CN106647800A - Unmanned aerial vehicle automatic obstacle avoidance navigation system - Google Patents
Unmanned aerial vehicle automatic obstacle avoidance navigation system Download PDFInfo
- Publication number
- CN106647800A CN106647800A CN201610913558.8A CN201610913558A CN106647800A CN 106647800 A CN106647800 A CN 106647800A CN 201610913558 A CN201610913558 A CN 201610913558A CN 106647800 A CN106647800 A CN 106647800A
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- Prior art keywords
- navigation system
- module
- automatic
- aerial vehicle
- unmanned aerial
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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 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
-
- 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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
The invention discloses an unmanned aerial vehicle automatic obstacle avoidance navigation system, which comprises an automatic navigation system and a ranging system, wherein the ranging system is embedded in the automatic navigation system, and the control priority of the ranging system is higher than that of the automatic navigation system. The ranging system is composed of an ultrasonic ranging module and a laser radar ranging module, wherein the ultrasonic ranging module and the laser radar ranging module are connected with the automatic navigation system. The automatic navigation system is internally provided with an automatic route planning module, the control priority of the automatic route planning module is higher than that of the automatic navigation system, and the automatic route planning module is internally provided with an integrated algorithm module. The unmanned aerial vehicle automatic obstacle avoidance navigation system realizes low-cost unmanned aerial vehicle navigation and obstacle avoidance, solves automatic obstacle avoidance in automatic navigation flight of an unmanned aerial vehicle, prevents collision of the unmanned aerial vehicle when the route is wrongly planned or an obstacle emerges suddenly, and improves the flight safety of automatic navigation of the unmanned aerial vehicle.
Description
Technical field
The invention belongs to unmanned plane automatic navigation technology field, specifically, the present invention relates to a kind of unmanned plane is kept away automatically
Barrier navigation system.
Background technology
Present unmanned plane during flying is mainly according to course line planned in advance, then carries out under GPS navigation, that is, holding
During row automated navigation system, generally by earth station navigation way is planned, unmanned plane according to GPS location, according to the boat of planning
Line is flown；Whether existing technology None- identified front has barrier, when course line is planned, if not accounting for obstacle
Thing, then be easily caused unmanned plane and collide, and causes self-navigation to fail, because the appearance of barrier is probably random, to planning
Course line bring certain challenge and threat.
The content of the invention
The present invention provides a kind of unmanned plane automatic obstacle-avoiding navigation system, it is therefore an objective to when there is barrier in unmanned plane during flying front
When, modification course line automatically is realized, avoiding obstacles complete navigation task.
To achieve these goals, the technical scheme taken of the present invention is：A kind of unmanned plane automatic obstacle-avoiding navigation system, bag
Automated navigation system and range-measurement system are included, wherein in the embedded automated navigation system of range-measurement system, and the control of the range-measurement system
Priority is higher than automated navigation system.
Preferably, the range-measurement system is made up of ultrasonic distance measuring module and laser radar range module, wherein ultrasonic wave
Range finder module and laser radar range module are all connected with automated navigation system.
Preferably, planning course line module automatically, and the automatic planning course line module are provided with the automated navigation system
Control priority be higher than automated navigation system.
Preferably, it is provided with Integrated Algorithm module in the automatic planning course line module.
The present invention is, when there is barrier in unmanned plane during flying front, to realize modification course line automatically, and avoiding obstacles complete to lead
Boat task, to unmanned plane automatic obstacle-avoiding navigation system brand-new design has been done, and is using the beneficial effect of above technical scheme：It is logical
Ultrasonic distance measuring module and laser radar range module are crossed, preceding object thing is found range in real time, then data are transferred to
Whether automated navigation system, automated navigation system in the course line of planning, judges whether to need weight by analysis preceding object thing
New planning course line, when judging to need to plan course line again, by planning course line module automatically modification course line automatically is realized, is bypassed
Barrier, completes the navigational duty planned；Integrated Algorithm module is provided with the automatic planning course line module, realizes unmanned plane not
May bump against with any barrier, even if deviate planning that course line is far, also can guarantee that the safety of unmanned plane during flying.
Description of the drawings
Fig. 1 is the avoidance schematic diagram of unmanned plane automatic obstacle-avoiding navigation system.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, further details of is made to the specific embodiment of the present invention
Explanation, it is therefore an objective to help those skilled in the art to have more complete, accurate and deep reason to design of the invention, technical scheme
Solution, and contribute to its enforcement.
As shown in figure 1, the present invention is a kind of unmanned plane automatic obstacle-avoiding navigation system, it is for when unmanned plane during flying front has
During barrier, modification course line automatically is realized, avoiding obstacles complete navigation task.
Specifically, as shown in figure 1, including automated navigation system and range-measurement system, wherein range-measurement system is embedded leads automatically
In boat system, and the control priority of the range-measurement system is higher than automated navigation system.The range-measurement system is by ultrasonic ranging
Module and laser radar range module are constituted, wherein ultrasonic distance measuring module and laser radar range module all with self-navigation system
System connection.Planning course line module automatically is provided with the automated navigation system, and the control of the automatic planning course line module is excellent
First level is higher than automated navigation system.Integrated Algorithm module is provided with the automatic planning course line module.
Hereinafter specific works mode is illustrated with specific embodiment：
When unmanned plane is navigated by water according to the course line of advance planning, survey is embedded with the automated navigation system on the unmanned plane
Ultrasonic distance measuring module and laser radar range module in system, the range-measurement system, is carried out in real time to preceding object thing
Range finding, if front clear, is then transferred to automated navigation system data, and automated navigation system is by analysis front nothing
Barrier is navigated by water according to the course line of advance planning, if there is barrier in front, is advised again by planning course line module automatically
Plot a course, realizes modification course line, cut-through thing automatically, completes the navigational duty planned；In the automatic planning course line module
Integrated Algorithm module is provided with, realizes that unmanned plane can not possibly bump against with any barrier, even if deviate planning that course line is far, also can be protected
The safety of card unmanned plane during flying；Unmanned plane automatic obstacle-avoiding navigation system realizes low-cost unmanned machine navigation avoidance, solves nobody
Automatic obstacle-avoiding during machine self-navigation flight, it is therefore prevented that layout of roads mistake or unmanned plane collides when having barrier suddenly, carries
The flight safety of high unmanned plane self-navigation.
The present invention is exemplarily described above in association with accompanying drawing, it is clear that the present invention is implemented and do not receive above-mentioned side
The restriction of formula, as long as employ the improvement of the various unsubstantialities that method of the present invention design and technical scheme are carried out；Or not
It is improved, the above-mentioned design of the present invention and technical scheme are directly applied to into other occasions, in protection scope of the present invention
Within.
Claims (4)
1. a kind of unmanned plane automatic obstacle-avoiding navigation system, it is characterised in that：Including automated navigation system and range-measurement system, wherein surveying
In system embedment automated navigation system, and the control priority of the range-measurement system is higher than automated navigation system.
2. a kind of unmanned plane automatic obstacle-avoiding navigation system according to claim 1, it is characterised in that：The range-measurement system by
Ultrasonic distance measuring module and laser radar range module are constituted, wherein ultrasonic distance measuring module and laser radar range module all with
Automated navigation system connects.
3. a kind of unmanned plane automatic obstacle-avoiding navigation system according to claim 2, it is characterised in that：The self-navigation system
Planning course line module automatically is provided with system, and the control priority of the automatic planning course line module is higher than automated navigation system.
4. a kind of unmanned plane automatic obstacle-avoiding navigation system according to claim 3, it is characterised in that：The automatic planning boat
Integrated Algorithm module is provided with wire module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913558.8A CN106647800A (en) | 2016-10-19 | 2016-10-19 | Unmanned aerial vehicle automatic obstacle avoidance navigation system |
| PCT/CN2017/094084 WO2018072509A1 (en) | 2016-10-19 | 2017-07-24 | Automatic obstacle-avoidance navigation system and method for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913558.8A CN106647800A (en) | 2016-10-19 | 2016-10-19 | Unmanned aerial vehicle automatic obstacle avoidance navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106647800A true CN106647800A (en) | 2017-05-10 |
Family
ID=58856325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610913558.8A Pending CN106647800A (en) | 2016-10-19 | 2016-10-19 | Unmanned aerial vehicle automatic obstacle avoidance navigation system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106647800A (en) |
| WO (1) | WO2018072509A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072509A1 (en) * | 2016-10-19 | 2018-04-26 | 广东容祺智能科技有限公司 | Automatic obstacle-avoidance navigation system and method for unmanned aerial vehicle |
| CN109341695A (en) * | 2018-11-15 | 2019-02-15 | 江苏艾佳家居用品有限公司 | Indoor Navigation of Pilotless Aircraft method based on floor plan calibration |
| CN109555654A (en) * | 2018-12-20 | 2019-04-02 | 上海扩博智能技术有限公司 | Blade based on blower model reconstruction automatically tracks detection method and system |
| WO2019119243A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Obstacle avoidance method for unmanned aerial vehicle and unmanned aerial vehicle |
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| CN106647800A (en) * | 2016-10-19 | 2017-05-10 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle automatic obstacle avoidance navigation system |
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| CN203950449U (en) * | 2014-06-11 | 2014-11-19 | 江苏数字鹰科技发展有限公司 | Can automatic range dodge the unmanned plane of obstacle |
| CN105739519A (en) * | 2014-12-11 | 2016-07-06 | 中孚航空科技（天津）有限公司 | Unmanned plane laser obstacle avoidance system |
| CN104820429A (en) * | 2015-04-28 | 2015-08-05 | 南京航空航天大学 | Ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and control method thereof |
| CN105159297A (en) * | 2015-09-11 | 2015-12-16 | 南方电网科学研究院有限责任公司 | Power transmission line unmanned plane inspection obstacle avoidance system and method |
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| WO2018072509A1 (en) * | 2016-10-19 | 2018-04-26 | 广东容祺智能科技有限公司 | Automatic obstacle-avoidance navigation system and method for unmanned aerial vehicle |
| WO2019119243A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Obstacle avoidance method for unmanned aerial vehicle and unmanned aerial vehicle |
| CN109341695A (en) * | 2018-11-15 | 2019-02-15 | 江苏艾佳家居用品有限公司 | Indoor Navigation of Pilotless Aircraft method based on floor plan calibration |
| CN109555654A (en) * | 2018-12-20 | 2019-04-02 | 上海扩博智能技术有限公司 | Blade based on blower model reconstruction automatically tracks detection method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018072509A1 (en) | 2018-04-26 |
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Application publication date: 20170510 |