CN108062111A - A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device and barrier-avoiding method - Google Patents
A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device and barrier-avoiding method Download PDFInfo
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- CN108062111A CN108062111A CN201810115267.3A CN201810115267A CN108062111A CN 108062111 A CN108062111 A CN 108062111A CN 201810115267 A CN201810115267 A CN 201810115267A CN 108062111 A CN108062111 A CN 108062111A
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- unmanned plane
- aerial vehicle
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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
Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device and barrier-avoiding methods, including stent, stent is rotatably connected to body upper end, cantilever tip is connected with horizontal gird, multiple obstacle detection sensors are disposed on horizontal gird, pedestal lower end is connected with driving motor, and body is connected with power set by aircraft rack.The present invention uses revolving multiple obstacle detection sensors, by driving motor stent is driven to rotate, it can realize that multiple obstacle detection sensors are rotated according to the direction that unmanned plane moves, multiple obstacle detection sensors are consistent with body movement direction, only need one group of sensor that can meet avoidance demand, the cost of equipment is reduced, simplifies interface, improves the precision of control.
Description
Technical field
The present invention relates to a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device and barrier-avoiding methods, belong to unmanned plane automatic obstacle avoiding skill
Art field.
Background technology
Western China transmission line of electricity many places have inconvenient traffic in mountain area, geographical environment and weather inclement condition, cause people
Patrol inefficiency.With the development of science and technology and the application practice of power department, unmanned plane inspection has developed into a kind of efficient, low
The inspection technology of operating cost.Unmanned plane is made to complete patrol task under complicated rugged environment, must just allow unmanned equipment
The ability of standby automatic obstacle avoiding.Automatic obstacle avoiding system is the important leverage that unmanned plane safely and efficiently completes avoidance task.
The Chinese patent application of Application No. 201610348926.9 discloses a kind of based on the autonomous of Multi-sensor Fusion
Avoidance UAV system and control method detect the environment of surrounding by Multi-sensor Fusion, in real time by what is detected
After information is calculated by environment and barrier Data Analysis Services module, power is driven by flight control system by avoidance decision-making module
Module realizes unmanned plane effectively hiding to peripheral obstacle.But it is respectively arranged with binocular machine in the body surrounding of unmanned plane
Vision system and ultrasonic unit, cause that its complex interfaces, data volume are big, processor efficiency requirements are high, of high cost.Application number
The multiple avoidance obstacle method of unmanned plane for power-line patrolling, the party are disclosed for 201310036235.1 Chinese patent application
Merged double barrier-avoiding method in method, but need to download in embedded flight controller transmission line of electricity magnetic distribution model with
It is complex to calculate implementation process for electric transmission line three-dimensional model data.
In conclusion there are the following problems for existing technology：
1）Existing method is respectively arranged with binocular machine vision system and ultrasonic unit in the body surrounding of unmanned plane, and interface is multiple
Miscellaneous, data volume is big, of high cost；
2）Existing method sensor degrees of fusion is relatively low, and the failure of some sensor can cause avoidance navigation system failure, whole to be
Robustness of uniting is poor；
3）Existing method does not consider that compatible mainstream flies to control interface, can not realize the compatibility to multi-model；
4）Existing method does not have barrier intelligent memory functional, it is impossible to the barrier in arrived region be remembered, so as to again
Inspection avoidance.
The content of the invention
The technical problem to be solved by the present invention is to：A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device and barrier-avoiding method are provided,
The problems such as inconvenient prompt, short time consumption is long when mainly solving holder or gondola on unmanned plane, and it is more meeting a machine
Load changes the outfit on the basis of function, accomplishes that simple in structure, light-weight, mission payload changes the outfit simple operation and steady reliable.
The technical solution that the present invention takes is：A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, including stent, stent can revolve
It is connected to body upper end with turning, cantilever tip is connected with horizontal gird, and multiple obstacle detection sensings are disposed on horizontal gird
Device, pedestal lower end are connected with driving motor, and body is connected with power set by aircraft rack.
Multiple obstacle detection sensors include binocular vision, laser radar, ultrasonic sensor and millimetre-wave radar, are in
Yi word pattern is arranged on horizontal gird.
Multiple obstacle detection sensors are connected to dsp processor, and dsp processor is connected to ARM controller, ARM controls
Device is connected to driving motor and unmanned aerial vehicle (UAV) control device, and unmanned aerial vehicle (UAV) control device is connected to power set and inertial navigation sensors.
A kind of barrier-avoiding method of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, this method comprise the following steps：
Step 1: ARM controller reads pitch angle, roll angle and the yaw angle of unmanned plane from unmanned aerial vehicle (UAV) control device；
Step 2: ARM controller determines the direction of unmanned plane advance according to the pitch angle, roll angle and yaw angle of unmanned plane；
Step 3: ARM controller control driving motor rotates, make the direction of advance of the vertical unmanned plane of horizontal gird；
Step 4: binocular vision, laser radar, ultrasonic sensor and millimetre-wave radar obtain the environment of unmanned plane direction of advance
Information, and transmit information to dsp processor；
Step 5：After dsp processor receives sensor information, binocular vision depth survey algorithm is run, is successively imaged
Leader is fixed, distortion processing, three-dimensional correction, Stereo matching and depth recovery.Wherein, Stereo Matching Algorithm using local matching with it is complete
The algorithm that is combined of office's matching, local matching provide real time data for unmanned plane avoidance, global registration ask for fine match as a result,
Amendment data are provided for unmanned plane, determine depth image afterwards；
Step 6: the data of binocular vision, laser radar, ultrasonic sensor, millimetre-wave radar are merged, barrier is calculated
Hinder the location information of object, and the location information of barrier is transferred to ARM controller；
Step 7: ARM controller carries out unmanned plane navigation path planning using improved Artificial Potential Field Method, unmanned plane and mesh are considered
Relative position and relative speed relationship between mark, using situation monitoring and speed regulation, ARM controller generates control instruction,
Export the unmanned plane direction of movement and distance in next step；
Step 8：Unmanned aerial vehicle (UAV) control device receives control instruction and carries out safe avoidance.
Advantageous effect：Compared with prior art, effect of the invention is as follows：
（1）The present invention uses revolving multiple obstacle detection sensors, by driving motor stent is driven to rotate, Neng Goushi
Existing multiple obstacle detection sensors are rotated according to the direction that unmanned plane moves, multiple obstacle detection sensors and body
The direction of motion is consistent, and is only needed one group of sensor that can meet avoidance demand, is reduced the cost of equipment, simplify interface,
Improve the precision of control；
（2）The present invention has merged binocular vision, laser radar, ultrasonic sensor, the data of millimetre-wave radar, calculates nobody
The distance of machine and barrier simultaneously carries out avoidance, when certain sensor is because of environment reason or because of failure failure, avoidance system
System can calculate the distance with barrier according to other sensors and carry out avoidance, enhance the robustness of system.
Description of the drawings
Fig. 1 is the multisensor module connection figure of the present invention；
Fig. 2 is the structure diagram of the present invention；
Fig. 3 is the stent connection horizontal gird structure diagram of the present invention；
Fig. 4 is control flow schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings and the present invention is described further in specific embodiment.
Embodiment：As Figure 1-Figure 4, a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, including stent 1, stent 1 can revolve
It is connected to 2 upper end of body with turning, 1 top of stent is connected with horizontal gird 3, multiple obstacle detections are disposed on horizontal gird 3
Sensor, 1 lower end of stent are connected with driving motor 4, and body 2 is connected with power set 6 by aircraft rack 5.
Multiple obstacle detection sensors include binocular vision 7, laser radar 8, ultrasonic sensor 9 and millimetre-wave radar
10, it is arranged in yi word pattern on horizontal gird 3, each characteristic sensor such as the following table 1 using multiple sensors, can cover detection
All situations of barrier, detection is more accurate, and avoidance is more accurate.
Multiple obstacle detection sensors are connected to dsp processor, and dsp processor is connected to ARM controller, ARM controls
Device is connected to driving motor and unmanned aerial vehicle (UAV) control device, and unmanned aerial vehicle (UAV) control device is connected to power set and inertial navigation sensors, ARM
By IIC interfaces, either UART interface is connected to unmanned aerial vehicle (UAV) control device ARM controller and passes through UART IIC interfaces controller
It communicates with unmanned aerial vehicle (UAV) control device, transmits obstacle information and control information, this equipment interface flies to control interface compatibility, DSP with mainstream
Processor and ARM controller form avoidance and path planning module, carry out disparity map calculating using DSP, obtain depth information.It adopts
With the data of DSP fusions binocular vision sensor, laser radar, ultrasonic sensor and millimetre-wave radar, barrier is obtained
Information.The obstacle information calculated is transmitted to ARM controller and carries out control computing.It is watched simultaneously using ARM controller control
Taking motor makes the direction of sensor consistent with the direction that unmanned plane advances always.ARM controller is led to communicate with unmanned aerial vehicle (UAV) control device,
Transmit obstacle information and control information.
Binocular vision, laser radar, ultrasonic sensor, the data of millimetre-wave radar are merged, calculate the position of barrier
Confidence ceases, and path planning is carried out using improved Artificial Potential Field Method, generates control instruction, and control instruction provides form as unmanned plane
The direction of motion and move distance.Obstacle avoidance module is continuously generated control instruction, and unmanned plane can according to the control instruction movement of generation
With safely avoiding obstacles, improve transmission line of electricity machine and patrol job safety, reduce and lost caused by flight failure.
The characteristic point of body surface in environment is received using the camera in binocular vision system, and passes through Stereo matching and obtains
To anaglyph, so as to calculate real depth information, binocular vision sensor requirement light condition is good and stablizes；
When light condition is bad using laser radar and ultrasonic sensor detection and the distance of barrier, the movement shape of laser radar
State estimation is the point cloud matching by successive frame, so as to calculate relative motion variation, calculates the distance of front obstacle.In the least
The detection range bigger of metre wave radar, can find barrier in advance.
Intelligent memory module is provided in ARM controller, intelligent memory module possesses intelligent memory functional, and unmanned plane is run into
The information such as the latitude and longitude information of barrier and the shape of barrier, size all can be kept records of during barrier.So
Unmanned plane can be made to find barrier, effective avoidance and efficiency operation early.
Embodiment 2：A kind of barrier-avoiding method of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, this method comprise the following steps：
Step 1: ARM controller reads pitch angle, roll angle and the yaw angle of unmanned plane from unmanned aerial vehicle (UAV) control device；
Step 2: ARM controller determines the direction of unmanned plane advance according to the pitch angle, roll angle and yaw angle of unmanned plane；
Step 3: ARM controller control driving motor rotates, make the direction of advance of the vertical unmanned plane of horizontal gird；
Advance Step 4: obtaining unmanned plane by binocular vision 7, laser radar 8, ultrasonic sensor 9 and millimetre-wave radar 10
The environmental information in direction, and transmit information to dsp processor；
Step 5: after dsp processor receives sensor information, binocular vision depth survey algorithm is run, is successively imaged
Leader is fixed, distortion processing, three-dimensional correction, Stereo matching and depth recovery.Wherein, Stereo Matching Algorithm using local matching with it is complete
The algorithm that is combined of office's matching, local matching provide real time data for unmanned plane avoidance, global registration ask for fine match as a result,
Amendment data are provided for unmanned plane, determine depth image afterwards；
Step 6: the data of binocular vision, laser radar, ultrasonic sensor, millimetre-wave radar are merged, barrier is calculated
Hinder the location information of object, and the location information of barrier is transferred to ARM controller；
Step 7: ARM controller carries out unmanned plane navigation path planning using improved Artificial Potential Field Method, unmanned plane and mesh are considered
Relative position and relative speed relationship between mark, using situation monitoring and speed regulation, ARM controller generates control instruction,
Export the unmanned plane direction of movement and distance in next step；
Step 8: unmanned aerial vehicle (UAV) control device, which receives control instruction, carries out safe avoidance.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Within protection scope of the present invention, therefore, protection scope of the present invention should be based on the protection scope of the described claims lid.
Claims (4)
1. a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, it is characterised in that：Including stent（1）, stent（1）It is rotatably attached
In body（2）Upper end, stent（1）Top is connected with horizontal gird（3）, horizontal gird（3）On be disposed with multiple obstacle detections
Sensor, stent（1）Lower end is connected with driving motor（4）, body（2）Pass through aircraft rack（5）It is connected with power set（6）.
2. a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device according to claim 1, it is characterised in that：Multiple obstacle physical prospectings
Surveying sensor includes binocular vision（7）, laser radar（8）, ultrasonic sensor（9）And millimetre-wave radar（10）, in yi word pattern
It is arranged in horizontal gird（3）On.
3. a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device according to claim 1, it is characterised in that：Multiple obstacle physical prospectings
It surveys sensor and is connected to dsp processor, dsp processor is connected to ARM controller, and ARM controller is connected to driving motor and nothing
Human-machine Control device, unmanned aerial vehicle (UAV) control device are connected to power set and inertial navigation sensors.
4. according to a kind of barrier-avoiding method of the arbitrary multi-rotor unmanned aerial vehicle automatic obstacle avoiding devices of claim 1-3, feature
It is：This method comprises the following steps：
Step 1: ARM controller reads pitch angle, roll angle and the yaw angle of unmanned plane from unmanned aerial vehicle (UAV) control device；
Step 2: ARM controller determines the direction of unmanned plane advance according to the pitch angle, roll angle and yaw angle of unmanned plane；
Step 3: ARM controller control driving motor rotates, make the direction of advance of the vertical unmanned plane of horizontal gird；
Step 4: binocular vision（7）, laser radar（8）, ultrasonic sensor（9）And millimetre-wave radar（10）Obtain unmanned plane
The environmental information of direction of advance, and transmit information to dsp processor；
Step 5: after dsp processor receives sensor information, binocular vision depth survey algorithm is run, is successively imaged
Leader is fixed, distortion processing, three-dimensional correction, Stereo matching and depth recovery, wherein, Stereo Matching Algorithm using local matching with it is complete
The algorithm that is combined of office's matching, local matching provide real time data for unmanned plane avoidance, global registration ask for fine match as a result,
Amendment data are provided for unmanned plane, determine depth image afterwards；
Step 6: the data of binocular vision, laser radar, ultrasonic sensor, millimetre-wave radar are merged, barrier is calculated
Hinder the location information of object, and the location information of barrier is transferred to ARM controller；
Step 7: ARM controller carries out unmanned plane navigation path planning using improved Artificial Potential Field Method, unmanned plane and mesh are considered
Relative position and relative speed relationship between mark, using situation monitoring and speed regulation, ARM controller generates control instruction,
Export the unmanned plane direction of movement and distance in next step；
Step 8: unmanned aerial vehicle (UAV) control device, which receives control instruction, carries out safe avoidance.
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Cited By (9)
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| CN108762308A (en) * | 2018-08-20 | 2018-11-06 | 辽宁壮龙无人机科技有限公司 | A kind of unmanned plane obstacle avoidance system and control method based on radar and camera |
| 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 |
| CN109213201A (en) * | 2018-11-30 | 2019-01-15 | 北京润科通用技术有限公司 | A kind of barrier-avoiding method and device |
| CN109270564A (en) * | 2018-10-23 | 2019-01-25 | 河南工业职业技术学院 | A kind of high-precision GNSS measuring device and its measurement method |
| CN110275543A (en) * | 2019-03-05 | 2019-09-24 | 江苏航空职业技术学院 | One kind being based on multi-rotor unmanned aerial vehicle barrier-avoiding method |
| CN110609570A (en) * | 2019-07-23 | 2019-12-24 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Autonomous obstacle avoidance inspection method based on unmanned aerial vehicle |
| CN111114807A (en) * | 2019-09-18 | 2020-05-08 | 重庆嘉陵华光光电科技有限公司 | Many rotor unmanned aerial vehicle keep away barrier device |
| CN111580553A (en) * | 2020-05-11 | 2020-08-25 | 桂林电子科技大学 | Unmanned aerial vehicle flight controller, unmanned aerial vehicle epidemic prevention supervision system and method |
| CN111638727A (en) * | 2020-05-29 | 2020-09-08 | 西北工业大学 | Multi-rotor aircraft safety navigation control method based on depth image |
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| 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 |
| CN109270564A (en) * | 2018-10-23 | 2019-01-25 | 河南工业职业技术学院 | A kind of high-precision GNSS measuring device and its measurement method |
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| CN111580553A (en) * | 2020-05-11 | 2020-08-25 | 桂林电子科技大学 | Unmanned aerial vehicle flight controller, unmanned aerial vehicle epidemic prevention supervision system and method |
| CN111638727A (en) * | 2020-05-29 | 2020-09-08 | 西北工业大学 | Multi-rotor aircraft safety navigation control method based on depth image |
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