CN107783546A - The plant protection unmanned plane obstacle avoidance system and method for single rotor - Google Patents
The plant protection unmanned plane obstacle avoidance system and method for single rotor Download PDFInfo
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- 206010008428 Chemical poisoning Diseases 0.000 description 1
- 241000219112 Cucumis Species 0.000 description 1
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 1
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 1
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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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Abstract
The plant protection unmanned plane obstacle avoidance system and method for single rotor, including：S1. borne Millimeter Wave Collision Avoidance Radars sensor carries out the acquisition of obstacle target feature in medium and long distance environment；S2. ultrasonic sensor carries out the acquisition of closely interior barrier target signature：S3. millimetre-wave radar altimeter carries out the measurement of unmanned plane distance perpendicular to the ground；S4.GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed；S5.AHRS modules gather the navigation attitude data of unmanned plane；S6. master controller is analyzed by the data obtained to each sensor, and control unmanned plane completes avoidance action.By the application of multisensor, the safeguard measure of anticollision is provided for fixed-wing plant protection unmanned plane, improve plant protection unmanned plane application and use during security performance.
Description
Technical field
The invention belongs to unmanned plane avoidance technical field, more particularly to a kind of plant protection unmanned plane obstacle avoidance system of single rotor and
Method.
Background technology
Agricultural plant protection unmanned plane uses very universal in states such as the U.S., Russia, Japan, and technology is also highly advanced, so
And China is used as large agricultural country, 1,800,000,000 mu of basic farmlands, agricultural plant protection unmanned plane is but not yet popularized.But the agriculture in China
Industry plant protection unmanned plane market is on the occasion of ascent stage, just because of not yet popularization is so market is fully developed talents.Chinese annual needs are a large amount of
Personnel be engaged in agriculture plant protection operation, and the annual pesticide poisoning number in China has 100,000 crowd, meanwhile, rural area person between twenty and fifty labour
Gradually rare, human cost increasingly increases.Plant protection unmanned plane then can long-distance remote control operation, avoid spraying operation personnel exposure
In the danger of agricultural chemicals, the safety of spraying operation has been ensured.
Plant protection unmanned plane, is the UAV for agriculture and forestry plant protection operation, and the type unmanned aerial vehicle is flat by flying
Platform, GPS fly control, spraying mechanism three parts composition, fly control by ground remote control or GPS, to realize spraying operation, can spray medicine
Agent, seed, pulvis etc..For plant protection unmanned plane using efficient brushless electric machine as power, fuselage shaking is small, can carry accurate instrument
Device, spray insecticide etc. more accurate；Meanwhile vegetation landform requires low, operation is not limited by height above sea level；Plant protection unmanned plane takes off adjustment
Short, efficiency high, the rate of attendance are high；Plant protection unmanned plane has environmental protection, no waste gas, meets national energy-saving environmental protection and green organic agricultural hair
Exhibition requires.
Plant protection unmanned plane is constantly popularized, and starts to come into the life of ordinary people.But plant protection unmanned plane is not due to adopting
Protected with the anticollision of correlation, cause plant protection unmanned plane to add many limitations in operation process, such as operation field circumference
The room lived without personnel, unshielded woods, high voltage transmission line tower, electric pole etc. in the range of 10 meters of operation field circumference are required in the range of 10 meters
Barrier, without the barrier for influenceing flight safety or the barrier of flight sight is influenceed among operation field, plant height should be low
In the sight of operating personnel, operating personnel be able to observe that aircraft flight attitude etc. requirement, these limitation will cause plant protection without
Man-machine use is unfavorable for comprehensive popularization of plant protection unmanned plane by certain territory restriction.
The content of the invention
Disadvantages mentioned above be present for prior art, the invention provides a kind of plant protection unmanned plane obstacle avoidance system of single rotor and
Method, by the application of multisensor, the safeguard measure of anticollision is provided for fixed-wing plant protection unmanned plane, improves plant protection unmanned plane
Application and use during security performance.
In a first aspect, the invention provides a kind of plant protection unmanned plane obstacle avoidance system of single rotor, including：
Millimetre-wave radar altimeter, the relative altitude on unmanned plane and ground is measured；
GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed etc.；
AHRS modules, gather unmanned plane during flying attitude data；
Borne Millimeter Wave Collision Avoidance Radars sensor, gather relative velocity, relative distance and the azimuth of unmanned plane and barrier
Deng；
Ultrasonic radar sensor, for being acquired to the relative distance of barrier；
Master controller, analyzed by the data obtained to each sensor, control unmanned plane completes avoidance action；
The master controller respectively with millimetre-wave radar altimeter, GPS/ Big Dippeves alignment sensor, AHRS modules, millimeter wave
Anticollision Radar sensor, ultrasonic radar sensor are connected.
Preferably, the borne Millimeter Wave Collision Avoidance Radars sensor, ultrasonic radar sensor are arranged in front of unmanned plane.
Preferably, ultrasonic radar sensor carries out the ranging of 0~10 meter of scope, and borne Millimeter Wave Collision Avoidance Radars sensor is carried out
Ranging in the range of 1~50m.
Preferably, AHRS modules, including MEMS three-axis gyroscope, accelerometer and magnetometer, output data are three-dimensional
Acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity.
Second aspect, the invention provides a kind of plant protection unmanned plane barrier-avoiding method of single rotor, including：
S1. borne Millimeter Wave Collision Avoidance Radars sensor carries out the acquisition of obstacle target feature in medium and long distance environment；
S2. ultrasonic sensor carries out the acquisition of closely interior barrier target signature：
S3. millimetre-wave radar altimeter carries out the measurement of unmanned plane distance perpendicular to the ground；
S4.GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed；
S5.AHRS modules gather the navigation attitude data of unmanned plane；
S6. master controller is analyzed by the data obtained to each sensor, and control unmanned plane completes avoidance action.
Specifically, it is to complete avoidance as follows in step S6：
P1, the relative distance of unmanned plane and barrier is first determined whether, relative distance is carried out to the division of three parts:It is less than
N1m, N1m to N2m, three distance ranges of N2m to N3m；
P2, after distance has divided, the division of danger classes is carried out according to the relative velocity of unmanned plane and barrier:
When distance is less than N1m, speed is more than M1m/s, and pre-warning time is less than 3s, then belongs to danger classes, and speed is less than
During M1m/s, belong to warning level；
As distance N1m≤R<N2m, when speed is more than M2m/s, in danger classes；As speed M1m/s≤V<During M2m/s,
In warning level, when speed is less than M1m/s, in cue scale；
As distance N2m≤R<During N3m, when speed is more than M3m/s, in danger classes；As speed M2m/s≤V<M3m/
During s, in warning level, as speed M1m/s≤V<During M2m/s, in cue scale, when speed is less than M1m/s, in not
Associated ratings；
P3, borne Millimeter Wave Collision Avoidance Radars sensor carry out the azimuthal judgement of barrier.
More specifically, also include in above-mentioned steps S6：
P4, for danger classes, it is necessary to carry out step P3 operation；For warning level, it is necessary to be carried out after emergency deceleration
Step P3 operation；For cue scale and uncorrelated grade, without carrying out step P3 judgement, return re-starts detection.
More specifically, borne Millimeter Wave Collision Avoidance Radars sensor carries out the azimuthal judgement of barrier in step P3, specially hinders
Hinder thing in the left side of unmanned plane, the right or front；If barrier is in the left side of unmanned plane, control unmanned plane enters
Row right avertence is flown, avoiding barrier；If the right in unmanned plane, control unmanned plane carries out left avertence flight, avoiding barrier；
If barrier is in the front of unmanned plane during flying, control unmanned plane carries out avoidance of turning back after promptly hovering.
The present invention can obtain following technique effect due to using above technical scheme：The application can effectively feel
Know high accuracy and accurately acquisition of the plant protection unmanned plane to its flight environment of vehicle and obstacle target of single rotor, reduce single
The factor such as related data information missing and deficiency existing for one sensor.
By the application of multisensor, the safeguard measure of anticollision is provided for fixed-wing plant protection unmanned plane, improve plant protection without
Security performance during man-machine application and use.
Brief description of the drawings
, below will be to embodiment or existing for clearer explanation embodiments of the invention or the technical scheme of prior art
There is the required accompanying drawing used in technology description to do one and simply introduce, it should be apparent that, drawings in the following description are only
Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the plant protection unmanned plane obstacle avoidance system structural representation of single rotor；
Fig. 2 is the plant protection unmanned plane barrier-avoiding method flow chart of single rotor；
Fig. 3 is main controller controls unmanned plane barrier-avoiding method flow chart in embodiment 3.
Embodiment
To make the purpose, technical scheme and advantage of embodiments of the invention clearer, with reference to the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly completely described：
The application is the plant protection unmanned plane for single rotor, and single rotor plant protection unmanned plane rotor is big, flight stability, wind resistance bar
Part is good, and wind field is stable, and atomizing effect is good, and lower cyclonic wind is big, and penetration power is strong, and agricultural chemicals can get to the rhizome position of crops；Core
Center portion part is import motor, and component is aircraft aluminum, and carbon fibre material is durable, stable performance；Flight plant protection operation lasts 2
Nian Duo, more than continuous mu/time of plant protection 100,000, no significant trouble, flight management is simple and convenient and easy to study, the flight control system of stable intelligence, stupidly
The operator scheme of melon formula can left-hand seat by simple training.
Embodiment 1
A kind of plant protection unmanned plane obstacle avoidance system of single rotor is present embodiments provided, including：
Millimetre-wave radar altimeter, vertical range of the measurement unmanned plane to ground；
GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed；
AHRS modules, collection unmanned plane during flying course, roll and rollover information；AHRS modules, include MEMS three axle tops
Spiral shell instrument, accelerometer and magnetometer, output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity.
Borne Millimeter Wave Collision Avoidance Radars sensor, gather relative velocity, relative distance and the azimuth of unmanned plane and barrier；
Borne Millimeter Wave Collision Avoidance Radars sensor carries out the ranging in the range of 1~50m；
Ultrasonic radar sensor, for realizing close-in measurement of the barrier to unmanned plane, ultrasonic radar sensor
Carry out the ranging of 0~10 meter of scope；
Master controller, analyzed by the data obtained to each sensor, control unmanned plane completes avoidance action；
The master controller respectively with millimetre-wave radar altimeter, GPS/ Big Dippeves alignment sensor, AHRS modules, millimeter wave
Anticollision Radar sensor, ultrasonic radar sensor are connected.
Preferably, the borne Millimeter Wave Collision Avoidance Radars sensor, ultrasonic radar sensor are arranged in front of unmanned plane.
Embodiment 2
A kind of plant protection unmanned plane barrier-avoiding method of single rotor is present embodiments provided, including：
S1. borne Millimeter Wave Collision Avoidance Radars sensor carries out the acquisition of obstacle target feature in medium and long distance environment；Due to milli
Metre wave radar operation wavelength is between 1mm~10mm, compared with other detection modes, mainly there is detection performance stabilization, ring
Border is well-adjusted, size is small, price is low, can be the sleety weather of rather harsh uses the advantages that, and millimeter wave anticollision thunder
Operating distance up to sensor is remote, can reach 50m or farther distance, is vision sensor, infrared sensor and super
The distance that the avoidance sensor such as sound radar sensor is unable to reach, make quick avoidance for unmanned plane and provide enough keep away
Hinder the reaction time, and borne Millimeter Wave Collision Avoidance Radars sensor can be realized and endangered in front of the plant protection unmanned plane during flying of single rotor in environment
The accurate acquisition of dangerous target signature information, relative distance, relative velocity and the deflection of such as obstacle target and unmanned plane
Feature.
S2. ultrasonic sensor carries out the acquisition of closely interior barrier target signature：Because borne Millimeter Wave Collision Avoidance Radars pass
Sensor in the presence of certain for closely obscuring, in order that unmanned plane closely has higher range accuracy, so every
One ultrasonic radar of installation on one millimetre-wave radar side, the ranging of 0~10 meter of scope of progress, millimetre-wave radar progress 1~
Ranging work in the range of 50m.
S3. millimetre-wave radar altimeter carries out the measurement of unmanned plane distance perpendicular to the ground；Millimetre-wave radar altimeter is real
The now measurement of the plant protection unmanned plane distance to the ground of single rotor, the relative flying height being accurately controlled between unmanned plane and ground,
So that unmanned plane keeps carrying out the smooth flight of certain altitude with ground, so that agriculture guarantor's unmanned plane can be effectively by agricultural chemicals
Etc. being sprayed onto on crops.
S4.GPS/ Big Dipper alignment sensors, it is possible to achieve the measurement of unmanned plane location data, for unmanned plane anticollision, enter
The measurement of row height above sea level and the measurement of unmanned plane speed.
S5.AHRS carries out the measurement of unmanned plane navigation attitude data.AHRS is referred to as attitude heading reference system, including three based on MEMS
Axle gyroscope, accelerometer and magnetometer, output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity, are led to
Course, roll and rollover information can be provided for aircraft by crossing these data, for providing accurately and reliably posture for aircraft
With sail information.
S6. master controller is mainly responsible for the collection of each sensing data, the task such as processing and decision-making.I.e. will be multiple
The respective data that sensor obtains carry out data acquisition, data prediction, data filtering and control etc. by controller and appointed
Business.For parts such as data acquisition, data processing, data filterings, the present invention is not described in detail, and the present invention mainly provides list
The control method of the plant protection unmanned plane obstacle avoidance system of rotor.Unmanned aerial vehicle (UAV) control method is mainly according to the relative of unmanned plane and barrier
Distance, relative velocity and azimuthal measurement result are controlled accordingly.
The above method can effectively perceive unmanned plane to the high accuracy of its flight environment of vehicle and obstacle target and
Accurately obtain, reduce the factor such as related data information missing and deficiency existing for single-sensor.
Embodiment 3
The present embodiment is the further supplementary notes to embodiment 2：
Specifically, it is to complete avoidance as follows in step S6：
P1, the relative distance of unmanned plane and barrier is first determined whether, relative distance is carried out to the division of three parts:It is less than
10m, 10m to 20m, three distance ranges of 20m to 50m；
P2, after distance has divided, the division of danger classes is carried out according to the relative velocity of unmanned plane and barrier:
When distance is less than 10m, speed is more than 3m/s, and pre-warning time is less than 3s, then belongs to danger classes, and speed is less than
During 3m/s, belong to warning level；
As distance 10m≤R<20m, when speed is more than 6m/s, in danger classes；As speed 3m/s≤V<During 6m/s, place
In warning level, when speed is less than 3m/s, in cue scale；
As distance 20m≤R<During 50m, when speed is more than 16m/s, in danger classes；As speed 6m/s≤V<16m/s
When, in warning level, as speed 3m/s≤V<During 6m/s, in cue scale, when speed is less than 3m/s, in uncorrelated
Grade；
P3, then carry out unmanned plane and the azimuthal judgement of barrier according to borne Millimeter Wave Collision Avoidance Radars：Barrier is at nobody
The left side, the right, or front are obtained in machine flight course.If barrier is in the left side of unmanned plane during flying, nobody is controlled
Machine carries out right avertence flight, and avoiding barrier, similarly if on the right of unmanned plane, control unmanned plane carries out left avertence flight, hides
Barrier.If barrier is in the front of unmanned plane during flying, unmanned plane is needed to carry out avoidance of turning back after promptly hovering.
P4, for danger classes, it is necessary to carry out step P3 operation；For warning level, it is necessary to be carried out after emergency deceleration
Step P3 operation；For cue scale and uncorrelated grade, without carrying out the judgement of third step, return re-starts inspection
Survey.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (8)
1. the plant protection unmanned plane obstacle avoidance system of single rotor, it is characterised in that including：
Millimetre-wave radar altimeter, the relative altitude on unmanned plane and ground is measured；
GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed；
AHRS modules, collection unmanned plane during flying course, roll and rollover information；
Borne Millimeter Wave Collision Avoidance Radars sensor, gather relative velocity, relative distance and the azimuth of unmanned plane and barrier；
Ultrasonic radar sensor, for being acquired to the relative distance of barrier；
Master controller, analyzed by the data obtained to each sensor, control unmanned plane completes avoidance action；
The master controller respectively with millimetre-wave radar altimeter, GPS/ Big Dippeves alignment sensor, AHRS modules, millimeter wave anticollision
Radar sensor, ultrasonic radar sensor are connected.
2. the plant protection unmanned plane obstacle avoidance system of single rotor according to claim 1, it is characterised in that the millimeter wave anticollision thunder
It is arranged on up to sensor, ultrasonic radar sensor in front of unmanned plane.
3. the plant protection unmanned plane obstacle avoidance system of single rotor according to claim 1, it is characterised in that ultrasonic radar sensor
The ranging of 0~10 meter of scope is carried out, borne Millimeter Wave Collision Avoidance Radars sensor carries out the ranging in the range of 1~50m.
4. according to the plant protection unmanned plane obstacle avoidance system of any one of claim 1-3 single rotors, it is characterised in that AHRS moulds
Block, including MEMS three-axis gyroscope, accelerometer and magnetometer, output data are three-dimensional acceleration, three-dimensional angular velocity and three
Tie up geomagnetic field intensity.
5. the plant protection unmanned plane barrier-avoiding method of single rotor, it is characterised in that including：
S1. borne Millimeter Wave Collision Avoidance Radars sensor carries out the acquisition of obstacle target feature in medium and long distance environment；
S2. ultrasonic sensor carries out the acquisition of closely interior barrier target signature：
S3. millimetre-wave radar altimeter carries out the measurement of unmanned plane distance perpendicular to the ground；
S4.GPS/ Big Dipper alignment sensors, collection location information, unmanned plane height above sea level, unmanned plane during flying speed；
S5.AHRS modules gather the navigation attitude data of unmanned plane；
S6. master controller is analyzed by the data obtained to each sensor, and control unmanned plane completes avoidance action.
6. the plant protection unmanned plane barrier-avoiding method of single rotor according to claim 5, it is characterised in that be by such as in step S6
Lower step completes avoidance：
P1, the relative distance of unmanned plane and barrier is first determined whether, relative distance is carried out to the division of three parts:Less than N1m,
Three distance ranges of N1m to N2m, N2m to N3m；
P2, after distance has divided, the division of danger classes is carried out according to the relative velocity of unmanned plane and barrier:
When distance is less than N1m, speed is more than M1m/s, and pre-warning time is less than Qs, then belongs to danger classes, and speed is less than M1m/s
When, belong to warning level；
As distance N1m≤R<N2m, when speed is more than M2m/s, in danger classes；As speed M1m/s≤V<During M2m/s, it is in
Warning level, when speed is less than M1m/s, in cue scale；
As distance N2m≤R<N3m, when speed is more than M3m/s, in danger classes；As speed M2m/s≤V<During M3m/s, it is in
Warning level, as speed M1m/s≤V<During M2m/s, in cue scale, when speed is less than M1m/s, in uncorrelated etc.
Level；
P3, borne Millimeter Wave Collision Avoidance Radars sensor carry out the azimuthal judgement of barrier.
7. the plant protection unmanned plane barrier-avoiding method of single rotor according to claim 6, it is characterised in that also wrapped in above-mentioned steps S6
Include：
P4, for danger classes, it is necessary to carry out step P3 operation；For warning level, it is necessary to carry out step after emergency deceleration
P3 operation；For cue scale and uncorrelated grade, without carrying out step P3 judgement, return re-starts detection.
8. the plant protection unmanned plane barrier-avoiding method of single rotor according to claim 5, it is characterised in that millimeter wave is prevented in step P3
Hit radar sensor carry out the azimuthal judgement of barrier, specially barrier the left side of unmanned plane, the right, still just before
Side；If barrier is in the left side of unmanned plane, control unmanned plane carries out right avertence flight, avoiding barrier；If it is in nothing
Man-machine the right, control unmanned plane carry out left avertence flight, avoiding barrier；If barrier be in unmanned plane during flying just before
Side, then unmanned plane is controlled to carry out avoidance of turning back after promptly hovering.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445807A (en) * | 2018-03-30 | 2018-08-24 | 深圳飞马机器人科技有限公司 | Unmanned machine vibration and impact data acquisition and analysis system and method |
| CN108803666A (en) * | 2018-09-11 | 2018-11-13 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of line data-logging unmanned plane barrier-avoiding method and system based on millimetre-wave radar |
| CN113247241A (en) * | 2021-06-29 | 2021-08-13 | 扬州大学 | Unmanned aerial vehicle target-aiming accurate pesticide applying system and pesticide applying method thereof |
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| US20080243383A1 (en) * | 2006-12-12 | 2008-10-02 | Ching-Fang Lin | Integrated collision avoidance enhanced GN&C system for air vehicle |
| CN103135550A (en) * | 2013-01-31 | 2013-06-05 | 南京航空航天大学 | Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection |
| CN104567799A (en) * | 2014-11-28 | 2015-04-29 | 天津大学 | Multi-sensor information fusion-based method for measuring height of small unmanned gyroplane |
| CN104615142A (en) * | 2014-12-19 | 2015-05-13 | 重庆大学 | Flight controller for civil small UAV (Unmanned Aerial Vehicle) |
| CN105136145A (en) * | 2015-08-11 | 2015-12-09 | 哈尔滨工业大学 | Kalman filtering based quadrotor unmanned aerial vehicle attitude data fusion method |
| CN105892489A (en) * | 2016-05-24 | 2016-08-24 | 国网山东省电力公司电力科学研究院 | Multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and control method |
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| CN108445807A (en) * | 2018-03-30 | 2018-08-24 | 深圳飞马机器人科技有限公司 | Unmanned machine vibration and impact data acquisition and analysis system and method |
| CN108803666A (en) * | 2018-09-11 | 2018-11-13 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of line data-logging unmanned plane barrier-avoiding method and system based on millimetre-wave radar |
| CN113247241A (en) * | 2021-06-29 | 2021-08-13 | 扬州大学 | Unmanned aerial vehicle target-aiming accurate pesticide applying system and pesticide applying method thereof |
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