CN106979863A - A kind of unmanned plane IMU collision checking methods and device - Google Patents
A kind of unmanned plane IMU collision checking methods and device Download PDFInfo
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- CN106979863A CN106979863A CN201710161733.7A CN201710161733A CN106979863A CN 106979863 A CN106979863 A CN 106979863A CN 201710161733 A CN201710161733 A CN 201710161733A CN 106979863 A CN106979863 A CN 106979863A
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- collision
- unmanned plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/0078—Shock-testing of vehicles
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- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned plane IMU collision checking methods and device, it is intended to solves unmanned plane collision detection problem, and method comprises the following steps：Detect the signal of the IMU sensors input in unmanned plane；The direction of collision is determined by IMU input signals, device includes collision detection unit, signal processing unit.It the method can be widely used in unmanned plane collision detection field.
Description
Technical field
The present invention relates to collision field, particularly a kind of unmanned plane IMU collision checking methods and device.
Background technology
Current unmanned plane application is more and more wider, and unmanned plane has been widely used for taking photo by plane field unmanned plane in various player's hands
In receive greatly to like, but unmanned plane from come out there is collision problem always till now, unmanned plane is often met in flight course
To various barriers, when run into barrier it is unavoidable when will collide, and collision detection is all unmanned plane all the time
The a great problem in field.
The content of the invention
The purpose of the present invention be overcome in place of the deficiencies in the prior art there is provided a kind of unmanned plane IMU collision checking methods and
Device.
To solve the technical problem of the present invention, the technical scheme is that：A kind of unmanned plane IMU collision checking methods,
Comprise the following steps：
Detect the signal of the IMU sensors input in unmanned plane；
The direction of collision is determined by IMU input signals.
Preferably, the IMU sensor input signals of detection unmanned plane are specifically, after unmanned plane collides object, IMU
Sensor can send a signal, by the method for filtering, filter out the signal of normal flight, the exception produced after being collided
Signal.
Preferably, data are transmitted by IMU and determines that the specific method in the direction of collision is that unmanned plane is largely collided
The IMU data produced in collision process are trained study by experiment by the method for deep learning, according to training result with working as
Before the collision parameter that transmits determine the angle and intensity of unmanned plane collision.
A kind of unmanned plane IMU collision detecting devices, including with lower unit：
Collision detection unit：The collision alarm produced in detection unmanned plane collision process；
Signal processing unit：The signal transmitted from collision cell is handled, it is determined that the size and Orientation of collision.
Further, after the signal processing unit is trained beforehand through the typing of deep learning method by deep learning
Database, during detection by contrast current input signal and training after database be compared determine collision it is related join
Number.
Compared with prior art, the present invention has advantages below：Collision alarm can accurately be detected by the method for filtering,
The direction collided after collision generation and intensity can simply be drawn by the method for deep learning.
Brief description of the drawings：The unmanned plane IMU collision checking method embodiment flow charts that Fig. 1 provides for the present invention,
The unmanned plane IMU collision detecting device embodiment schematic diagrams that Fig. 2 provides for the present invention.
Embodiment：
The invention will be further described with reference to the accompanying drawings and examples：
Embodiment of the method：
The unmanned plane IMU collision checking method embodiment flow charts that Fig. 1 present invention is provided, the method specific implementation step of anticollision
For：When unmanned plane collides object, the signal of the IMU sensors input in following steps, S101 detection unmanned planes is carried out；
Specifically, IMU sensors can produce a collision alarm after collision occurs, but collision alarm can be mingled with nobody
Vibration signal during machine normal flight, is accomplished by filtering the signal of normal flight this when, then by after by filtering
Signal is passed among unmanned plane；
S102 determines the direction of collision by IMU input signals.
Specifically, prior unmanned plane does substantial amounts of collision experiment, and the IMU data produced in collision process are passed through into depth
The method of habit is trained study, sets up database, and depth is passed through according to the collision parameter that training result and current transmission come
Learning method is by contrasting the angle and intensity that determine that unmanned plane is collided.
Device embodiment：
The unmanned plane IMU collision detecting device embodiment schematic diagrams that Fig. 2 provides for the present invention,
A kind of unmanned plane IMU collision detecting devices, including with lower unit：
Collision detection unit 201：The collision alarm produced in detection unmanned plane collision process；
After the signal that the detection collision of collision detection unit 201 is produced, signal is filtered, letter under normal circumstances is filtered
Number, signal after filtering is then delivered to signal processing unit 202；
Signal processing unit 202：The signal transmitted from collision cell is handled, it is determined that the size and Orientation of collision.
Further, the signal processing unit 202 is trained beforehand through the typing of deep learning method by deep learning
Database afterwards, the phase for determining to collide is compared during detection by the database after contrasting current input signal and training
Related parameter, it is determined that automatically controlling progress collision avoidance processing by unmanned plane afterwards.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within the modifications, equivalent substitutions and improvements made etc., should be included in the claim protection model of the present invention
Within enclosing.
Claims (5)
1. a kind of unmanned plane IMU collision checking methods, it is characterised in that comprise the following steps：
Detect the signal of the IMU sensors input in unmanned plane；
The direction of collision is determined by IMU input signals.
2. a kind of unmanned plane IMU collision checking methods according to claim 1, it is characterised in that the IMU of detection unmanned plane
Sensor input signal passes through filtering specifically, after unmanned plane collides object, IMU sensors can send a signal
Method, filter out the signal of normal flight, the abnormal signal produced after being collided.
3. a kind of unmanned plane IMU collision checking methods according to claim 1, it is characterised in that data are transmitted by IMU
It is determined that the specific method in the direction of collision is, a large amount of impact tests are carried out to unmanned plane, by the IMU data produced in collision process
Study is trained by the method for deep learning, unmanned plane is determined according to the collision parameter that training result and current transmission come
The angle and intensity of collision.
4. a kind of unmanned plane IMU collision detecting devices, it is characterised in that including with lower unit：
Collision detection unit：The collision alarm produced in detection unmanned plane collision process；
Signal processing unit：The signal transmitted from collision cell is handled, it is determined that the size and Orientation of collision.
5. a kind of unmanned plane IMU collision detecting devices according to claim 4, it is characterised in that the signal transacting list
Database of the member beforehand through the typing of deep learning method after deep learning training, passes through contrast current input during detection
Signal is compared the relevant parameter for determining collision with the database after training.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710161733.7A CN106979863A (en) | 2017-03-17 | 2017-03-17 | A kind of unmanned plane IMU collision checking methods and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710161733.7A CN106979863A (en) | 2017-03-17 | 2017-03-17 | A kind of unmanned plane IMU collision checking methods and device |
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| Publication Number | Publication Date |
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| CN106979863A true CN106979863A (en) | 2017-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710161733.7A Pending CN106979863A (en) | 2017-03-17 | 2017-03-17 | A kind of unmanned plane IMU collision checking methods and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114627569A (en) * | 2022-03-10 | 2022-06-14 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Abnormity processing method and device for power line inspection unmanned aerial vehicle and computer equipment |
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| CN106347643A (en) * | 2016-11-02 | 2017-01-25 | 王宇飞 | Automatic protection system for unmanned plane |
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Patent Citations (6)
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| CN1670878A (en) * | 2005-03-14 | 2005-09-21 | 李捷逵 | A high-sensitivity multi-direction collision accident detecting method |
| WO2010024751A1 (en) * | 2008-08-27 | 2010-03-04 | Saab Ab | Using image sensor and tracking filter time-to-go to avoid mid-air collisions |
| CN201329847Y (en) * | 2009-01-06 | 2009-10-21 | 山东科沐华信息技术有限公司 | GPS vehicle terminal with bump detection |
| CN101628567A (en) * | 2009-07-04 | 2010-01-20 | 大连交通大学 | Automobile intelligent alarm system |
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| CN114627569A (en) * | 2022-03-10 | 2022-06-14 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Abnormity processing method and device for power line inspection unmanned aerial vehicle and computer equipment |
| CN114627569B (en) * | 2022-03-10 | 2023-09-12 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Abnormality processing method and device for power line inspection unmanned aerial vehicle and computer equipment |
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Application publication date: 20170725 |