CN106168810A - A kind of unmanned plane during flying obstacle avoidance system based on RTK and method - Google Patents
A kind of unmanned plane during flying obstacle avoidance system based on RTK and method Download PDFInfo
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- CN106168810A CN106168810A CN201610827605.7A CN201610827605A CN106168810A CN 106168810 A CN106168810 A CN 106168810A CN 201610827605 A CN201610827605 A CN 201610827605A CN 106168810 A CN106168810 A CN 106168810A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of unmanned plane during flying obstacle avoidance system based on RTK and method, the step of method is as follows: S1, unmanned plane fly according to path planning；S2, picture by photographic head captured in real-time line of flight front；S3, the picture of shooting is passed to image processor；S4, earth station's software tags barrier；After picture is processed by S5, image processor, result is passed to RTK alignment system；Unmanned plane self is accurately positioned by S6, RTK alignment system, is then quickly modified course line according to the size of barrier, determines flight path, last cut-through thing；After S7, cut-through thing, continue flight according to original path planning.The present invention uses photographic head shooting to alleviate the weight of unmanned plane, reduces the cost of unmanned plane.Use RTK alignment system unmanned plane positioning precision can be risen to a centimetre rank, make unmanned plane can know self locus accurately in flight course in real time, offer is quickly provided for the positive course line of Real Time Obstacle Avoiding and error and supports.
Description
Technical field
The present invention relates to a kind of unmanned plane avoidance technology, particularly relate to a kind of unmanned plane during flying obstacle avoidance system based on RTK
And method.
Background technology
Unmanned plane, in performing the task process sprayed insecticide for crops, can be potentially encountered the obstacle such as electric pole, big tree
Thing occurs in the path planning of unmanned plane during flying.If can not Real Time Obstacle Avoiding, be likely to result in the direct air crash of unmanned plane, because of
This, the Real Time Obstacle Avoiding system of unmanned plane is the important safety guarantee that unmanned plane smoothly completes aerial mission, for unmanned plane just
Chang Zuoye, plays the most crucial effect.
And traditional unmanned plane cannot realize high-precision independent Real Time Obstacle Avoiding, therefore can only realize on the ground away from barrier
Fang Jinhang self-driving is flown, and in the complicated flight range of barrier, can only be carried out manually by the veteran hands that flies
Assisting in flying.And present stage unmanned plane Real Time Obstacle Avoiding system great majority are all in simulation stage, really there is practicality and feasible
Property fewer.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of unmanned plane during flying of based on RTK avoidance system
System and method, solve unmanned plane in flight course, and running into barrier can not avoid in time and cause asking of unmanned plane air crash
Topic.
It is an object of the invention to be achieved through the following technical solutions: a kind of unmanned plane during flying of based on RTK avoidance system
System, including photographic head, judge module, image processor, mark module and RTK alignment system；Described photographic head is mainly clapped
Take the photograph the picture in line of flight front；The image photographed mainly is processed by described image processor in real time, and finds
The object of similar obstacles thing；Described judge module mainly determines whether barrier and whether can cut-through thing；Described
Mark module be mainly the mode that labelling point is set at ground station control end, the barrier in flight path is set；Described
RTK alignment system i.e. carrier phase difference technology mainly accurately determines flight path, cut-through thing.
Described image processor includes that unmanned plane is run rail by lens group, photosensitive sensor and CPU, described lens group
Front picture on mark is transmitted on photosensitive sensor, then imaging on photosensitive sensor, is finally passed by the image presented
Pass CPU process, find the object of similar obstacles thing.
Described photographic head is mainly according to the picture in shooting line of flight front, unmanned plane during flying path, described labelling
Barrier in the line of flight is mainly marked by module according to ground station software.
Described judge module includes the first judge module and the second judge module, and the first described judge module is mainly
Judging whether unmanned plane front has barrier, the second described judge module mainly judges whether energy according to the size of barrier
Enough walk around.
The function of described RTK alignment system includes being accurately positioned unmanned plane position and revising course line determining flight path.
A kind of unmanned plane during flying barrier-avoiding method based on RTK, the step of described method is as follows:
S1, unmanned plane take off, according to path planning normal flight；
S2, picture by photographic head captured in real-time line of flight front；
S3, the picture of shooting is passed to image processor；
S4, ground station control end labelling barrier；
After barrier picture is processed by S5, image processor, result is passed to RTK alignment system；
Unmanned plane self is accurately positioned by S6, RTK alignment system, then quickly repaiies course line according to the size of barrier
Just, flight path, last cut-through thing are determined；
After S7, cut-through thing, continue flight according to original path planning.
The method of the described picture processing in step S5 is:
S51, from shooting picture judge that there is clear in front, unmanned plane course line；
S52, without barrier, image processor need not pass to RTK alignment system after processing, unmanned plane continues normally to fly
OK；
If S53 has a barrier, the estimation of barrier size and horizontal direction are worth after processing by image processor partially passes to RTK
Alignment system.
The method of the cut-through thing in described S6 is:
S61, size according to the barrier of image processor identification, it is judged that can unmanned plane cut-through thing；
Cannot be around out-of-date if S62 barrier is excessive, unmanned plane returns takeoff point；
S63, if able to cut-through thing, calculates the deviation angle of unmanned plane, from the right cut-through thing of unmanned plane.
The invention has the beneficial effects as follows: a kind of unmanned plane during flying obstacle avoidance system based on RTK and method, it is not necessary to particularly
Hardware, alleviates the weight of unmanned plane only with photographic head, reduces the cost of unmanned plane.Use the RTK alignment system can be
Unmanned plane positioning precision rises to a centimetre rank, makes unmanned plane can know self space bit accurately in flight course in real time
Put, offer is quickly provided for the positive course line of Real Time Obstacle Avoiding and error and supports.
Accompanying drawing explanation
Fig. 1 is system flow chart.
Detailed description of the invention
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
The following stated.
As it is shown in figure 1, a kind of unmanned plane during flying obstacle avoidance system based on RTK, at photographic head, judge module, image
Reason device, mark module and RTK(carrier phase difference technology) alignment system；Before the described photographic head mainly shooting line of flight
The picture of side；The image photographed mainly is processed by described image processor in real time, and finds similar obstacles thing
Object；Described judge module mainly determines whether barrier and whether can cut-through thing；Described mark module master
If arrange the mode of labelling point at ground station control end, the barrier in flight path is set；Described RTK alignment system is i.e.
Carrier phase difference technology mainly accurately determines flight path, cut-through thing.
Described image processor includes that unmanned plane is run rail by lens group, photosensitive sensor and CPU, described lens group
Front picture on mark is transmitted on photosensitive sensor, then imaging on photosensitive sensor, is finally passed by the image presented
Pass CPU process, find the object of similar obstacles thing.
Described photographic head is mainly according to the picture in shooting line of flight front, unmanned plane during flying path, described labelling
Barrier in the line of flight is mainly marked by module according to ground station software.
Described judge module includes the first judge module and the second judge module, and the first described judge module is mainly
Judging whether unmanned plane front has barrier, the second described judge module mainly judges whether energy according to the size of barrier
Enough walk around.
The function of described RTK alignment system includes being accurately positioned unmanned plane position and revising course line determining flight path.
A kind of unmanned plane during flying barrier-avoiding method based on RTK, the step of described method is as follows:
S1, unmanned plane take off, according to path planning normal flight；
S2, picture by photographic head captured in real-time line of flight front；
S3, the picture of shooting is passed to image processor；
S4, ground station control end labelling barrier；
After barrier picture is processed by S5, image processor, result is passed to RTK alignment system；
Unmanned plane self is accurately positioned by S6, RTK alignment system, then quickly repaiies course line according to the size of barrier
Just, flight path, last cut-through thing are determined；
After S7, cut-through thing, continue flight according to original path planning.
The method of the described picture processing in step S5 is:
S51, from shooting picture judge that there is clear in front, unmanned plane course line；
S52, without barrier, image processor need not pass to RTK alignment system after processing, unmanned plane continues normally to fly
OK；
If S53 has a barrier, the estimation of barrier size and horizontal direction are worth after processing by image processor partially passes to RTK
Alignment system.
The method of the cut-through thing in described S6 is:
S61, size according to the barrier of image processor identification, it is judged that can unmanned plane cut-through thing；
Cannot be around out-of-date if S62 barrier is excessive, unmanned plane returns takeoff point；
S63, if able to cut-through thing, calculates the deviation angle of unmanned plane, from the right cut-through thing of unmanned plane.
On CPU in the image processor, run Linux system and degree of depth learning neural network framework.Degree of depth study god
Through network for identifying the object in the image that photosensitive sensor is brought.Comprise input network, learning network, export network.
Learning network process image input, need to pre-enter the image of about 1000 barriers, then tell learning network this be
Barrier.After image by learning disorder thing, it is carried on unmanned plane thus Real time identification barrier.In output network linking
Flight controller to unmanned plane.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form, is not to be taken as the eliminating to other embodiments, and can be used for other combinations various, amendment and environment, and can be at this
In the described contemplated scope of literary composition, it is modified by above-mentioned teaching or the technology of association area or knowledge.And those skilled in the art are entered
The change of row and change, the most all should be at the protection domains of claims of the present invention without departing from the spirit and scope of the present invention
In.
Claims (8)
1. a unmanned plane during flying obstacle avoidance system based on RTK, it is characterised in that: include photographic head, judge module, image procossing
Device, mark module and RTK alignment system；Described photographic head mainly shoots the picture in line of flight front；Described image
The image photographed mainly is processed by processor in real time, and finds the object of similar obstacles thing；Described judge module
Mainly determine whether barrier and whether can cut-through thing；Described mark module mainly sets at ground station control end
The mode of tagging point, arranges the barrier in flight path；Described RTK alignment system i.e. carrier phase difference technology is main
It is accurately to determine flight path, cut-through thing.
A kind of unmanned plane during flying obstacle avoidance system based on RTK the most according to claim 1, it is characterised in that: described figure
As processor includes lens group, photosensitive sensor and CPU, described lens group is by saturating for the front picture on unmanned plane running orbit
It is mapped on photosensitive sensor, then imaging on photosensitive sensor, finally the image presented is passed to CPU process, find
The object of similar obstacles thing.
A kind of unmanned plane during flying obstacle avoidance system based on RTK the most according to claim 1, it is characterised in that: described takes the photograph
As head mainly according to the picture in shooting line of flight front, unmanned plane during flying path, described mark module is mainly according to ground
Barrier in the line of flight is marked by station software.
A kind of unmanned plane during flying obstacle avoidance system based on RTK the most according to claim 1, it is characterised in that: described sentences
Disconnected module includes the first judge module and the second judge module, and the first described judge module mainly judges that unmanned plane front is
No have barrier, and the second described judge module mainly judges whether to walk around according to the size of barrier.
A kind of unmanned plane during flying obstacle avoidance system based on RTK the most according to claim 1, it is characterised in that: described RTK
The function of alignment system includes being accurately positioned unmanned plane position and revising course line determining flight path.
6. a unmanned plane during flying barrier-avoiding method based on RTK, it is characterised in that: the step of described method is as follows:
S1, unmanned plane take off, according to path planning normal flight；
S2, picture by photographic head captured in real-time line of flight front；
S3, the picture of shooting is passed to image processor；
S4, ground station control end labelling barrier；
After barrier picture is processed by S5, image processor, result is passed to RTK alignment system；
Unmanned plane self is accurately positioned by S6, RTK alignment system, then quickly repaiies course line according to the size of barrier
Just, flight path, last cut-through thing are determined；
After S7, cut-through thing, continue flight according to original path planning.
A kind of unmanned plane during flying barrier-avoiding method based on RTK the most according to claim 6, it is characterised in that: described step
The method of the picture processing in rapid S5 is:
S51, from shooting picture judge that there is clear in front, unmanned plane course line；
S52, without barrier, image processor need not pass to RTK alignment system after processing, unmanned plane continues normally to fly
OK；
If S53 has a barrier, the estimation of barrier size and horizontal direction are worth after processing by image processor partially passes to RTK
Alignment system.
A kind of unmanned plane during flying barrier-avoiding method based on RTK the most according to claim 6, it is characterised in that: described S6
In the method for cut-through thing be:
S61, size according to the barrier of image processor identification, it is judged that can unmanned plane cut-through thing；
Cannot be around out-of-date if S62 barrier is excessive, unmanned plane returns takeoff point；
S63, if able to cut-through thing, calculates the deviation angle of unmanned plane, from the right cut-through thing of unmanned plane.
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| CN106814744A (en) * | 2017-03-14 | 2017-06-09 | 吉林化工学院 | A kind of UAV Flight Control System and method |
| CN106843282A (en) * | 2017-03-17 | 2017-06-13 | 东南大学 | Region based on M100 development platforms is searched for and obstacle avoidance system and method completely |
| CN106873630A (en) * | 2017-04-20 | 2017-06-20 | 广州极飞科技有限公司 | A kind of flight control method and device, perform equipment |
| CN107168324A (en) * | 2017-06-08 | 2017-09-15 | 中国矿业大学 | A kind of robot path planning method based on ANFIS fuzzy neural networks |
| CN107272734A (en) * | 2017-06-13 | 2017-10-20 | 深圳市易成自动驾驶技术有限公司 | Unmanned plane during flying task executing method, unmanned plane and computer-readable recording medium |
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| CN108318040A (en) * | 2018-02-06 | 2018-07-24 | 贵州电网有限责任公司 | A kind of more rotor trajectory planning system and method for transmission line-oriented inspection |
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| CN109634305A (en) * | 2018-12-21 | 2019-04-16 | 国网安徽省电力有限公司淮南供电公司 | UAV position and orientation method of adjustment and system based on visual aids positioning |
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| CN111880558B (en) * | 2020-07-06 | 2021-05-11 | 广东技术师范大学 | Plant protection unmanned aerial vehicle obstacle avoidance spraying method and device, computer equipment and storage medium |
| CN113362487A (en) * | 2021-06-21 | 2021-09-07 | 广西电网有限责任公司电力科学研究院 | Intelligent autonomous inspection unified management and control system for distribution line unmanned aerial vehicle |
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Application publication date: 20161130 |