CN108089595B - Addressing system and method based on unmanned aerial vehicle obstacle avoidance - Google Patents
Addressing system and method based on unmanned aerial vehicle obstacle avoidance Download PDFInfo
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- CN108089595B CN108089595B CN201711355386.8A CN201711355386A CN108089595B CN 108089595 B CN108089595 B CN 108089595B CN 201711355386 A CN201711355386 A CN 201711355386A CN 108089595 B CN108089595 B CN 108089595B
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- 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 an addressing system and method based on unmanned aerial vehicle obstacle avoidance, which relate to the technical field of unmanned aerial vehicle application and comprise a flight control module, a flight power module, a GPS module and an ultrasonic ranging module, wherein the flight control module consists of a main controller module and a storage module, the ultrasonic ranging module consists of a front ultrasonic ranging module, a rear ultrasonic ranging module, a left ultrasonic ranging module and a right ultrasonic ranging module, the ultrasonic ranging module can collect ranging information and transmit the ranging information to the storage module, the storage module transmits the ranging information to the main controller module, the main controller module transmits the flight control information to the flight power module, and the flight power module feeds back and stores flight direction information in the storage module; by adopting the technical scheme of distance measurement, obstacle avoidance and maze walking, the unmanned aerial vehicle can automatically search and monitor complex terrains (mine holes, construction buildings and the like) by self under the condition of no GPS signal indoors.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle application, in particular to an addressing system and method based on unmanned aerial vehicle obstacle avoidance.
Background
The research of unmanned aerial vehicle automatic addressing technique has very big application prospect in actual unmanned aerial vehicle uses, for example, can use the underground automatic search in the mine, can use the construction inspection at high-rise building site, can replace the on-the-spot supervision and supervision construction, the technique of addressing has been realized on the robot of land, but the function about unmanned aerial vehicle addressing has not appeared yet, the drawback that the robot can't not walk on rugged topography can be solved to the technique of realizing unmanned aerial vehicle addressing, and have the advantage that can find narrow and small gap and pass.
Disclosure of Invention
The invention provides an addressing system and method based on unmanned aerial vehicle obstacle avoidance, and the invention adopts the technical scheme of distance measurement, obstacle avoidance and maze walking, so that the unmanned aerial vehicle can automatically search for complex terrains (mine holes, construction buildings and the like) to conduct automatic road finding and supervision under the condition of no GPS signal indoors, and the intelligent level is improved.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an addressing system and method based on unmanned aerial vehicle keeps away barrier, includes to fly control module, flight power module, GPS module and ultrasonic ranging module, it comprises main control unit module and storage module to fly control module, ultrasonic ranging module comprises leading ultrasonic ranging module, rearmounted ultrasonic ranging module, left ultrasonic ranging module and right ultrasonic ranging module, leading ultrasonic ranging module, rearmounted ultrasonic ranging module, left ultrasonic ranging module and right ultrasonic ranging module all can gather range finding information to give storage module with range finding information transfer, storage module gives main control unit module with range finding information transfer, main control unit module will fly control information transfer and give flight power module, flight power module is with flight direction information feedback storage in storage module.
Preferably, leading ultrasonic ranging module, rearmounted ultrasonic ranging module, the ultrasonic ranging module of putting on a left side and the ultrasonic ranging module of putting on the right side all specifically adopt ultrasonic range finder, and respectively fixed mounting in front side, rear side, left side and the right side of unmanned aerial vehicle body.
Preferably, the principle of the method is as follows: the aircraft nose direction is taken as the straight ahead, the aircraft nose direction always keeps flying in the aircraft nose direction during the flying process, the takeoff initial point is taken as the coordinate origin, is recorded as (x1, y1) < 0, and is stored in an array and is stored in a storage module, meanwhile, parameters (f < 0 >, l < 0 >, r < 0 >, b < 0 >) are added behind to respectively represent front, back, left and right sides, namely respectively correspond to the front ultrasonic ranging module, the rear ultrasonic ranging module, the left ultrasonic ranging module and the right ultrasonic ranging module, the distance is measured by the ultrasonic ranging module to determine obstacles, when the obstacle passes through the point, the parameter in which direction is flown next is set as 1, when the obstacle comes from the direction to the point, the point is recorded as 2, when a wall exists in a certain direction, the obstacle is recorded as 3, the obstacle is stored in the corresponding values of the array together with the coordinates, when the parameter is recorded as (f < 1, when the parameters are recorded as (f is 1, l is 1, r is 3, and b is 2), it means that the intersection has only 3 directions, and when the other roads have been completed, the direction with the value of 2 is returned, the last intersection is reached, the principle is 0, the intersection flies 0, and no 0 flies 2, that is, the unmanned aerial vehicle flies in the non-flying path, on the basis of which the flying priority is set, if each direction can fly, the directions are sequentially selected according to the priority from front to back, and particularly, three obstacle situations are encountered during the flight of the unmanned aerial vehicle:
at the turning point: when the unmanned aerial vehicle flies through the turning points, the coordinates of the turning points are recorded every time when the unmanned aerial vehicle flies through the turning points, and are recorded into the array together with the parameters (judged and calculated by the ultrasonic ranging module), and are simultaneously stored into the storage module, so that the coordinates of the next point can be conveniently measured;
at the fork: when the unmanned aerial vehicle flies through the turnout, recording the coordinate of the position every time when the unmanned aerial vehicle arrives at one turnout (when the ultrasonic ranging module detects that 3 directions have no wall), simultaneously storing the coordinate information in the storage module, comparing the coordinate information with the coordinate in the previous array, if the coordinate is the same in an error range, indicating that the unmanned aerial vehicle arrives at the coordinate position, selecting the flight direction by taking the non-flying path as a principle and combining with the flight priority, and if the coordinate is the same in the error range, indicating that the unmanned aerial vehicle does not arrive at the coordinate position before, and selecting the flight direction according to the flight priority;
three walls: when the unmanned aerial vehicle flies through the three walls, the flight control module controls the flight power module to enable the unmanned aerial vehicle to return to the last fork;
and the unmanned aerial vehicle obstacle avoidance addressing flight is realized according to the three obstacle avoidance conditions.
The beneficial effect of adopting above technical scheme is: the invention adopts the technical scheme of distance measurement, obstacle avoidance and maze walking, realizes that the unmanned aerial vehicle searches complex terrains (mine holes, construction buildings and the like) by self to automatically find and monitor under the condition of no GPS signal indoors, and improves the intelligent level.
Drawings
Fig. 1 is a system block diagram of the addressing system based on unmanned aerial vehicle obstacle avoidance;
fig. 2 is a flowchart of a method for avoiding obstacles at a fork by an unmanned aerial vehicle.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
Fig. 1 and 2 show a specific embodiment of the present invention: the utility model provides an addressing system and method based on unmanned aerial vehicle keeps away barrier, includes to fly control module, flight power module, GPS module and ultrasonic ranging module, it comprises main control unit module and storage module to fly control module, ultrasonic ranging module comprises leading ultrasonic ranging module, rearmounted ultrasonic ranging module, left ultrasonic ranging module and right ultrasonic ranging module, leading ultrasonic ranging module, rearmounted ultrasonic ranging module, left ultrasonic ranging module and right ultrasonic ranging module all can gather range finding information to give storage module with range finding information transfer, storage module gives main control unit module with range finding information transfer, main control unit module will fly control information transfer and give flight power module, flight power module is with flight direction information feedback storage in storage module.
In this embodiment, leading ultrasonic ranging module, rearmounted ultrasonic ranging module, the ultrasonic ranging module of putting on a left side and the ultrasonic ranging module of putting on the right side all specifically adopt ultrasonic range finder, and respectively fixed mounting at the front side, rear side, left side and the right side of unmanned aerial vehicle body.
In this embodiment, the principle of the method is as follows: the aircraft nose direction is taken as the straight ahead, the aircraft nose direction always keeps flying in the aircraft nose direction during the flying process, the takeoff initial point is taken as the coordinate origin, is recorded as (x1, y1) < 0, and is stored in an array and is stored in a storage module, meanwhile, parameters (f < 0 >, l < 0 >, r < 0 >, b < 0 >) are added behind to respectively represent front, back, left and right sides, namely respectively correspond to the front ultrasonic ranging module, the rear ultrasonic ranging module, the left ultrasonic ranging module and the right ultrasonic ranging module, the distance is measured by the ultrasonic ranging module to determine obstacles, when the obstacle passes through the point, the parameter in which direction is flown next is set as 1, when the obstacle comes from the direction to the point, the point is recorded as 2, when a wall exists in a certain direction, the obstacle is recorded as 3, the obstacle is stored in the corresponding values of the array together with the coordinates, when the parameter is recorded as (f < 1, when the parameters are recorded as (f is 1, l is 1, r is 3, and b is 2), it means that the intersection has only 3 directions, and when the other roads have been completed, the direction with the value of 2 is returned, the last intersection is reached, the principle is 0, the intersection flies 0, and no 0 flies 2, that is, the unmanned aerial vehicle flies in the non-flying path, on the basis of which the flying priority is set, if each direction can fly, the directions are sequentially selected according to the priority from front to back, and particularly, three obstacle situations are encountered during the flight of the unmanned aerial vehicle:
at the turning point: when the unmanned aerial vehicle flies through the turning points, the coordinates of the turning points are recorded every time when the unmanned aerial vehicle flies through the turning points, and are recorded into the array together with the parameters (judged and calculated by the ultrasonic ranging module), and are simultaneously stored into the storage module, so that the coordinates of the next point can be conveniently measured;
at the fork: when the unmanned aerial vehicle flies through the turnout, recording the coordinate of the position every time when the unmanned aerial vehicle arrives at one turnout (when the ultrasonic ranging module detects that 3 directions have no wall), simultaneously storing the coordinate information in the storage module, comparing the coordinate information with the coordinate in the previous array, if the coordinate is the same in an error range, indicating that the unmanned aerial vehicle arrives at the coordinate position, selecting the flight direction by taking the non-flying path as a principle and combining with the flight priority, and if the coordinate is the same in the error range, indicating that the unmanned aerial vehicle does not arrive at the coordinate position before, and selecting the flight direction according to the flight priority;
three walls: when the unmanned aerial vehicle flies through the three walls, the flight control module controls the flight power module to enable the unmanned aerial vehicle to return to the last fork;
and the unmanned aerial vehicle obstacle avoidance addressing flight is realized according to the three obstacle avoidance conditions.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various insubstantial modifications of the invention based on the principles and technical solutions of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (1)
1. An addressing method of an addressing system based on unmanned aerial vehicle obstacle avoidance is characterized in that:
the addressing system comprises a flight control module, a flight power module, a GPS module and an ultrasonic ranging module, wherein the flight control module consists of a main controller module and a storage module, the ultrasonic ranging module consists of a front ultrasonic ranging module, a rear ultrasonic ranging module, a left ultrasonic ranging module and a right ultrasonic ranging module, the front ultrasonic ranging module, the rear ultrasonic ranging module, the left ultrasonic ranging module and the right ultrasonic ranging module can acquire ranging information and transmit the ranging information to the storage module, the storage module transmits the ranging information to the main controller module, the main controller module transmits the flight control information to the flight power module, and the flight power module feeds back and stores flight direction information in the storage module; the front ultrasonic ranging module, the rear ultrasonic ranging module, the left ultrasonic ranging module and the right ultrasonic ranging module are ultrasonic range finders and are fixedly installed on the front side, the rear side, the left side and the right side of the unmanned aerial vehicle body respectively;
the addressing method has the following principle: taking the nose direction as the positive front, always keeping flying along the nose direction during the flying process, setting the takeoff initial point as the coordinate origin, marking as (x1, y1) < 0, and storing in an array, and storing in a storage module, simultaneously adding the parameters f < 0 >, l < 0 >, r < 0 >, b < 0 > to represent front, back, left, and right respectively, namely respectively corresponding to the front ultrasonic ranging module, the back ultrasonic ranging module, the left ultrasonic ranging module, and the right ultrasonic ranging module, determining the distance to determine the obstacle by the ultrasonic ranging module, setting the parameter in which direction to fly next when passing through the point as 1, marking the point as 2 when coming from which direction, marking as 3 when there is a wall in a certain direction, storing in the corresponding value of the array together with the coordinate, and recording the parameter as f < 1 when the parameter appears, when the parameters are recorded as f 1, l 1, r 3, and b 2, the other roads are taken out, or when the parameters are recorded as f 1, l 1, r 3, and b 2, the intersection only has 3 directions, and when the other roads are taken out, the direction with the value of 2 is returned, the last intersection is reached, the principle is 0, the intersection flies 0, and no 0 flies 2, that is, the intersection flies in the non-flying route behavior principle, on the basis of which the flight priority is set, if each direction can fly, the directions are selected in order of the priority from front to back, and particularly, three obstacle situations are encountered during the flight of the unmanned aerial vehicle:
at the turning point: when the unmanned aerial vehicle flies through the turning points, the coordinates of the turning points are recorded and are recorded into the array together with the parameters when each turning point arrives, and the coordinates are simultaneously stored into the storage module so as to conveniently measure the coordinates of the next point, and the parameters are judged and calculated through the ultrasonic ranging module;
at the fork: when the unmanned aerial vehicle flies through the turnout, each turnout is also provided with 3 directions without a wall, namely the ultrasonic ranging module detects that the position has no wall, the coordinate of the position is recorded, the coordinate information is stored in the storage module and is compared with the coordinate in the previous array, if the same coordinate in an error range exists, the coordinate position which is reached before is shown, the flying direction is selected by taking the non-flying path as the principle and combining the flying priority, and if the same coordinate in the error range does not exist, the coordinate position which is not reached before is shown, and the flying direction is selected according to the flying priority;
three walls: when the unmanned aerial vehicle flies through the three walls, the flight control module controls the flight power module to enable the unmanned aerial vehicle to return to the last fork;
and the unmanned aerial vehicle obstacle avoidance addressing flight is realized according to the three obstacle avoidance conditions.
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