art, the technical problem to be solved is to provide one and is capable of
Flying robot's fault avoidnig device and flying robot to the perception of 360 degree of scopes of surrounding arbitrary plane are kept away
Barrier method.
For achieving the above object, the invention provides a kind of flying robot's fault avoidnig device, including: it is installed on flight
Multiple detectors of robot outer surface；And the detector that in wherein said multiple detector, any two is adjacent
Search coverage is overlapping, so that flying robot's fault avoidnig device can predetermined distance range around survey mission robot
Interior any direction is towards the close object of flying robot.
Preferably, the plurality of detector is arranged on same mounting plane, and every necessarily on mounting plane
The uniform installation of angle.
Preferably, the plurality of detector is equally spaced.
Preferably, detector is that laser range sensor range finder module based on time-of-flight, RGB-D take the photograph
Camera, infrared distance measurement module or ultrasonic range finder sensor.
According to the present invention, additionally provide a kind of flying robot's barrier-avoiding method, including:
First step: utilize detector real-time detection and judge whether there is barrier in flying robot's peripheral direction
Or threaten；If there is barrier and/or threat, turn to second step；
Second step: set up described barrier or threaten corresponding flight no-fly zone, and calculating flying robot to institute
State the distance of no-fly zone；
Third step: judge that whether flying robot's distance to described no-fly zone is less than predetermined safe distance；
4th step: if flying robot to the distance of no-fly zone less than safe distance, then according to position, no-fly zone
Calculate avoidance velocity；
5th step: according to calculated avoidance velocity, calculate the attitudes vibration angle of flying robot with
Make flying robot perform attitudes vibration according to attitudes vibration angle, fly according to avoidance velocity subsequently so that
Flying robot is not less than safe distance to the distance of no-fly zone.
Preferably, described avoidance velocity includes flying robot's avoidance speed and avoidance flight course, wherein
In opposite direction relative to no-fly zone of flying robot's avoidance flight course and flying robot.
Preferably, described flying robot's barrier-avoiding method also includes the 6th step: if first step does not detect
Any barrier or threat, then keep original state of flight of flying robot
Preferably, described flying robot's barrier-avoiding method also includes: judge whether flying robot completes aerial mission,
Without completing aerial mission, then turn first step.
Preferably, in the case of flying robot is provided with airbound target point, then at the 5th further root of step
According to calculated avoidance velocity, calculate the step-length that flying robot advances；And enter one in the 6th step
Walk and calculate goal directed velocity according to target location, and calculate the step advanced according to this goal directed velocity
Long.
Below with reference to accompanying drawing, the technique effect of design, concrete structure and the generation of the present invention is described further,
To be fully understood from the purpose of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the principle schematic of flying robot's fault avoidnig device according to the preferred embodiment of the invention.
Fig. 2 is the flow chart of flying robot's barrier-avoiding method according to the preferred embodiment of the invention.
It should be noted that accompanying drawing is used for illustrating the present invention, and the unrestricted present invention.Note, represent the attached of structure
Figure may be not necessarily drawn to scale.Further, in accompanying drawing, same or like element indicates same or like
Label.
Detailed description of the invention
<flying robot's fault avoidnig device>
Fig. 1 is the principle schematic of flying robot's fault avoidnig device according to the preferred embodiment of the invention.
As it is shown in figure 1, flying robot's fault avoidnig device includes according to the preferred embodiment of the invention: be installed on flight
Multiple detectors of robot outer surface；And the detector that in wherein said multiple detector, any two is adjacent
Search coverage is overlapping, so that flying robot's fault avoidnig device can predetermined distance range around survey mission robot
Interior any direction is towards the close object of flying robot.
Such as, as described in Figure 1, flying robot's fault avoidnig device includes being installed on flying robot's outer surface 100
First detector the 10, second detector the 20, the 3rd detector the 30, the 4th detector the 40, the 5th detector
50, the 6th detector 60；Wherein, the first search coverage 11 of the first detector 10 and the second detector 20
Second search coverage 21 is overlapping；Second search coverage 21 and the 3rd of the 3rd detector 30 the of the second detector 20
Search coverage 31 is overlapping；3rd search coverage 31 is overlapping with the 4th search coverage 41 of the 4th detector 40；The
4th search coverage 41 of four detectors 40 is overlapping with the 5th search coverage 51 of the 5th detector 50；5th visits
The 5th search coverage 51 surveying device 50 is overlapping with the 6th search coverage 61 of the 6th detector 60；6th detector
6th search coverage 61 of 60 is overlapping with the first search coverage 11 of the first detector 10.Thus, overall detection
Surrounding's spherical spaces of region overlay 360 degree.
And, Fig. 1 shows the signal of horizontal layout, actually can also be formed and be arranged in whole flying robot
The three-dimensional of outer surface arranges network.
Preferably, the plurality of detector is arranged on same mounting plane, and every necessarily on mounting plane
The uniform installation of angle.
Preferably, the plurality of detector is equally spaced.
Such as, detector is laser range sensor based on flight time (Time of Flight, TOF) principle
Range finder module, RGB-D video camera, infrared distance measurement module, the sensor such as ultrasound measurement module.
Flying robot's fault avoidnig device of the present invention is installed on unmanned plane outer surface, can detect any dimension around simultaneously
Object close in the range of spending 360 degree, it is possible to achieve the barrier in 360 spheroids around is carried out perception.This
The barrier that bright flying robot's fault avoidnig device can realize any direction is close implements avoidance.
<flying robot's barrier-avoiding method>
Fig. 2 is the flow chart of flying robot's barrier-avoiding method according to the preferred embodiment of the invention.Root shown in Fig. 2
According to flying robot's barrier-avoiding method of the preferred embodiment of the present invention can use shown in Fig. 1 preferred according to the present invention
Flying robot's fault avoidnig device of embodiment.
When flying robot carries out manipulating flight, detecting peripheral situation by detector, real-time detection also judges to fly
Barrier and pop-up threats whether is there is in row robot peripheral direction；If there is then carrying out limiting flight speed side
To, it is to avoid flying robot's strikes obstacles body.
Specifically, as in figure 2 it is shown, according to the preferred embodiment of the invention flying robot's barrier-avoiding method include:
First step S1: utilize detector real-time detection and judge whether there is barrier in flying robot's peripheral direction
Hinder thing or threat；If there is barrier and/or threat, turn to second step S2；Otherwise turn to the 6th step S6；
Second step S2: set up described barrier or threaten corresponding flight no-fly zone, and calculating flying robot
Distance to described no-fly zone；
Third step S3: judge that whether flying robot's distance to described no-fly zone is less than predetermined safe distance；
4th step S4: if flying robot to the distance of no-fly zone less than safe distance, then according to no-fly zone
Position calculation avoidance velocity；Specifically, described avoidance velocity include flying robot's avoidance speed and
Avoidance flight course, wherein flying robot's avoidance flight course and flying robot are relative to the direction phase of no-fly zone
Instead；
On the other hand, if flying robot to the distance of no-fly zone not less than safe distance, then can not hold
Row avoidance processes.
5th step S5: according to calculated avoidance velocity, calculate the attitudes vibration of flying robot
, so that flying robot performs attitudes vibration according to attitudes vibration angle, fly according to avoidance velocity subsequently in angle,
So that flying robot to the distance of no-fly zone not less than safe distance；
6th step S6: without detecting any barrier or threat, then keep flying robot's
Original state of flight；
Can judge whether flying robot completes aerial mission in real time or termly, without completing flight
Task then can turn first step S1 and persistently judge there is barrier and/or threat and perform subsequent step；If it is complete
Become aerial mission then can terminate to process.
Additionally, in the case of flying robot is provided with airbound target point, then further in the 5th step S5
According to calculated avoidance velocity, calculate the step-length that flying robot advances；And in the 6th step
S6 calculates goal directed velocity according to target location further, and calculates according to this goal directed velocity
The step-length advanced.
Flying robot's barrier-avoiding method can efficiently perform avoidance process according to the preferred embodiment of the invention.
Described above illustrate and describes the preferred embodiments of the present invention, as previously mentioned, it should be understood that the present invention is not
It is confined to form disclosed herein, is not to be taken as the eliminating to other embodiments, and can be used for other groups various
Close, amendment and environment, and can be in invention contemplated scope described herein, by above-mentioned teaching or association area
Technology or knowledge are modified.And the change that those skilled in the art are carried out and change are without departing from the spirit of the present invention and model
Enclose, the most all should be in the protection domain of claims of the present invention.
Claims (9)
1. flying robot's fault avoidnig device, it is characterised in that including: be installed on multiple detectors of flying robot's outer surface；And the search coverage of the detector that any two is adjacent is overlapping in wherein said multiple detector so that flying robot's fault avoidnig device can around survey mission robot in predetermined distance range any direction towards the close object of flying robot.
2. flying robot's fault avoidnig device as claimed in claim 1, it is characterised in that the plurality of detector is arranged on same mounting plane, and every the uniform installation of certain angle on mounting plane.
3. flying robot's fault avoidnig device as claimed in claim 1 or 2, it is characterised in that the plurality of detector is equally spaced.
4. flying robot's fault avoidnig device as claimed in claim 1 or 2, it is characterised in that detector is laser range sensor range finder module based on time-of-flight, RGB-D video camera, infrared distance measurement module or ultrasonic range finder sensor.
5. flying robot's barrier-avoiding method, it is characterised in that including:
First step: utilize detector real-time detection and judge whether to exist in flying robot's peripheral direction barrier or threat；If there is barrier and/or threat, turn to second step；
Second step: set up described barrier or threaten corresponding flight no-fly zone, and calculating flying robot's distance to described no-fly zone；
Third step: judge that whether flying robot's distance to described no-fly zone is less than predetermined safe distance；
4th step: if flying robot to the distance of no-fly zone less than safe distance, then according to no-fly zone position calculation avoidance velocity；
5th step: according to calculated avoidance velocity, calculate the attitudes vibration angle of flying robot so that flying robot performs attitudes vibration according to attitudes vibration angle, fly according to avoidance velocity subsequently so that the distance of flying robot to no-fly zone is not less than safe distance.
6. flying robot's barrier-avoiding method as claimed in claim 5, it is characterized in that, described avoidance velocity includes flying robot's avoidance speed and avoidance flight course, wherein in opposite direction relative to no-fly zone of flying robot's avoidance flight course and flying robot.
7. the flying robot's barrier-avoiding method as described in claim 5 or 6, it is characterised in that also include:
6th step: if first step does not detect any barrier or threat, then keep original state of flight of flying robot.
8. the flying robot's barrier-avoiding method as described in claim 5 or 6, it is characterised in that also include: judge whether flying robot completes aerial mission, without completing aerial mission, then turns first step.
9. the flying robot's barrier-avoiding method as described in claim 5 or 6, it is characterized in that, in the case of flying robot is provided with airbound target point, then in the 5th step further according to calculated avoidance velocity, calculate the step-length that flying robot advances；And calculate goal directed velocity according to target location further in the 6th step, and calculate the step-length advanced according to this goal directed velocity.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424513.4A CN105912026A (en) | 2016-06-15 | 2016-06-15 | Flying robot obstacle avoiding device and flying robot obstacle avoiding method |
| PCT/CN2017/079512 WO2017215323A1 (en) | 2016-06-15 | 2017-04-06 | Obstacle avoiding apparatus for flying-robot and obstacle avoiding method for flying-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424513.4A CN105912026A (en) | 2016-06-15 | 2016-06-15 | Flying robot obstacle avoiding device and flying robot obstacle avoiding method |
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| CN105912026A true CN105912026A (en) | 2016-08-31 |
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| CN201610424513.4A Pending CN105912026A (en) | 2016-06-15 | 2016-06-15 | Flying robot obstacle avoiding device and flying robot obstacle avoiding method |
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| WO (1) | WO2017215323A1 (en) |
Cited By (4)
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| CN106647810A (en) * | 2017-01-10 | 2017-05-10 | 山东科技大学 | UAV automatic collision avoidance method based on negative-proportion guiding |
| WO2017215323A1 (en) * | 2016-06-15 | 2017-12-21 | 上海未来伙伴机器人有限公司 | Obstacle avoiding apparatus for flying-robot and obstacle avoiding method for flying-robot |
| CN107544332A (en) * | 2017-09-14 | 2018-01-05 | 深圳市盛路物联通讯技术有限公司 | Data processing method and related product |
| CN109298386A (en) * | 2018-10-17 | 2019-02-01 | 中国航天系统科学与工程研究院 | A kind of three-dimensional zone of ignorance quick detecting method based on multiple agent collaboration |
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| CN112650300B (en) * | 2021-01-07 | 2024-05-24 | 深圳市智胜联合科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and device |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2017215323A1 (en) | 2017-12-21 |
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Application publication date: 20160831 |