CN106275470B - Aircraft and its barrier-avoiding method and system - Google Patents
Aircraft and its barrier-avoiding method and system Download PDFInfo
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- CN106275470B CN106275470B CN201510369281.2A CN201510369281A CN106275470B CN 106275470 B CN106275470 B CN 106275470B CN 201510369281 A CN201510369281 A CN 201510369281A CN 106275470 B CN106275470 B CN 106275470B
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Abstract
The invention discloses a kind of aircraft and its barrier-avoiding method and system, the obstacle avoidance system includes a photographic device, a holder stability augmentation system and a second controller；The holder stability augmentation system includes a holder main body and a cloud platform control system, the holder main body is provided with the photographic device, the photographic device is connect for capturing the image on heading, the cloud platform control system in the aircraft flight with the holder main body；The second controller is for judging that whether there are obstacles in the photographic device captured image, and if it exists, the then heading of the aircraft according to the position change of the barrier then controls the aircraft and fly along current flight direction if it does not exist.The present invention compensates for the deficiency that existing aircraft is unable to automatic dodging barrier, and the aircraft is enabled to be detached from the control of manipulator, avoids the barrier in front automatically, prevents aircraft from hitting.
Description
Technical field
The present invention relates to the avoidance field of aircraft more particularly to a kind of aircraft and its barrier-avoiding method and systems.
Background technique
In flight course, how avoiding obstacles are a great problems controlled that flies to aircraft.In the prior art be usually according to
Rely the remote control of manipulator horizontal, i.e., manipulator judges whether there is barrier around aircraft first with naked eyes, then passes through
The direction of remote control aircraft change of flight is with avoiding barrier.However, in actual operation this mode usually occur with
Lower situation:
If 1, aircraft has been flown to except the visual field of manipulator, manipulator can not just know is around aircraft
It is no to have barrier；
Even if 2, manipulator has seen barrier, manipulator is also possible to misoperation occur, and aircraft is made to hit barrier
Hinder object.
From this, no matter which kind of above-mentioned situation occurs, aircraft all inevitably understands strikes obstacles, causes to damage or damage
It ruins.
Summary of the invention
The technical problem to be solved by the present invention is in order to overcome existing aircraft to be unable to the defect of automatic dodging barrier,
A kind of aircraft that capableing of automatic dodging barrier and its barrier-avoiding method and system are provided.
The present invention is to solve above-mentioned technical problem by the following technical programs:
The present invention provides a kind of obstacle avoidance system of aircraft, its main feature is that, including a photographic device, a holder stability augmentation system
With a second controller；
The holder stability augmentation system includes a holder main body and a cloud platform control system, and the holder main body is provided with described
Photographic device, the photographic device is for capturing the image on heading, the cradle head control in the aircraft flight
System is connect with the holder main body；
The second controller is for judging that whether there are obstacles in the photographic device captured image, and if it exists,
The then heading of the aircraft according to the position change of the barrier then controls the aircraft edge and works as if it does not exist
Preceding heading flight.
The photographic device captured image is the image in front of the aircraft, if aircraft flies eastwards, then
What photographic device captured is exactly the image of the east, and what west-bound operation then captured is exactly the image in west.Described in changing in the present invention
The heading of aircraft can any directions such as up and down, left and right be mobile to control the heading of the aircraft.?
After the heading for changing the aircraft, the second controller can the newest captured image of photographic device judge
Whether the aircraft needs change of flight direction again.The obstacle avoidance system enables to the aircraft to be detached from manipulator's
Control avoids the barrier in front automatically, prevents to hit, aircraft is avoided to damage.
Preferably, the cloud platform control system includes one first controller, a first motor and one second motor, described the
One motor and second motor are respectively used to control the holder main body in the Pitch axis of three-dimensional system of coordinate and the axis of Roll axis
Upward rotation, first controller include a balance control module, and the balance control module is electric with described first respectively
Machine, second motor electrical connection, and the operating for controlling the first motor, second motor.
The cloud platform control system of the invention can be provided only with two spindle motors of Pitch axis and Roll axis, in third axis
The axial direction of Yaw axis is then fixed, no setting is required corresponding motor.Under this situation, the balance control module is only used for controlling
The camera shooting direction for making the photographic device when operating of two spindle motors forward, guarantees the stability and balance of photographic device.
Preferably, the cloud platform control system further includes a third motor, the third motor is for controlling the holder
Rotation of the main body in the axial direction of the Yaw axis of three-dimensional system of coordinate, the balance control module is also electrically connected with the third motor,
And the operating for controlling the first motor, second motor and the third motor.
In this case, the direction of the photographic device is controlled by the operating of three spindle motors, it can be with more stably side
Formula is controlled.It will be appreciated by those skilled in the art that Yaw axis is course axis, Pitch axis is pitch axis, Roll axis is roll
Axis, the rotation around course axis are left-right rotation relative to aircraft direction of advance, the rotation around pitch axis be relative to aircraft before
Into rotating upwardly and downwardly for direction, the rotation around roll axis is using fuselage length direction as the rotation of axis.
Preferably, further including a ranging mould group；
The second controller is also used in judging the photographic device captured image call there are when barrier
The ranging mould group detects the distance between the aircraft and the barrier, if the distance is less than or equal to one apart from threshold
It is worth, then the heading of the aircraft according to the position change of the barrier, if the distance is greater than the distance threshold,
The aircraft is then controlled to fly along current flight direction.
Since the photographic device captured image is all often two-dimensional surface, so adding ranging mould group can assist
The position of disturbance in judgement object prevents aircraft prematurely change of flight direction.
Preferably, the second controller is also used in judging the photographic device captured image, there are barriers
When, judge whether the height of the barrier is higher than the flying height of the aircraft, if so, flying for the aircraft is turned up
Row height is flown if it is not, then controlling the aircraft along current flight direction.
In view of aircraft may fly to a more complicated environment, it is difficult to ensure that in captured image absolutely not
Barrier, so by the height of calculating barrier to determine whether needing to adjust the flying height of aircraft, the technical program
The number that the flight progress of adjustment aircraft can be reduced, avoids continually adjusting aircraft, increases the burden of system.
Preferably, the obstacle avoidance system includes multiple photographic devices, those photographic devices are respectively arranged on the holder main body
Different directions on.
Multiple photographic devices can capture the image in multiple directions, and then avoidance that can be multi-faceted.Such as in the cloud
Photographic device is all around respectively set in platform main body, can make aircraft no matter can avoidance to which direction flight.
Preferably, the ranging mould group is a laser ranging module.The laser ranging module uses the prior art
It realizes, therefore details are not described herein.
Preferably, the obstacle avoidance system further includes a wireless sending module, the wireless sending module by described for taking the photograph
As device captured image is sent to one for controlling the remote controler of the aircraft.
Wherein, the remote controler can show the image received, in order to which manipulator checks in front of aircraft whether have
Barrier.
Preferably, the second controller is also used to receive the control signal that the remote controler issues and according to the control
Signal controls the aircraft.
Wherein, the control may include heading and flying speed of change of flight device etc..The obstacle avoidance system is not
Only being capable of automatic avoiding obstacles, moreover it is possible to the control signal avoiding obstacles issued by executing remote controler, realize it is manual from
Movement and motor-driven integrative.
The present invention also provides a kind of aircraft, its main feature is that, a kind of avoidance including above-mentioned each optimum condition any combination
System.
The present invention also provides a kind of barrier-avoiding methods of aircraft, its main feature is that, the barrier-avoiding method includes:
S1, in the aircraft flight capture heading on image；
S2, judge that whether there are obstacles in captured image, and if it exists, then execute S3, if it does not exist, then execute S4；
S3, the aircraft according to the position change of the barrier heading；
S4, the control aircraft flies along current flight direction.
Preferably, further including；
In S2Judge to execute T there are when barrier in captured image1；
T1, detection the distance between the aircraft and the barrier, if the distance is less than or equal to one apart from threshold
Value, then execute S3If the distance is greater than the distance threshold, S is executed4。
Preferably, further including in S2Judge to execute P there are when barrier in captured image1；
P1, judge whether the height of the barrier is higher than the flying height of the aircraft, if so, be turned up it is described fly
The flying height of row device is flown if it is not, then controlling the aircraft along current flight direction.
Preferably, further comprising the steps of:
Captured image is sent to a remote controler for being used to control the aircraft.
Preferably, further comprising the steps of:
It receives the control signal that the remote controler issues and the aircraft is controlled according to the control signal.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that: aircraft and its barrier-avoiding method of the invention and system enable to described
Aircraft be detached from manipulator control, reduce the control pressure of manipulator, avoid automatically front barrier, prevent aircraft because
Occur to hit and damage or damage.Also, the stability of photographic device is guaranteed, and adequately avoidance mentions
Reliable guarantee is supplied.
Detailed description of the invention
Fig. 1 is the system schematic of the obstacle avoidance system of the aircraft of the embodiment of the present invention.
Fig. 2 is the image schematic diagram of the embodiment of the present invention.
Fig. 3 is the flow chart of the barrier-avoiding method of the aircraft of the embodiment of the present invention.
Fig. 4 is another flow chart of the barrier-avoiding method of the aircraft of the embodiment of the present invention.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment
As shown in Figure 1, the obstacle avoidance system of the present embodiment includes a photographic device 11, a holder stability augmentation system and one second control
Device 14 processed.The holder stability augmentation system includes a holder main body 12 and a cloud platform control system 13, and the holder main body 12 is arranged
There is the photographic device 11, the photographic device 11 is for capturing the image on heading, institute in the aircraft flight
Cloud platform control system 13 is stated to connect with the holder main body 12.
The cloud platform control system 13 includes one first controller, a first motor, one second motor and a third motor,
The first motor, second motor and the third motor for controlling the holder main body 12 in three-dimensional system of coordinate respectively
Three axial directions on rotation.First controller include one balance control module, the balance control module respectively with institute
First motor, second motor, third motor electrical connection are stated, and for controlling the first motor, described second
The operating of motor and the third motor is to guarantee the camera shooting direction of the photographic device 11 forward.
The first motor, second motor and the third motor exist for controlling the holder main body 12 respectively
Rotation on Yaw axis, Pitch axis and Roll axis.
The second controller 14 is for judging that whether there are obstacles in 11 captured image of photographic device, if depositing
Then the heading of the aircraft according to the position change of the barrier then controls the aircraft edge if it does not exist
The flight of current flight direction.Such as the photographic device captured image is as shown in Fig. 2, have a barrier A in the lower left corner, then
The heading of aircraft is just mobile to upper right side.
In order to make the obstacle avoidance system more accurately judge the position of barrier, the obstacle avoidance system is also further wrapped
A ranging mould group 15 is included, the ranging mould 15 is a laser ranging module.
The second controller 14 is also used in judging the photographic device captured image adjust there are when barrier
Detect the distance between the aircraft and the barrier with the ranging mould group 15, if the distance be less than or equal to one away from
From threshold value, then the heading of the aircraft according to the position change of the barrier, if the distance is greater than the distance
Threshold value then controls the aircraft and flies along current flight direction.Still by taking Fig. 2 as an example, measured by the ranging mould group 13
The distance between barrier A and aircraft are 10 meters, if preset distance threshold is 5 meters, then aircraft will at this time
First continue to fly along current heading, until ranging mould group measures the distance between barrier A and aircraft and shorten to 5
Meter Shi, just can change of flight direction.
In order to avoid continually adjusting the flight progress of aircraft, the second controller 14 be also used to judge it is described
There are when barrier, judge whether the height of the barrier is higher than flying for the aircraft in 11 captured image of photographic device
Row height flies if it is not, then controlling the aircraft along current flight direction if so, the flying height of the aircraft is turned up
Row.
In order to carry out multi-faceted avoidance, the obstacle avoidance system further includes multiple photographic devices, those photographic devices difference
On the different directions of the holder main body, for capturing the image of different directions.At this point, the obstacle avoidance system can be every
One photographic device is respectively configured a ranging mould group and is used cooperatively, can also the shared rotatable, energy of all photographic devices
Enough measure the ranging mould group of the distance of multiple directions.
The obstacle avoidance system further includes a wireless sending module 16.The wireless sending module 16 is used to fill the camera shooting
It sets 11 captured images and is sent to one for controlling the remote controler of the aircraft.The remote controler can show the figure received
Picture, in order to which manipulator checks in front of aircraft whether there is barrier.
The second controller 14 is also used to receive the control signal that the remote controler issues and according to the control signal
The aircraft is controlled.
The aircraft of the present embodiment includes other components of the obstacle avoidance system and existing aircraft.
As shown in figure 3, a kind of barrier-avoiding method of aircraft, comprising the following steps:
Step 21, the image in the aircraft flight on capture heading；
Step 22 judges that whether there are obstacles in captured image, and if it exists, thens follow the steps 23, if it does not exist, then
Execute step 24.
The heading of step 23, the aircraft according to the position change of the barrier.
Step 24, the control aircraft fly along current flight direction.
As shown in figure 4, in order to avoid continually adjusting the flight progress of aircraft and keeping the obstacle avoidance system more acurrate
The position of barrier is judged on ground, and the barrier-avoiding method can further include:
There are when barrier in judging captured image, execute step 25: judge the barrier height whether
Higher than the flying height of the aircraft, if so, 26 are thened follow the steps, if it is not, thening follow the steps 24.
Step 26, detection the distance between the aircraft and the barrier, if the distance less than or equal to one away from
From threshold value, then the flying height of the aircraft is turned up, if the distance is greater than the distance threshold, thens follow the steps 24.
In addition, the barrier-avoiding method can with the following steps are included:
Captured image is sent to a remote controler for being used to control the aircraft, and, receive the remote controler hair
Control signal out simultaneously controls the aircraft according to the control signal.
By the barrier-avoiding method, manipulator can judge whether from the image in front of the aircraft that remote controller displays go out
Need avoiding barrier, if desired, manipulator can also manually control aircraft by remote controler and be adjusted, with safety
Front region.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, numerous variations, but these change and modification can be made to these embodiments
Each fall within protection scope of the present invention.
Claims (15)
1. a kind of obstacle avoidance system of aircraft, which is characterized in that including a photographic device, a holder stability augmentation system and one second control
Device processed；
The holder stability augmentation system includes a holder main body and a cloud platform control system, and the holder main body is provided with the camera shooting
Device, the photographic device is for capturing the image on heading, the cloud platform control system in the aircraft flight
It is connect with the holder main body；
The second controller is for judging that whether there are obstacles in the photographic device captured image, and if it exists, then root
The heading of aircraft described in position change according to the barrier then controls the aircraft and flies along current if it does not exist
Line direction flight.
2. obstacle avoidance system as described in claim 1, which is characterized in that the cloud platform control system include one first controller,
One first motor and one second motor, the first motor and second motor are respectively used to control the holder main body three
The rotation on the P itch axis of coordinate system and the axial direction of Ro l l axis is tieed up, first controller includes a balance control module,
The balance control module is electrically connected with the first motor, second motor respectively, and for controlling first electricity
The operating of machine, second motor.
3. obstacle avoidance system as claimed in claim 2, which is characterized in that the cloud platform control system further includes a third motor,
The third motor is for controlling rotation of the holder main body in the axial direction of the Yaw axis of three-dimensional system of coordinate, the balance control
Molding block is also electrically connected with the third motor and is used to control the first motor, second motor and third electricity
The operating of machine.
4. obstacle avoidance system as described in claim 1, which is characterized in that further include a ranging mould group；
The second controller is also used in judging the photographic device captured image there are when barrier, described in calling
Ranging mould group detects the distance between the aircraft and the barrier, if the distance is less than or equal to a distance threshold,
The then heading of the aircraft according to the position change of the barrier, if the distance is greater than the distance threshold,
The aircraft is controlled to fly along current flight direction.
5. obstacle avoidance system as claimed in claim 4, which is characterized in that the ranging mould group is a laser ranging module.
6. obstacle avoidance system as described in claim 1, which is characterized in that the second controller is also used to judging described take the photograph
As there are when barrier, judge whether the height of the barrier is higher than the flight height of the aircraft in device captured image
Degree flies if it is not, then controlling the aircraft along current flight direction if so, the flying height of the aircraft is turned up.
7. obstacle avoidance system as described in claim 1, which is characterized in that the obstacle avoidance system includes multiple photographic devices, those
Photographic device is respectively arranged on the different directions of the holder main body.
8. obstacle avoidance system as described in claim 1, which is characterized in that the obstacle avoidance system further includes a wireless sending module,
The wireless sending module is used to the photographic device captured image being sent to a remote control for being used to control the aircraft
Device.
9. obstacle avoidance system as claimed in claim 8, which is characterized in that the second controller is also used to receive the remote controler
The control signal of sending simultaneously controls the aircraft according to the control signal.
10. a kind of aircraft, which is characterized in that including the obstacle avoidance system as described in any one of claim 1-9.
11. a kind of barrier-avoiding method based on aircraft described in any one of claim 10, which is characterized in that the barrier-avoiding method includes:
S1, in the aircraft flight capture heading on image；
S2, judge that whether there are obstacles in captured image, and if it exists, then execute S3, if it does not exist, then execute S4；
S3, the aircraft according to the position change of the barrier heading；
S4, the control aircraft flies along current flight direction.
12. barrier-avoiding method as claimed in claim 11, which is characterized in that further include；
In S2Judge to execute T there are when barrier in captured image1；
T1, detection the distance between the aircraft and the barrier, if the distance less than or equal to a distance threshold,
Execute S3If the distance is greater than the distance threshold, S is executed4。
13. barrier-avoiding method as claimed in claim 11, which is characterized in that further include in S2Judge exist in captured image
When barrier, P is executed1；
P1, judge whether the height of the barrier is higher than the flying height of the aircraft, if so, the aircraft is turned up
Flying height, if it is not, then control the aircraft along current flight direction fly.
14. barrier-avoiding method as claimed in claim 11, which is characterized in that further comprising the steps of:
Captured image is sent to a remote controler for being used to control the aircraft.
15. barrier-avoiding method as claimed in claim 14, which is characterized in that further comprising the steps of:
It receives the control signal that the remote controler issues and the aircraft is controlled according to the control signal.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510369281.2A CN106275470B (en) | 2015-06-29 | 2015-06-29 | Aircraft and its barrier-avoiding method and system |
| PCT/CN2016/087570 WO2017000875A1 (en) | 2015-06-29 | 2016-06-29 | Aircraft and obstacle avoidance method and system thereof |
| US15/572,426 US10634500B2 (en) | 2015-06-29 | 2016-06-29 | Aircraft and obstacle avoidance method and system thereof |
| EP16817239.3A EP3276374A4 (en) | 2015-06-29 | 2016-06-29 | Aircraft and obstacle avoidance method and system thereof |
| PCT/CN2016/087571 WO2017000876A1 (en) | 2015-06-29 | 2016-06-29 | Geo-location or navigation camera, and aircraft and navigation method therefor |
| US15/577,303 US10386188B2 (en) | 2015-06-29 | 2016-06-29 | Geo-location or navigation camera, and aircraft and navigation method therefor |
| EP16817240.1A EP3315414B1 (en) | 2015-06-29 | 2016-06-29 | Geo-location or navigation camera, and aircraft and navigation method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510369281.2A CN106275470B (en) | 2015-06-29 | 2015-06-29 | Aircraft and its barrier-avoiding method and system |
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| Publication Number | Publication Date |
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| CN106275470A CN106275470A (en) | 2017-01-04 |
| CN106275470B true CN106275470B (en) | 2019-01-01 |
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| CN201510369281.2A Active CN106275470B (en) | 2015-06-29 | 2015-06-29 | Aircraft and its barrier-avoiding method and system |
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| CN107065926A (en) * | 2017-04-12 | 2017-08-18 | 普宙飞行器科技（深圳）有限公司 | Omnidirectional's obstacle avoidance apparatus, head, the control method of head and avoidance obstacle method |
| CN113741543A (en) * | 2017-06-12 | 2021-12-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, return control method, terminal, system and machine readable storage medium |
| CN110891862B (en) | 2017-08-10 | 2023-07-11 | 深圳零零无限科技有限公司 | System and method for obstacle avoidance in a flight system |
| CN108319295B (en) * | 2018-01-22 | 2021-05-28 | 深圳市大疆创新科技有限公司 | Obstacle avoidance control method, equipment and computer readable storage medium |
| WO2019155335A1 (en) * | 2018-02-07 | 2019-08-15 | Hangzhou Zero Zero Technology Co., Ltd. | Unmanned aerial vehicle including an omnidirectional depth sensing and obstacle avoidance aerial system and method of operating same |
| CN110203083A (en) * | 2019-05-21 | 2019-09-06 | 惠州市三航无人机技术研究院 | A kind of unmanned plane laser charging unit |
| CN112585555A (en) * | 2020-01-21 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Flight control method, device and equipment based on passable airspace judgment |
| CN112428269B (en) * | 2020-11-11 | 2022-03-08 | 合肥学院 | Obstacle alarm system for inspection robot |
| CN112637499A (en) * | 2020-12-22 | 2021-04-09 | 广州富港生活智能科技有限公司 | Image shooting method and device, control equipment and storage medium |
| CN114279762A (en) * | 2021-12-31 | 2022-04-05 | 深圳市可飞科技有限公司 | Liquid sample collection system, method and device applied to aircraft |
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