CN106950983A - Unmanned vehicle barrier-avoiding method and device - Google Patents
Unmanned vehicle barrier-avoiding method and device Download PDFInfo
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- CN106950983A CN106950983A CN201710094002.5A CN201710094002A CN106950983A CN 106950983 A CN106950983 A CN 106950983A CN 201710094002 A CN201710094002 A CN 201710094002A CN 106950983 A CN106950983 A CN 106950983A
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- 230000004888 barrier function Effects 0.000 claims abstract description 74
- 238000005070 sampling Methods 0.000 claims abstract description 24
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- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000012937 correction Methods 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 12
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- 238000009529 body temperature measurement Methods 0.000 claims description 7
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 7
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- 238000002604 ultrasonography Methods 0.000 claims description 5
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The present invention discloses a kind of unmanned vehicle barrier-avoiding method and device, is related to unmanned air vehicle technique field.The unmanned vehicle barrier-avoiding method is mainly included the following steps that：S1 unmanned vehicles launch ultrasonic signal；S2 receives the ultrasonic signal reflected through barrier；The effective ultrasonic signal of S3 samplings；S4 corrects ultrasonic transmission speed；S5 calculates distance of the unmanned vehicle current time apart from the barrier；S6 avoids the barrier according to unmanned vehicle described in the distance controlling.Detection is accurate, measurement accuracy is high because ultrasonic echo is received for the unmanned vehicle barrier-avoiding method and device of the present invention, thus unmanned vehicle can effectively judge Obstacle Position in flight, with avoidance effect it is good the characteristics of.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more particularly to a kind of unmanned vehicle barrier-avoiding method and device.
Background technology
Unmanned plane is that one kind is dynamic, controllable, can carry multiple-task equipment, performs multiple-task and can reuse
Aircraft.The not manned vehicle that can be controlled using wireless remote control device and the control device of itself, for example nobody
Helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..The unmanned plane can be used for carry filming apparatus, for taking photo by plane, surveying
Paint, investigate etc..
Unmanned plane increasingly enters the visual field of people
At present, most of unmanned vehicles using avoiding obstacles by supersonic wave technology come avoiding barrier.Avoiding obstacles by supersonic wave technology, essence
On be to measure the distance of unmanned vehicle and barrier in real time using ultrasonic measuring distance technology, according to the distance obtained by this measurement
Value, unmanned vehicle can take different strategies.
However, in actual ranging, on the one hand, by ultrasonic wave emitting head self-excitation damped vibration, send out surpass before
Sound wave receives head by ultrasonic wave again through multiple reflections and received and interference of the initiation to normal received signal, and this is allowed for such
Under jamming pattern, it is difficult to which effective detection extracts effective ultrasonic signal；On the other hand due in ultrasonic wave from being transmitted into reception
During, unmanned plane is still within state of flight, during this period, and unmanned plane also moves a certain distance, and this results in super
Sound wave from be transmitted into by the propagation distance in reflection process and ultrasonic wave from the propagation distance being reflected to during being received simultaneously
It is non-fully equal, so as to need to consider this point in actual calculating.
The content of the invention
The present invention is based on the one or more problems of the above there is provided a kind of unmanned plane barrier-avoiding method and device, to solve
Certainly there is ultrasonic echo in the prior art and receive the low caused unmanned vehicle avoidance difficulty of the inaccurate, measurement accuracy of detection
The problem of.
The present invention provides a kind of unmanned vehicle barrier-avoiding method.The unmanned vehicle barrier-avoiding method mainly includes following step
Suddenly：
S1 unmanned vehicles launch ultrasonic signal；
S2 receives the ultrasonic signal reflected through barrier；
The effective ultrasonic signal of S3 samplings；
S4 corrects ultrasonic transmission speed；
S5 calculates distance of the unmanned vehicle current time apart from the barrier；
S6 avoids the barrier according to unmanned vehicle described in the distance controlling.
Preferably, the step S3 is specifically included：
Pulse signal in the ultrasonic signal that S31 collections are received, generates the sampled value represented in magnitude of voltage form；
Whether S32 judges the sampled value in default voltage range；
S33 calculates the slope value of the pulse signal of the adopted value in the default voltage range；
S34 judges whether the slope value is located in default slope range；
S35 is when the slope value is in the default slope range, then corresponding ultrasonic signal is effective ultrasound
Ripple signal.
Preferably, the step S4 specifically includes following steps：
S41 measures the temperature value of unmanned vehicle place environment；
S42 corrects the spread speed of the ultrasonic wave according to the temperature value.
Preferably, the step S5 further comprises the steps：
S51 determines that ultrasonic signal spontaneous emission started to the propagation time for receiving effective ultrasonic signal；
S52 determines the unmanned vehicle from transmitting ultrasonic signal to having been moved when receiving effective ultrasonic signal
Distance；
S53 determines that the unmanned vehicle distance is described according to the spread speed after correction, the propagation time, displacement
The distance of barrier.
Preferably, the step S2 further comprises the steps：
S21 receives the ultrasonic signal that the barrier is reflected in the first position of the unmanned vehicle；
S22 receives the ultrasonic signal that the barrier is reflected in the second position of the unmanned vehicle simultaneously.
The present invention also provides a kind of unmanned vehicle obstacle avoidance apparatus.The unmanned vehicle obstacle avoidance apparatus includes：
Ultrasonic transmitting element, located at unmanned vehicle, launches ultrasonic signal；
Ultrasonic wave receiving unit, for receiving the ultrasonic signal reflected through barrier；
Sampling unit, for effective ultrasonic signal of sampling；
Unit is corrected, for correcting ultrasonic transmission speed；
Computing unit, for calculating distance of the unmanned vehicle current time apart from the barrier；
Control unit, for avoiding the barrier according to unmanned vehicle described in the distance controlling.
Preferably, the sampling unit further comprises：
Acquisition module, for gathering the pulse signal in the ultrasonic signal received, is generated with adopting that magnitude of voltage form is represented
Sample value；
First judge module, for judging the sampled value whether in default voltage range；
Slope computing module, the slope value of the pulse signal for calculating the adopted value in the default voltage range；
Second judge module, for judging whether the slope value is located in default slope range；
Effective ultrasonic signal determining module, for when the slope value is in the default slope range, then relatively
The ultrasonic signal answered is effective ultrasonic signal.
Preferably, the correction unit is specifically included：
Temperature-measuring module, the temperature value of environment where for measuring the unmanned vehicle；
Velocity correction module, the spread speed for correcting the ultrasonic wave according to the temperature value；
The computing unit is specifically included：
Propagation time determining module, for determining that ultrasonic signal spontaneous emission starts to the propagation for receiving effective ultrasonic signal
Time；
Displacement drive module, for determining that the unmanned vehicle is described effectively super from transmitting ultrasonic signal to receiving
Displacement during acoustic signals；
Obstacle distance determining module, it is described for being determined according to the spread speed after correction, the propagation time, displacement
Distance of the unmanned vehicle apart from the barrier.
The present invention also provides a kind of unmanned vehicle obstacle avoidance apparatus.The unmanned vehicle obstacle avoidance apparatus is specifically included：
Ultrasonic transmitter, transmitting ultrasonic signal detects the barrier of unmanned vehicle place environment,
Ultrasonic receiver, receives the ultrasonic signal being reflected back through the barrier,
Temperature measurement unit, the temperature of environment where measuring the unmanned vehicle,
Controller, the controller controls the ultrasonic transmitter, ultrasonic receiver and temperature measurement unit, and foundation
The ultrasonic signal reflected through barrier is received after the preset time of interval, effective ultrasonic signal of sampling out, and correct
Ultrasonic transmission speed, then calculates distance of the unmanned vehicle current time apart from the barrier, then according to institute
State unmanned vehicle described in distance controlling and avoid the barrier.
Preferably, the ultrasonic transmitter further comprises：First modulation amplifying unit and ultrasonic transmitting element,
The first modulation amplifying unit is received after pulse signal, produces multiple alternate ultrasonic wave modulation signals of pulse, described super
Sound wave modulated signal launches ultrasonic signal through ultrasonic transmitting element；
The ultrasonic receiver further comprises：Reception processing unit, second modulate amplifying unit, using detection unit, solution
Unit, filter unit, voltage comparison unit and interrupt signal generation unit are adjusted, the reception processing unit is received in ultrasonic wave
The synchronizing signal that transmitting element transmitting ultrasonic signal is launched simultaneously, the second modulation amplifying unit is to through obstacle described in subsequent start-up
The ultrasonic signal that thing is reflected is amplified, and the sample detecting unit is sampled to ultrasonic signal, is sampled
Signal, after the demodulated unit demodulation of sampled signal, and filtered unit is filtered after noise, is compared through voltage comparison unit
Relatively obtain effective ultrasonic signal, then by interrupt signal generation unit send interrupt signal, so as to obtain ultrasonic signal from
It is transmitted into the propagation time of reception.
Unmanned vehicle barrier-avoiding method and device that the present invention is provided, because ultrasonic echo is received, detection is accurate, measure
High precision, thus unmanned vehicle can effectively judge Obstacle Position in flight, with avoidance effect it is good the characteristics of.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the unmanned vehicle barrier-avoiding method of the embodiment of the present invention one.
Fig. 2 is the detailed process schematic diagram of step S3 in Fig. 1.
Fig. 3 is to calculate barrier and unmanned vehicle distance in the unmanned vehicle barrier-avoiding method of the embodiment of the present invention one
Schematic diagram.
Fig. 4 is the structural representation of the unmanned vehicle obstacle avoidance apparatus of the embodiment of the present invention two.
Fig. 5 is the structural representation of the unmanned vehicle obstacle avoidance apparatus of the embodiment of the present invention three.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.If it should be noted that do not conflicted, this hair
Each feature in bright embodiment and embodiment can be combined with each other, within protection scope of the present invention.
Embodiment one
Fig. 1 and Fig. 2 are referred to, Fig. 1 is the flow chart of the unmanned vehicle barrier-avoiding method of the embodiment of the present invention one, during Fig. 2 is Fig. 1
Step S3 detailed process schematic diagram.As shown in figure 1, the unmanned vehicle barrier-avoiding method of the embodiment of the present invention one mainly include with
Lower step：
S1 unmanned vehicles launch ultrasonic signal；Unmanned vehicle launches ultrasonic wave provided with ultrasonic transmitting element
Signal.
S2 receives the ultrasonic signal reflected through barrier；The ultrasonic signal warp that ultrasonic transmitting element is launched
After the transmission of a period of time, when running into barrier, fired back, received by ultrasonic wave receiving unit by barrier.Certainly, for
For ultrasonic wave receiving unit, more than one ultrasonic signal may be received, filtered out from these ultrasonic signals by
The ultrasonic signal that ultrasonic transmitting element is emitted and reflected through barrier.Of course for can accurately judge barrier
Position, more than one ultrasonic wave receiving unit can be set on unmanned vehicle.Now, it is preferable that the step S2 enters
One step comprises the following steps：
S21 receives the ultrasonic signal that the barrier is reflected in the first position of the unmanned vehicle；Here it is located at
The ultrasonic wave receiving unit of unmanned vehicle first position receives the ultrasonic signal reflected through barrier；
S22 receives the ultrasonic signal that the barrier is reflected in the second position of the unmanned vehicle simultaneously.It is located at
The ultrasonic wave receiving unit of the second position of the unmanned vehicle receives the of the ultrasonic signal that is reflected through barrier
The ultrasonic wave receiving unit of one time and first position receive the ultrasonic signal reflected through barrier the second time it
Between existence time it is poor.The first position of unmanned vehicle is differed with second position, is separated with a certain distance, there is phase each other
To position relationship.The position of barrier is determined according to this time difference and relative position relation.In a specific implementation
In example, the first position of unmanned vehicle is located at the both sides of ultrasonic transmitting element with second position respectively, i.e., in first position
Both ultrasonic wave receiving units that the ultrasonic wave receiving unit of setting is set with second position in ultrasonic transmitting element both sides,
During the ultrasonic signal that reception is reflected through barrier, if there's almost no difference or abnormal hour on the reception time,
The front that barrier is located at unmanned vehicle can be estimated as.Certainly when unmanned vehicle is smaller, first position is for nobody
The front end of aircraft, and second position is located at the rear end of unmanned vehicle.It can also be set according to unmanned vehicle own form
It is easy to the position of received ultrasonic signal on unmanned vehicle.Further, it is also possible to be set respectively at multiple positions of unmanned vehicle
Ultrasonic wave receiving unit is put, this multiple ultrasonic wave receiving unit composition ultrasonic wave receiving unit array chooses one from array
Point or whole ultrasonic wave receiving unit receive the ultrasonic signal reflected through barrier, this helps to obtain more accurately
The position of barrier.
The effective ultrasonic signal of S3 samplings；Fig. 2 is referred to, the step S3 specifically includes following steps：
Pulse signal in the ultrasonic signal that S31 collections are received, generates the sampled value represented in magnitude of voltage form；
Whether S32 judges the sampled value in default voltage range；The voltage range here preset at can according to can by with
Family foundation is actually needed to determine.In an Application Example, the electricity of the effective ultrasonic echo signal received is being determined
When pressure amplitude value is in the range of 1 to 20 mV, the multiplication factor of front end circuit is 150 times, then the effective voltage scope after amplifying can be with
Think for 0.15 to 3V.Certain voltage magnitude scope is different, and multiplication factor can also be different；
S33 calculates the slope value of the pulse signal of the adopted value in the default voltage range；
S34 judges whether the slope value is located in default slope range；The slope range here preset at can be according to user
The precision that needs is determined.For example, in a fairly simple method, during with the difference of double sampling value one after another and sampling
Between the ratio that is spaced be slope, effective voltage scope 0.15 to 3 V, T are the sampling interval, then maximum slope is (3-0.15)/T,
That is 2.75/T, so slope range may be considered 0 to 2.75/T；
S35 is when the slope value is in the default slope range, then corresponding ultrasonic signal is effective ultrasound
Ripple signal.
S4 corrects ultrasonic transmission speed；Specifically, the step S4 specifically includes following steps：
S41 measures the temperature value of unmanned vehicle place environment；This ambient temperature value can be detected by temperature sensor
Out；
S42 corrects the spread speed of the ultrasonic wave according to the temperature value.Due to ultrasonic propagation velocity temperature influence compared with
Greatly, therefore to obtain accurate spread speed more important.The present invention is through overtesting, using empirical equation v=331.4+0.607T
To correct the spread speed of ultrasonic wave, wherein, T（Unit for DEG C）For the temperature of actual measurement, v（m/s）It is ultrasonic wave in medium
（Air）In spread speed.
S5 calculates distance of the unmanned vehicle current time apart from the barrier；Preferably, the step S5
Further comprise the steps：
S51 determines that ultrasonic signal spontaneous emission started to the propagation time for receiving effective ultrasonic signal；
S52 determines the unmanned vehicle from transmitting ultrasonic signal to having been moved when receiving effective ultrasonic signal
Distance；
S53 determines that the unmanned vehicle distance is described according to the spread speed after correction, the propagation time, displacement
The distance of barrier.
In a specific Application Example, the spread speed first according to the temperature of measurement to ultrasonic wave in media as well
It is modified.The present invention corrects the propagation speed of ultrasonic wave using the empirical equation v=331.4+0.607T of acquisition by experiment
Degree, wherein, T（Unit for DEG C）For the temperature of actual measurement, v（m/s）It is ultrasonic wave in medium（Air）In spread speed.So
The distance between unmanned vehicle and barrier are calculated according to the ultrasonic propagation time of measurement afterwards.As shown in figure 3, at A points,
The ultrasonic transmitting element of unmanned vehicle sends ultrasonic signal, and ultrasonic signal reflects through the barrier at C points, by nobody
Carry-on ultrasonic wave receiving unit is received.When ultrasonic wave receiving unit determines to receive back wave（It is i.e. anti-through barrier
It is emitted back towards the ultrasonic signal come）When, unmanned vehicle has been flown at B points.If the flying speed of unmanned vehicle is v0 m/
S, the actual speed that ultrasonic wave is propagated in atmosphere is vc=331.4+0.607T.Ultrasonic wave is from when being transmitted into the propagation received
Between be t, that is, unmanned vehicle from A points move to B points time be t, if ultrasonic wave is propagate directly to B points from A points
Time be ta, from B points be propagate directly to C points time be tb, then have：
t=ta +2*tb
ta= v0*t/vc
tb=(t-ta)/2
The distance that can be obtained when unmanned vehicle receives ultrasonic signal apart from barrier by above-mentioned formula is s=tb*vc=(vc-
v0)*t/2=((331.4+0.607T)- v0)*t/2。
S6 avoids the barrier according to unmanned vehicle described in the distance controlling.Here obstacle distance is being known
Behind the position of unmanned vehicle, control instruction control unmanned vehicle is sent as needed and carries out corresponding avoidance operation, such as
Apart from barrier it is nearer when, turn to flight or rise the measure that clears the jumps etc. and realize avoidance.
The unmanned vehicle barrier-avoiding method that the present invention is provided, detects that accurate, measurement accuracy is high because ultrasonic echo is received,
Thus unmanned vehicle Obstacle Position can be effectively judged in flight, with avoidance effect it is good the characteristics of.
Embodiment two
Fig. 4 is referred to, the present invention also provides a kind of unmanned vehicle obstacle avoidance apparatus.The unmanned vehicle obstacle avoidance apparatus includes：
Ultrasonic transmitting element 10, for launching ultrasonic signal；
Ultrasonic wave receiving unit 20, for receiving the ultrasonic signal reflected through barrier；
Sampling unit 30, for effective ultrasonic signal of sampling；
Unit 40 is corrected, for correcting ultrasonic transmission speed；
Computing unit 50, for calculating distance of the unmanned vehicle current time apart from the barrier；
Control unit 60, for avoiding the barrier according to unmanned vehicle described in the distance controlling.
In a specific embodiment, the sampling unit 30 further comprises：
Acquisition module, for gathering the pulse signal in the ultrasonic signal received, is generated with adopting that magnitude of voltage form is represented
Sample value；
First judge module, for judging the sampled value whether in default voltage range；
Slope computing module, the slope value of the pulse signal for calculating the adopted value in the default voltage range；
Second judge module, for judging whether the slope value is located in default slope range；
Effective ultrasonic signal determining module, for when the slope value is in the default slope range, then relatively
The ultrasonic signal answered is effective ultrasonic signal.
In a specific embodiment, the correction unit 40 is specifically included：
Temperature-measuring module, the temperature value of environment where for measuring the unmanned vehicle；
Velocity correction module, the spread speed for correcting the ultrasonic wave according to the temperature value；
The computing unit 50 is specifically included：
Propagation time determining module, for determining that ultrasonic signal spontaneous emission starts to the propagation for receiving effective ultrasonic signal
Time；
Displacement drive module, for determining that the unmanned vehicle is described effectively super from transmitting ultrasonic signal to receiving
Displacement during acoustic signals；
Obstacle distance determining module, it is described for being determined according to the spread speed after correction, the propagation time, displacement
Distance of the unmanned vehicle apart from the barrier.
The unmanned vehicle obstacle avoidance apparatus that the present invention is provided, is caused to ultrasonic wave by setting sampling unit with correction unit
The reception detection more accurate, measurement accuracy of echo is higher, thus unmanned vehicle can effectively judge barrier in flight
Position, with avoidance effect it is good the characteristics of.
Embodiment three
Fig. 5 is referred to, the present invention also provides a kind of unmanned vehicle obstacle avoidance apparatus.The unmanned vehicle obstacle avoidance apparatus is specifically wrapped
Include：
Ultrasonic transmitter 100, transmitting ultrasonic signal detects the barrier of unmanned vehicle place environment,
Ultrasonic receiver 300, receives the ultrasonic signal being reflected back through the barrier,
Temperature measurement unit 400, the temperature of environment where measuring the unmanned vehicle,
Controller 200, the controller 200 controls the ultrasonic transmitter, ultrasonic receiver and temperature measurement unit,
And according to receiving the ultrasonic signal that is reflected through barrier after the preset time of interval, effective ultrasonic signal of sampling out,
And ultrasonic transmission speed is corrected, distance of the unmanned vehicle current time apart from the barrier is then calculated, then
The barrier is avoided according to unmanned vehicle described in the distance controlling.
In a specific embodiment, the ultrasonic transmitter 100 further comprises：First modulation amplifying unit and
Ultrasonic transmitting element, the first modulation amplifying unit is received after pulse signal, produces multiple alternate ultrasonic waves of pulse
Modulated signal, the ultrasonic wave modulation signal launches ultrasonic signal through ultrasonic transmitting element.
Further, the ultrasonic receiver 300 further comprises：Reception processing unit, second modulation amplifying unit,
Using detection unit, demodulating unit, filter unit, voltage comparison unit and interrupt signal generation unit, the reception processing
Unit is received launches the synchronizing signal that ultrasonic signal is launched simultaneously, the second modulation described in subsequent start-up in ultrasonic wave transmitting element
Amplifying unit is amplified to the ultrasonic signal reflected through barrier, and the sample detecting unit enters to ultrasonic signal
Row sampling, obtains sampled signal, and after the demodulated unit demodulation of sampled signal, and filtered unit is filtered after noise, through electricity
Pressure comparing unit is compared the effective ultrasonic signal of acquisition, then sends interrupt signal by interrupt signal generation unit, so as to
Ultrasonic signal is obtained from the propagation time for being transmitted into reception.
In an Application Example, the basic running of the unmanned vehicle obstacle avoidance apparatus is as follows：Controller 200 is produced
80KHz the or 100KHz pulses of raw certain sequence, by the processing of the first modulation amplifying unit, produce comprising multiple 80KHz or
100KHz pulses or 80KHz with the alternate ultrasonic wave modulation signal of 100KHz pulses to improve anti-interference and transmission speed, then
Sent out by ultrasonic transmitting element, while ultrasonic wave is launched, controller 200 sends one to ultrasonic wave receiving unit
Synchronizing signal, it is ensured that ultrasonic signal launches the time synchronized with receiving.The ultrasonic signal launched run into barrier with
Afterwards, it may occur that reflex, the ultrasonic echo reflected is received by ultrasonic wave receiving unit.
Ultrasonic wave receiving unit receives the synchronizing signal of controller 200, just starts ultrasonic echo and receives.Receive
Signal is amplified signal by the pre-amplifier unit of ultrasonic wave receiving unit, reaches suitable amplitude, to facilitate each list of rear class
The processing of member.Ultrasonic wave receiving unit control sample detecting unit carried using STM32 processor of single chip computer two or three
ADC functional modules carry out quick alternating sampling to the echo after amplification, and coordinate DMA methods to preserve and read sampled value, then make
Judged to detect effective ultrasonic signal with sampled value determining method, and then carry out follow-up relevant treatment.
Demodulating unit is demodulated processing to the effective modulated signal received；Then, the bandpass filter of filter unit
The frequency centered on 80KHz or 100KHz, filters the interference signal of high and low frequency.Voltage comparison unit is by filtered signal
Be converted to rectangular wave pulse, and by interrupt signal generation unit output interrupt trigger signal, and then ultrasonic receiver 300 connects
Receive processing unit and measure ultrasonic signal from being transmitted into propagation time for being received.Controller 200 is according to measured ultrasound
The current temperature that wave propagation time and temperature measurement unit are surveyed, using related algorithm, calculates unmanned plane during flying device and barrier
Hinder the distance between thing.Controller 200 determines to take different strategies according to the distance of measurement.
Controller 200 can use STM32 series monolithic processors, the fortune of the whole unmanned plane during flying device of major control
Turn, and take different counter-measures such as to turn to, slow down, hover or land according to measurement result decision.
STM32 series monolithic processors can also be used in the reception processing unit of ultrasonic receiver 300, for being surpassed
The distance of acoustic measurement.
Two or three ADC functional modules that sample detecting unit is carried using STM32 processor of single chip computer（Analog-to-digital conversion
Module）, configuring relevant parameter makes it be operated under quick alternate mode, can greatly improve sampling rate.
Sample detecting unit 10 is in AD（Analog-converted is numeral）After sampling, judge to detect using sampled value determining method
Effective ultrasonic signal.Judgement detects the foundation of effective ultrasonic signal as previously described.
Controller 200 is modified according to the temperature of measurement to the spread speed of ultrasonic wave in media as well first.According to public affairs
Formula v=331.4+0.607T corrects the spread speed of ultrasonic wave, wherein, T（Unit for DEG C）For the temperature of actual measurement, v（m/
s）For the spread speed of ultrasonic wave in media as well.
Controller 200 calculates the distance between unmanned plane during flying device and barrier according to the ultrasonic propagation time of measurement,
Then the barrier is avoided according to unmanned vehicle described in the distance controlling.
Above to a kind of unmanned vehicle barrier-avoiding method and device provided by the present invention, it is described in detail, herein
In apply specific case the principle and embodiment of the present invention be set forth, the explanation of above example is only intended to side
Assistant solves the method for the present invention and its core concept；Simultaneously for those of ordinary skill in the art, the think of according to the present invention
Think, will change in specific embodiments and applications, in summary, this specification content is only the present invention's
Embodiment, is not intended to limit the scope of the invention, what every utilization description of the invention and accompanying drawing content were made etc.
Structure or equivalent flow conversion are imitated, or is directly or indirectly used in other related technical fields, is similarly included in the present invention
Scope of patent protection in.It should not be construed as limiting the invention.
Claims (10)
1. a kind of unmanned vehicle barrier-avoiding method, it is characterised in that the unmanned vehicle barrier-avoiding method mainly includes following step
Suddenly：
S1 unmanned vehicles launch ultrasonic signal；
S2 receives the ultrasonic signal reflected through barrier；
The effective ultrasonic signal of S3 samplings；
S4 corrects ultrasonic transmission speed；
S5 calculates distance of the unmanned vehicle current time apart from the barrier；
S6 avoids the barrier according to unmanned vehicle described in the distance controlling.
2. unmanned vehicle barrier-avoiding method as claimed in claim 1, it is characterised in that the step S3 is specifically included：
Pulse signal in the ultrasonic signal that S31 collections are received, generates the sampled value represented in magnitude of voltage form；
Whether S32 judges the sampled value in default voltage range；
S33 calculates the slope value of the pulse signal of the adopted value in the default voltage range；
S34 judges whether the slope value is located in default slope range；
S35 is when the slope value is in the default slope range, then corresponding ultrasonic signal is effective ultrasound
Ripple signal.
3. unmanned vehicle barrier-avoiding method as claimed in claim 2, it is characterised in that the step S4 specifically includes following step
Suddenly：
S41 measures the temperature value of unmanned vehicle place environment；
S42 corrects the spread speed of the ultrasonic wave according to the temperature value.
4. unmanned vehicle barrier-avoiding method as claimed in claim 3, it is characterised in that the step S5 further comprises following
Step：
S51 determines that ultrasonic signal spontaneous emission started to the propagation time for receiving effective ultrasonic signal；
S52 determines the unmanned vehicle from transmitting ultrasonic signal to having been moved when receiving effective ultrasonic signal
Distance；
S53 determines that the unmanned vehicle distance is described according to the spread speed after correction, the propagation time, displacement
The distance of barrier.
5. unmanned vehicle barrier-avoiding method as claimed in claim 1, it is characterised in that the step S2 further comprises following
Step：
S21 receives the ultrasonic signal that the barrier is reflected in the first position of the unmanned vehicle；
S22 receives the ultrasonic signal that the barrier is reflected in the second position of the unmanned vehicle simultaneously.
6. a kind of unmanned vehicle obstacle avoidance apparatus, it is characterised in that the unmanned vehicle obstacle avoidance apparatus includes：
Ultrasonic transmitting element, located at unmanned vehicle, launches ultrasonic signal；
Ultrasonic wave receiving unit, for receiving the ultrasonic signal reflected through barrier；
Sampling unit, for effective ultrasonic signal of sampling；
Unit is corrected, for correcting ultrasonic transmission speed；
Computing unit, for calculating distance of the unmanned vehicle current time apart from the barrier；
Control unit, for avoiding the barrier according to unmanned vehicle described in the distance controlling.
7. unmanned vehicle obstacle avoidance apparatus as claimed in claim 6, it is characterised in that the sampling unit further comprises：
Acquisition module, for gathering the pulse signal in the ultrasonic signal received, is generated with adopting that magnitude of voltage form is represented
Sample value；
First judge module, for judging the sampled value whether in default voltage range；
Slope computing module, the slope value of the pulse signal for calculating the adopted value in the default voltage range；
Second judge module, for judging whether the slope value is located in default slope range；
Effective ultrasonic signal determining module, for when the slope value is in the default slope range, then relatively
The ultrasonic signal answered is effective ultrasonic signal.
8. unmanned vehicle obstacle avoidance apparatus as claimed in claim 7, it is characterised in that the correction unit is specifically included：
Temperature-measuring module, the temperature value of environment where for measuring the unmanned vehicle；
Velocity correction module, the spread speed for correcting the ultrasonic wave according to the temperature value；
The computing unit is specifically included：
Propagation time determining module, for determining that ultrasonic signal spontaneous emission starts to the propagation for receiving effective ultrasonic signal
Time；
Displacement drive module, for determining that the unmanned vehicle is described effectively super from transmitting ultrasonic signal to receiving
Displacement during acoustic signals；
Obstacle distance determining module, it is described for being determined according to the spread speed after correction, the propagation time, displacement
Distance of the unmanned vehicle apart from the barrier.
9. a kind of unmanned vehicle obstacle avoidance apparatus, it is characterised in that the unmanned vehicle obstacle avoidance apparatus is specifically included：
Ultrasonic transmitter, transmitting ultrasonic signal detects the barrier of unmanned vehicle place environment,
Ultrasonic receiver, receives the ultrasonic signal being reflected back through the barrier,
Temperature measurement unit, the temperature of environment where measuring the unmanned vehicle,
Controller, the controller controls the ultrasonic transmitter, ultrasonic receiver and temperature measurement unit, and foundation
The ultrasonic signal reflected through barrier is received after the preset time of interval, effective ultrasonic signal of sampling out, and correct
Ultrasonic transmission speed, then calculates distance of the unmanned vehicle current time apart from the barrier, then according to institute
State unmanned vehicle described in distance controlling and avoid the barrier.
10. unmanned vehicle obstacle avoidance apparatus as claimed in claim 9, it is characterised in that the ultrasonic transmitter is further
Including：First modulation amplifying unit and ultrasonic transmitting element, the first modulation amplifying unit are received after pulse signal,
The alternate ultrasonic wave modulation signal of multiple pulses is produced, the ultrasonic wave modulation signal launches ultrasound through ultrasonic transmitting element
Ripple signal；
The ultrasonic receiver further comprises：Reception processing unit, second modulate amplifying unit, using detection unit, solution
Unit, filter unit, voltage comparison unit and interrupt signal generation unit are adjusted, the reception processing unit is received in ultrasonic wave
The synchronizing signal that transmitting element transmitting ultrasonic signal is launched simultaneously, the second modulation amplifying unit is to through obstacle described in subsequent start-up
The ultrasonic signal that thing is reflected is amplified, and the sample detecting unit is sampled to ultrasonic signal, is sampled
Signal, after the demodulated unit demodulation of sampled signal, and filtered unit is filtered after noise, is compared through voltage comparison unit
Relatively obtain effective ultrasonic signal, then by interrupt signal generation unit send interrupt signal, so as to obtain ultrasonic signal from
It is transmitted into the propagation time of reception.
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