CN108089595A - A kind of addressing system and method based on unmanned plane avoidance - Google Patents
A kind of addressing system and method based on unmanned plane avoidance Download PDFInfo
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- CN108089595A CN108089595A CN201711355386.8A CN201711355386A CN108089595A CN 108089595 A CN108089595 A CN 108089595A CN 201711355386 A CN201711355386 A CN 201711355386A CN 108089595 A CN108089595 A CN 108089595A
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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 invention discloses a kind of addressing systems and method based on unmanned plane avoidance, it is related to unmanned plane applied technical field, including flying control module, flying power module, GPS module and ultrasonic distance measuring module, fly control module to be made of main controller module and memory module, ultrasonic distance measuring module is by preposition ultrasonic distance measuring module, postposition ultrasonic distance measuring module, ultrasonic distance measuring module is put on a left side and ultrasonic distance measuring module composition is put on the right side, ultrasonic distance measuring module can gather ranging information, and ranging information is passed into memory module, ranging information is passed to main controller module by memory module, winged control information is passed to flying power module by main controller module, flying power module stores heading information feedback in a storage module；The present invention walks the technical solution in labyrinth as a result of ranging avoidance, realize indoors without GPS signal in the case of, unmanned plane oneself search complicated landform (ore deposit hole, construction building etc.) carries out automatic pathfinding and supervision.
Description
Technical field
The present invention relates to unmanned plane applied technical field, more particularly to a kind of addressing system and side based on unmanned plane avoidance
Method.
Background technology
The research of unmanned plane automatic addressing technology has great application prospect in actual unmanned plane application, for example,
It can use and be searched for automatically in the underground in mine, the inspection of construction in skyscraper building site can be used, site supervision can be replaced to supervise
Construction is superintended and directed, the technology of addressing has been carried out in Lu Hang robots, but the function on unmanned plane addressing occurs not yet, real
The technology of existing unmanned plane addressing can solve robot can not be cannot walk the drawbacks of, and with can look in rugged topography
The advantages of being passed through to small gaps.
The content of the invention
The present invention provides a kind of addressing system and method based on unmanned plane avoidance, and the present invention is as a result of ranging avoidance
Walk the technical solution in labyrinth, realize indoors without GPS signal in the case of, unmanned plane oneself search complicated landform (ore deposit hole, construction
Building etc.) automatic pathfinding and supervision are carried out, improve intelligent level.
To achieve the above object, the present invention provides following technical solution：A kind of addressing system based on unmanned plane avoidance
And method, including flying control module, flying power module, GPS module and ultrasonic distance measuring module, the winged control module is by main control
Device module and memory module composition, the ultrasonic distance measuring module is by preposition ultrasonic distance measuring module, postposition ultrasonic ranging mould
Block, a left side put ultrasonic distance measuring module and ultrasonic distance measuring module composition, the preposition ultrasonic distance measuring module, postposition ultrasound are put in the right side
Ripple range finder module, a left side put ultrasonic distance measuring module and the right side puts ultrasonic distance measuring module and can gather ranging information, and ranging is believed
Breath passes to memory module, and ranging information is passed to main controller module by the memory module, and the main controller module will
Fly control information and pass to flying power module, heading information feedback is stored in memory module by the flying power module
In.
Preferably, the preposition ultrasonic distance measuring module, postposition ultrasonic distance measuring module, a left side put ultrasonic distance measuring module and
Ultrasonic distance measuring module is put specifically using ultrasonic range finder in the right side, and be respectively and fixedly installed to unmanned plane body front side, after
Side, left side and right side.
Preferably, the method principle is：Using heading as front, and remained in flight course along head side
To flight, the initial point that will take off is set to coordinate origin, is denoted as (x1, y1)=(0,0), and is stored in array, and is stored in storage
Module, while represented respectively all around plus parameter (f=0, l=0, r=0, b=0) later, i.e., it corresponds to respectively preposition super
Sound ranging module, postposition ultrasonic distance measuring module, ultrasonic distance measuring module is put on a left side and ultrasonic distance measuring module is put on the right side, by super
Sound ranging module mensuration distance determines obstacle, by next flying which direction just toward which direction when this
Parameter is set to 1, which direction to come this point from is then denoted as 2 by this point, some direction has wall that cannot go then to be denoted as 3, with coordinate
It is stored in together in the respective value of array, when there is situation that reference record is (f=1, l=1, r=1, b=2) one kind, then table
Show the road except coming, situation that other roads have been covered or when reference record is (f=1, l=1, r=3, b=2)
When, then it represents that fork in the road only has 3 directions, has been covered except the road come is other, then the direction that selective value is 2 returns, then can
A fork in the road is reached, principle then flies 2 to there is 0 to fly 0, no 0, i.e., first flies principle of conduct with the path do not flown, in this base
On plinth, flight priority is set, if each direction can fly, is flown with priority orders choice direction all around
Row, will specifically run into three kinds of obstacle situations during unmanned plane during flying：
At turning point：When unmanned plane during flying is by turning point, every turning point all writes down the coordinate of this point simultaneously
It charges in array together with parameter (judging to calculate by ultrasonic distance measuring module), and is stored in simultaneously in memory module, with side
Just the coordinate of next point is surveyed；
At fork in the road：At unmanned plane during flying is by fork in the road, (ultrasonic distance measuring module has been measured for every fork in the road
When 3 directions do not have wall) write down the coordinate of the position, while coordinate information is stored in memory module, and with before
Coordinate pair ratio in array, if any the same coordinate in error range, then it represents that reached this coordinate position before this, with elder generation with
The path do not flown flies principle of conduct, and combines flight priority selection heading, if without identical in error range
Coordinate, then it represents that do not reached the coordinate position before this, and heading is selected according to flight priority；
At three face walls：When unmanned plane during flying will control flying power module to cause nobody by three face walls, flying control module
Machine is back to a fork in the road；
The addressing flight of unmanned plane avoidance is realized according to three of the above avoidance situation.
It is using the advantageous effect of above technical scheme：Structure of the present invention is a kind of addressing system based on unmanned plane avoidance
And method, the present invention walk the technical solution in labyrinth as a result of ranging avoidance, realize indoors without GPS signal in the case of,
Unmanned plane oneself search complicated landform (ore deposit hole, construction building etc.) carries out automatic pathfinding and supervision, improves intelligent level.
Description of the drawings
Fig. 1 is the system block diagram of the addressing system based on unmanned plane avoidance；
Fig. 2 is the method flow diagram that unmanned plane carries out avoidance at fork in the road.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to the specific embodiment of the present invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and contribute to its implementation.
Fig. 1 and Fig. 2 shows the specific embodiment of the present invention：A kind of addressing system and method based on unmanned plane avoidance,
Including flying control module, flying power module, GPS module and ultrasonic distance measuring module, the winged control module is by main controller module
It is formed with memory module, the ultrasonic distance measuring module is put by preposition ultrasonic distance measuring module, postposition ultrasonic distance measuring module, a left side
Ultrasonic distance measuring module composition, the preposition ultrasonic distance measuring module, postposition ultrasonic ranging are put in ultrasonic distance measuring module and the right side
Module, a left side put ultrasonic distance measuring module and the right side puts ultrasonic distance measuring module and can gather ranging information, and ranging information is transferred
To memory module, ranging information is passed to main controller module by the memory module, and the main controller module believes winged control
Breath passes to flying power module, and the flying power module stores heading information feedback in a storage module.
In the present embodiment, ultrasonic ranging mould is put on the preposition ultrasonic distance measuring module, postposition ultrasonic distance measuring module, a left side
Ultrasonic distance measuring module is put specifically using ultrasonic range finder in block and the right side, and before being respectively and fixedly installed to unmanned plane body
Side, rear side, left side and right side.
In the present embodiment, the method principle is：It is remained using heading as front, and in flight course along machine
The flight of head direction, the initial point that will take off is set to coordinate origin, is denoted as (x1, y1)=(0,0), and is stored in array, and is stored in
Memory module, while represented respectively all around plus parameter (f=0, l=0, r=0, b=0) later, i.e., before corresponding to respectively
Put ultrasonic distance measuring module, postposition ultrasonic distance measuring module, ultrasonic distance measuring module is put on a left side and ultrasonic distance measuring module is put on the right side, lead to
It crosses ultrasonic distance measuring module mensuration distance and determines obstacle, by next flying which side just toward which direction when this
To parameter be set to 1, from which direction come this point then by this point be denoted as 2, some direction has wall that cannot go then to be denoted as 3, with
Coordinate is stored in the respective value of array together, when occur reference record be (f=1, l=1, r=1, b=2) one kind situation when,
Then represent the road except coming, situation that other roads have been covered or when reference record is (f=1, l=1, r=3, b=
2) when, then it represents that fork in the road only has 3 directions, has been covered except the road come is other, then the direction that selective value is 2 returns, then
A fork in the road can be reached, principle then flies 2 to there is 0 to fly 0, no 0, i.e., first flies principle of conduct with the path do not flown, herein
On the basis of, flight priority is set, if each direction can fly, is flown with priority orders choice direction all around
Row, will specifically run into three kinds of obstacle situations during unmanned plane during flying：
At turning point：When unmanned plane during flying is by turning point, every turning point all writes down the coordinate of this point simultaneously
It charges in array together with parameter (judging to calculate by ultrasonic distance measuring module), and is stored in simultaneously in memory module, with side
Just the coordinate of next point is surveyed；
At fork in the road：At unmanned plane during flying is by fork in the road, (ultrasonic distance measuring module has been measured for every fork in the road
When 3 directions do not have wall) write down the coordinate of the position, while coordinate information is stored in memory module, and with before
Coordinate pair ratio in array, if any the same coordinate in error range, then it represents that reached this coordinate position before this, with elder generation with
The path do not flown flies principle of conduct, and combines flight priority selection heading, if without identical in error range
Coordinate, then it represents that do not reached the coordinate position before this, and heading is selected according to flight priority；
At three face walls：When unmanned plane during flying will control flying power module to cause nobody by three face walls, flying control module
Machine is back to a fork in the road；
The addressing flight of unmanned plane avoidance is realized according to three of the above avoidance situation.
The present invention is exemplarily described above in association with attached drawing, it is clear that the present invention implements and from above-mentioned side
The limitation of formula, as long as employ the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical solution are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (3)
1. a kind of addressing system and method based on unmanned plane avoidance, it is characterised in that：Including flying control module, flying power mould
Block, GPS module and ultrasonic distance measuring module, the winged control module are made of main controller module and memory module, the ultrasound
Ripple range finder module by preposition ultrasonic distance measuring module, postposition ultrasonic distance measuring module, a left side puts ultrasonic distance measuring module and the right side put it is super
Sound ranging module forms, and ultrasonic distance measuring module is put on the preposition ultrasonic distance measuring module, postposition ultrasonic distance measuring module, a left side
Ranging information can be gathered by putting ultrasonic distance measuring module with the right side, and ranging information is passed to memory module, the memory module
Ranging information is passed into main controller module, winged control information is passed to flying power module, institute by the main controller module
Flying power module is stated to store heading information feedback in a storage module.
2. a kind of addressing system and method based on unmanned plane avoidance according to claim 1, it is characterised in that：Before described
Put ultrasonic distance measuring module, postposition ultrasonic distance measuring module, ultrasonic distance measuring module is put on a left side and ultrasonic distance measuring module tool is put on the right side
Body is using ultrasonic range finder, and be respectively and fixedly installed to front side, rear side, left side and the right side of unmanned plane body.
3. a kind of addressing system and method based on unmanned plane avoidance according to claim 1, it is characterised in that：The side
Method principle is：It using heading as front, and remains in flight course and flies along heading, the initial point that will take off is set
For coordinate origin, (x1, y1)=(0,0) is denoted as, and is stored in array, and is stored in memory module, while later plus ginseng
Number (f=0, l=0, r=0, b=0) represents all around respectively, i.e., corresponds to preposition ultrasonic distance measuring module, postposition ultrasound respectively
Ripple range finder module, a left side put ultrasonic distance measuring module and ultrasonic distance measuring module is put on the right side, pass through ultrasonic distance measuring module mensuration distance
Obstacle is determined, by next flying that the parameter in which direction just is set to 1 toward which direction when this, from which direction
It comes this point and this point is then denoted as 2, some direction has wall that cannot go then to be denoted as 3, is stored in the respective value of array together with coordinate
In, when occur reference record be (f=1, l=1, r=1, b=2) one kind situation when, then it represents that except come road, others
Situation that road has been covered or when reference record is (f=1, l=1, r=3, b=2), then it represents that there was only 3 in fork in the road
A direction has been covered except the road come is other, then the direction that selective value is 2 returns, then can reach a fork in the road, principle
Then fly 2 to there is 0 to fly 0, no 0, i.e., principle of conduct is first flown with the path do not flown, on this basis, flight priority is set, such as
The each direction of fruit can fly, then flown with priority orders choice direction all around, specifically in unmanned plane during flying process
In will run into three kinds of obstacle situations：
At turning point：When unmanned plane during flying is by turning point, every turning point all write down the coordinate of this point and together with
Parameter (judging to calculate by ultrasonic distance measuring module) is charged in array together, and is stored in simultaneously in memory module, is surveyed with facilitating
The coordinate of next point；
At fork in the road：At unmanned plane during flying is by fork in the road, (ultrasonic distance measuring module has measured 3 for every fork in the road
When direction does not have wall) write down the coordinate of the position, while coordinate information is stored in memory module, and with array before
In coordinate pair ratio, if any the same coordinate in error range, then it represents that this coordinate position was reached before this, with elder generation not fly
Capable path flies principle of conduct, and combines flight priority selection heading, if without the same coordinate in error range,
It then represents not reaching the coordinate position before this, and heading is selected according to flight priority；
At three face walls：When unmanned plane during flying will control flying power module that unmanned plane is caused to return by three face walls, flying control module
It is back to a fork in the road；
The addressing flight of unmanned plane avoidance is realized according to three of the above avoidance situation.
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| CN201711355386.8A CN108089595B (en) | 2017-12-16 | 2017-12-16 | Addressing system and method based on unmanned aerial vehicle obstacle avoidance |
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| CN201711355386.8A CN108089595B (en) | 2017-12-16 | 2017-12-16 | Addressing system and method based on unmanned aerial vehicle obstacle avoidance |
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Cited By (1)
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