CN108594849A - Unmanned aerial vehicle obstacle avoidance method based on millimeter wave radar - Google Patents
Unmanned aerial vehicle obstacle avoidance method based on millimeter wave radar Download PDFInfo
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- CN108594849A CN108594849A CN201810319791.2A CN201810319791A CN108594849A CN 108594849 A CN108594849 A CN 108594849A CN 201810319791 A CN201810319791 A CN 201810319791A CN 108594849 A CN108594849 A CN 108594849A
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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 is suitable for the field of improvement of automatic control technology, and provides an unmanned aerial vehicle obstacle avoidance method based on millimeter wave radars, which is characterized in that a plurality of millimeter wave radars are used for detection, signals are converted into position coordinates of obstacles and input into a well-established local map, and the positions of the obstacles are determined and decelerated in advance through a probability statistical method of map data; and replanning the obstacle avoidance route, and controlling the plant protection unmanned aerial vehicle to avoid the obstacle and return to the air route for continuous operation according to the route. Utilize radar feedback to detect the barrier, establish and keep away the barrier route, effectual flying speed has improved has relieved artificial control and has avoided the barrier, has improved the operating efficiency, has increased the work efficiency of operation at night.
Description
Technical field
The invention belongs to automated control technology improvement areas more particularly to a kind of unmanned plane based on millimetre-wave radar to keep away
Barrier method.
Background technology
With the fast development of agricultural automation technology, plant protection drone spills medicine field in crops and has obtained widely answering
With.The practical farmland operation environment of plant protection drone is extremely complex, electric pole, tree, people, animal, potential difference etc. can all become nothing
Common electric pole in barrier in man-machine flight course, especially farmland, improves the risk of unmanned plane aircraft bombing.In order to keep away
Open barrier, it is desirable that user intentionally avoid map when planning course line in barrier, this is easy to cause map piecemeal, increase
Workload reduces the operating efficiency of unmanned plane.Especially in the case where Obstacle Position is unknown, course line can not it is accurate, can
It is planned by ground, causes unmanned plane can not operation.
In the prior art, the automatic obstacle avoiding method based on image is hovered and is kept away when camera recognizes barrier
Open barrier.Such scheme can not overcome the influence that night low light flies to camera imaging completely, can only reduce speed flight,
Lead to the reduction of night work efficiency.Automatic obstacle avoiding method based on radar hovers after then encountering barrier object, can not continue autonomous
Flight, it is necessary to rely on artificial manipulation avoiding obstacles, operating efficiency substantially reduces.
Invention content
The purpose of the present invention is to provide a kind of unmanned plane barrier-avoiding method based on millimetre-wave radar, it is intended to which solution is asked
Topic.
The invention is realized in this way a kind of unmanned plane barrier-avoiding method based on millimetre-wave radar, the unmanned plane avoidance
Method includes the following steps：
S1, user are arranged unmanned plane operating area by earth station and automatically generate operation course line；
S2, the range information that barrier and unmanned plane in automatic flight operation in current environment are obtained by millimetre-wave radar
Local grid map is established with angle information and centered on unmanned plane；
S3, the relative position of barrier and unmanned plane is calculated according to the distance and angle information of acquisition and according to RTK modules
The flight coordinate provided calculates the absolute coordinate of barrier；
S4, it is mapped in centered on real-time unmanned plane according to the absolute coordinate of the barrier of the real time position of unmanned plane acquisition
Local grid map on；
S5, whether spiral search barrier coordinate points are more than preset value centered on unmanned plane, are such as larger than equal to default
Value, then be placed in candidate area by barrier and execute next step；Such as less than preset value.Then delete the information；
S6, judge whether current barrier influences current airline operation according to the set operation course line of unmanned plane, if so, then root
The location information generation avoidance circuit between unmanned plane and barrier, which is calculated, according to course-and-bearing navigates by water and execute next step, if not,
Then continue to navigate by water work；
S7, judge whether unmanned plane avoids the current barrier, work on and hold if so, then returning to original work industry course line
Row step S5, if not, after continuation of the journey shape and executing step S7.
The present invention further technical solution be：It is further comprising the steps of in the step S4：
S41, judge whether each data information of millimetre-wave radar feedback is authentic and valid, such as effectively, then by valid data
It is mapped on grating map, if not, without any processing to current data.
The present invention further technical solution be：It is further comprising the steps of in the step S5：
S51, it is filtered out according to the priority indicator of barrier and course line is connect on nobody influences maximum barrier.
The present invention further technical solution be：The multiple millimetre-wave radar combinations of use in the step S2 are visited
It surveys, installation broad beam millimetre-wave radar covering two side areas is tilted a certain angle at left and right sides of unmanned plane, in front of unmanned plane
High risk zone in front of narrow beam millimetre-wave radar detection unmanned plane is installed.
The present invention further technical solution be：The narrow beam millimetre-wave radar is detected and indicates nobody at a distance
Machine slows down, and the broad beam millimetre-wave radar is responsible for the data redundancy detection of elevated areas to both sides overlay region and to two side areas
Long-range detection and short distance barrier are accurately positioned.
The present invention further technical solution be：The broad beam millimetre-wave radar deceleration strategies are：Disturbance in judgement level
Within safe distance at left and right sides of the unmanned plane, such as within safe distance, then controls unmanned plane and be decelerated to horizontal distance etc.
At safe distance hover, such as other than safe distance, then judge vertical range whether be more than suspicious distance threshold, as vertically away from
From less than suspicious distance threshold, then unmanned plane is reduced speed now at a certain distance from apart from barrier to smaller setting speed continuation
Flight, until extensive comeback job speed continues operation after unmanned plane crosses suspicious barrier, as vertical range is more than suspicious distance
Threshold value, then unmanned plane do not respond, continue to fly with operating speed.
The present invention further technical solution be：The narrow beam millimetre-wave radar deceleration strategies are：It is located in barrier
In beam area, when an obstacle is detected, unmanned plane is calculated at a distance from barrier and is preset in setting and is opened at deceleration distance
Begin to slow down, is reduced to after pre-set velocity the flight that remains a constant speed.When broad beam millimetre-wave radar detects barrier and movement of slowing down
To setting range, former obstacle information is removed immediately and starts second of confirmation, the obstacle is not detected before terminating such as timing
Object, then extensive comeback job speed continuation operation, such as second of confirmation detect barrier, then plan that avoidance route starts to keep away automatically
Barrier.When narrow beam radar and widebeam radar detect the barrier of different location simultaneously, deceleration priority is：Broad beam thunder
The long-distance barrier that the long-distance barrier object ＞ widebeam radars monitored up to the short distance barrier ＞ narrow beams of monitoring monitor
The short distance barrier of object ＞ narrow beams monitoring.
The present invention further technical solution be：The calculation formula of the absolute coordinate of barrier described in the step S3
For：
xo=xp+dr·cos(psi+θr+α)+dp·cos(psi)
yo=yp+dr·sin(psi+θr+α)+dp·sin(psi)
Wherein, (xo, yo) be barrier coordinate, (xp, yp) it is that coordinate is done in unmanned plane position；drIt is exported for millimetre-wave radar
Obstacle distance；Psi is unmanned plane course heading, θrFor the barrier angle of millimetre-wave radar output；α is radar established angle
Degree；dpIt is millimetre-wave radar center at a distance from unmanned plane center.
The present invention further technical solution be：Described and in S6 deceleration priority is the close of widebeam radar monitoring
The long-distance barrier object ＞ narrow beams that long-distance barrier object ＞ widebeam radars apart from the monitoring of barrier ＞ narrow beams monitor
The short distance barrier of monitoring.
The present invention further technical solution be：Described and avoidance circuit in S6 is according to the water of barrier to unmanned plane
Flat distance and vertical range generate；The avoidance circuit is limited by operating area not to be allowed to exceed operating area, is kept away in preferential
It then attempts to generate the avoidance route of another side direction more than operating area on barrier line direction.
The beneficial effects of the invention are as follows：Detection barrier is fed back using radar, avoidance route is established, effectively raises winged
Scanning frequency degree relieves artificial manipulation avoiding obstacles, improves operating efficiency, increase the working efficiency of night operation.
Description of the drawings
Fig. 1 is the flow chart of the unmanned plane barrier-avoiding method provided in an embodiment of the present invention based on millimetre-wave radar.
Fig. 2 is local grid map schematic diagram provided in an embodiment of the present invention.
Fig. 3 is conventional automatic obstacle-avoiding Route Generation schematic diagram provided in an embodiment of the present invention.
When Fig. 4, which is backhaul course line provided in an embodiment of the present invention near border, barrier, automatic obstacle-avoiding Route Generation shows
It is intended to.
When Fig. 5, which is operation course line provided in an embodiment of the present invention near border, barrier, automatic obstacle-avoiding Route Generation shows
It is intended to.
Specific implementation mode
As shown in Figure 1, the unmanned plane barrier-avoiding method flow chart provided by the invention based on millimetre-wave radar, is described in detail such as
Under：
Step S1, user are arranged unmanned plane operating area by earth station and automatically generate operation course line；User is on ground
Operating area setting is carried out to unmanned plane in the earth station of setting, is to tie up in unmanned aerial vehicle control system to be arranged using plane coordinates
It works in certain region, and automatically generates flight boat in the range of being covered according to the coordinate value in region and unmanned plane
Line, wherein radar is using millimetre-wave radar.
Step S2, by millimetre-wave radar obtain in current environment barrier in automatic flight operation at a distance from unmanned plane
Information and angle information simultaneously establish local grid map centered on unmanned plane；Unmanned plane is being mounted on it just in flight operation
The radar of front and both sides is ceaselessly sending out detection sound wave, is obtained in current environment by the detection sound wave of feedback and encounters obstacle
The distance between object and unmanned plane and angle information establish local grid in real time centered on can also be by unmanned plane during secondary
Map, as shown in Figure 2.
It is detected using the combination of multiple millimetre-wave radars, installation broad beam is tilted a certain angle at left and right sides of unmanned plane
Millimetre-wave radar covers two side areas, and installation narrow beam millimetre-wave radar detects high risk area in front of unmanned plane in front of unmanned plane
Domain.
The narrow beam millimetre-wave radar is detected and indicates that unmanned plane slows down at a distance, the broad beam millimeter wave thunder
It is detected and to two side areas long-range detection and short distance barrier up to the data redundancy for being responsible for both sides overlay region elevated areas
It is accurately positioned.
The broad beam millimetre-wave radar deceleration strategies are：Safe distance of the disturbance in judgement level at left and right sides of unmanned plane
Within, such as within safe distance, then control unmanned plane and be decelerated to horizontal distance and hover equal at safe distance, such as safety away from
From in addition, then judging whether vertical range is more than suspicious distance threshold, such as vertical range is less than suspicious distance threshold, then unmanned plane
It is reduced speed now at a certain distance from apart from barrier to smaller setting speed and continues to fly, until unmanned plane crosses suspicious obstacle
Extensive comeback job speed continues operation after object, and if vertical range is more than suspicious distance threshold, then unmanned plane does not respond, with operation
Speed continues to fly.
The narrow beam millimetre-wave radar deceleration strategies are：It is located in beam area in barrier, when detecting barrier
When, it calculates unmanned plane and reduces speed now at a distance from barrier and at default deceleration distance, keep even after being reduced to pre-set velocity
Speed flight,.It is moved in setting range when broad beam millimetre-wave radar detects barrier and slows down, removes former barrier immediately
Information simultaneously starts second of confirmation, the barrier is not detected before terminating such as timing, then extensive comeback job speed continues operation, such as
Second of confirmation detects barrier, then planning avoidance route starts avoidance automatically.When narrow beam radar and widebeam radar are same
When detecting the barrier of different location, deceleration priority is：The short distance barrier ＞ narrow beams of widebeam radar monitoring
The short distance barrier for the long-distance barrier object ＞ narrow beams monitoring that the long-distance barrier object ＞ widebeam radars of monitoring monitor.
Step S3 calculates the relative position of barrier and unmanned plane and according to RTK according to the distance of acquisition and angle information
The flight coordinate that module provides calculates the absolute coordinate of barrier；During flight, control system is fed back according to radar
Information calculates the relative position relation between barrier and unmanned plane, in the latitude and longitude information provided according to satellite positioning module
The flight coordinate being converted into calculates the absolute coordinate of barrier, and the calculation formula of the absolute coordinate of the barrier is：
xo=xp+dr·cos(psi+θr+α)+dp·cos(psi)
yo=yp+dr·sin(psi+θr+α)+dp·sin(psi)
Wherein, (xo, yo) be barrier coordinate, (xp, yp) it is that coordinate is done in unmanned plane position；drIt is exported for millimetre-wave radar
Obstacle distance；Psi is unmanned plane course heading, θrFor the barrier angle of millimetre-wave radar output；α is radar established angle
Degree；dpIt is millimetre-wave radar center at a distance from unmanned plane center.
Step S4, the absolute coordinate of the barrier obtained according to the real time position of unmanned plane is mapped in is with real-time unmanned plane
In the local grid map at center；Judge whether each data information of millimetre-wave radar feedback is authentic and valid, such as effectively, then will
Valid data are mapped on grating map, if not, without any processing to current data.Judge each of millimetre-wave radar
Whether data are authentic and valid, and by valid data input raster map.In real time according to the position computation grid map of unmanned plane
Coordinate updates map datum.
Step S5, whether spiral search barrier coordinate points are more than preset value centered on unmanned plane, are such as larger than equal to
Barrier is then placed in candidate area and executes next step by preset value；Such as less than preset value.Then delete the information；It is with unmanned plane
Center spirally sweeps out map, and the barrier in map is put into barrier candidate area, according to the preferential index of barrier
Filter out influences maximum barrier to unmanned plane course line.Wherein, screening priority is that vertical range is less than safe vertical distance
And the nearest barrier ＞ vertical ranges of air line distance are less than safe vertical distance but the barrier ＞ of air line distance farther out is vertical
Distance is much larger than the barrier of safe vertical distance slightly larger than the barrier ＞ vertical ranges of safe vertical distance
Step S6 judges whether current barrier influences current airline operation according to the set operation course line of unmanned plane, if so,
The location information generation avoidance circuit between unmanned plane and barrier is then calculated according to course-and-bearing and navigates by water and execute next step, such as
It is no, then continue to navigate by water work；Avoidance circuit is generated according to the horizontal distance and vertical range of barrier to unmanned plane；The avoidance
Circuit is limited by operating area not to be allowed to exceed operating area, is then attempted more than operating area on preferential avoidance line direction
Generate the avoidance route of another side direction.
Step S7, judges whether unmanned plane avoids the current barrier, works on if so, then returning to original work industry course line
And step S5 is executed, if not, after continuation of the journey shape and executing step S7.Sentence in conjunction with the operation course line for the plant protection drone planned
Whether the disconnected barrier influences the flight in current course line, and the vertical range and water of unmanned plane and barrier are calculated according to course-and-bearing
Flat distance generates the autonomous avoiding obstacles of avoidance circuit.Continue along original course after unmanned plane avoiding obstacles and back course
Operation prevents drain spray phenomenon.Specific avoidance route example is as shown in Figures 3 to 5.
It is detected using the combination of multiple millimetre-wave radars.It is wide that installation is inclined at an angle at left and right sides of unmanned plane
Wave beam millimetre-wave radar, for covering the region at left and right sides of unmanned plane.Meanwhile narrow beam millimeter wave being installed in front of unmanned plane
Radar, for detecting the high risk zone in front of unmanned plane.
The narrow beam millimetre-wave radar in front is mainly used for detecting and indicating that unmanned plane slows down at a distance；The left and right sides
It is responsible for the data redundancy detection of high risk zone in the overlay region of broad beam millimetre-wave radar.Meanwhile unmanned plane or so can be each responsible for
The long-range detection in region and short distance barrier are accurately positioned.
Wherein, the widebeam radar is slowed down using following strategy：
If barrier is located within unmanned plane left and right sides safe distance, i.e. barrier and the vertical range in current course line is small
In safe distance, control unmanned plane is decelerated to horizontal distance and hovers equal at safe distance.
If barrier is located at other than the safe distance of unmanned plane both sides, and vertical range is less than suspicious distance threshold, nobody
Machine, which is reduced speed now at a certain distance from apart from barrier to smaller setting speed, to be continued to fly, until unmanned plane crosses suspicious barrier
Extensive comeback job speed continues operation after hindering object.
If barrier is located at unmanned plane both sides, and vertical range is more than suspicious distance threshold, then unmanned plane does not respond,
Continue to fly with operating speed.
The narrow beam radar is slowed down using following strategy：
If barrier is located in beam area, the front that the barrier is located at course line is given tacit consent to.When detecting barrier
When, aircraft is calculated at a distance from barrier, is reduced speed now at setting deceleration distance, until when speed is reduced to setting speed,
It flies at a constant speed.Until if widebeam radar detects barrier and enters secondary detection link or clear the jumps, restore
Former operating speed continues operation.
The priority for the barrier that obstacle avoidance system is arrived according to each radar detection carries out deceleration-operation.Preferably, can be arranged excellent
First grade is：The long-distance barrier object ＞ widebeam radars monitoring of the short distance barrier ＞ narrow beams monitoring of widebeam radar monitoring
The short distance barrier for the long-distance barrier object ＞ narrow beams monitoring arrived.
It is used to measure real time position and the course of unmanned plane using RTK positioning and orientation systems.
As shown in Fig. 2, the barrier coordinate calculation formula is：
xo=xp+dr·cos(psi+θr+α)+dp·cos(psi)；yo=yp+dr·sin(psi+θr+α)+dp·sin
(psi)；
(the xo, yo) be barrier coordinate, (xp, yp) it is that coordinate is done in unmanned plane position；drIt is exported for millimetre-wave radar
Obstacle distance；Psi is unmanned plane course heading, θrFor the barrier angle of millimetre-wave radar output；α is radar established angle
Degree；dpIt is millimetre-wave radar center at a distance from unmanned plane center.
After unmanned plane brakes to barrier, barrier secondary detection is carried out.
If barrier is detected by millimetre-wave radar again, unmanned plane is according to preset avoidance logic avoiding obstacles.
If barrier is not detected by millimetre-wave radar, the extensive comeback job speed of unmanned plane continues operation.
It is rotated in unmanned plane pitch orientation using servo driving millimetre-wave radar, pitching angle information of the steering engine according to unmanned plane
Adjustment radar angular in real time, it is ensured that radar is at an angle to the horizontal surface always.
Using the real-time angle of inclination of inertial navigation sensor measurement millimetre-wave radar, radar data processing module is fed back to, is used
In control steering engine rotation.When unmanned plane is in acceleration and deceleration state of flight, pitch angle is negative, and inertial navigation sensor measures this at this time
Pitch angle simultaneously controls the rotation of steering engine negative direction by pwm signal, and influence of the compensation pitch angle to radar, radar is always towards nobody
Regionally detecting immediately ahead of machine, effectively prevents the interference of ground signal, improves the signal stabilization of millimetre-wave radar.
Acquisition and processing, radar angle of inclination data processing, rudder of the radar data processing module for radar data
It the output of machine signal and is communicated with the data of winged control.
Forward direction radar and left and right sides radar suggest independent grating map respectively.Wherein the radar of left and right sides shares one two
Map is tieed up, which is the square area centered on unmanned plane, and the coordinate of each grid of the map is by the way of rounding
It is calculated, the data in map are not necessarily to move frequent updating according to unmanned plane during flying direction and unmanned plane small range.Meanwhile it is simultaneous
Care for the mobility of data and lower data operation cost；The corresponding map of forward direction radar is one-dimensional lattice, the direction of map
Consistent with current course line, the starting grid of map is the result after unmanned plane coordinate rounding.Data in map are not necessarily to according to nothing
Man-machine small range moves frequent updating, and map datum can be removed after switching route.
The number that barrier in grating map corresponds to a probability value, the value and radar detection to the position is in positive
It closes；If the probability value of a certain grid is more than the threshold value of setting, the Obstacle Position is marked in map.Preferably, it selects
The cube for selecting the count value of each grid is probability value, in this way, the probability value of the grid is presented with the increase of count value
Exponential increase, the probability represented in the grid there are barrier are larger.
The barrier speed v exported using millimetre-wave radaroWith unmanned plane speed vpThe mode of Data Matching filters out unrelated void
Alert data specifically may be used and filter out invalid data with lower section：
If：vo≤vp+ Δ v, and vo≥vpΔ v, and voWhen ＜ 0, radar data and unmanned plane speeds match, number
According to can input raster map；
If：vo＞ vp+ Δ v or vo＜ vpΔ v or voWhen >=0, radar data is mismatched with unmanned plane speed,
Data are filtered out, can not input raster map.
Wherein, Δ v is parameter related with velocity error range.
Map raster search use spiral centered on unmanned plane by proximad far searching in the way of.It is that search is real below
Example：It is that the first lattice scan for grid where unmanned plane, when waiting for that raster search is completed, and not having barrier, searches for the area
A lattice on the right side of domain.When waiting for that raster search is completed, and there is no barrier, a lattice on the upside of the region are searched for.Wait for that raster search is completed,
And when there is no barrier, two lattice on the left of the region are searched for.When waiting for that search is completed in grid, and not having barrier, search should
Three lattice on the downside of region.And so on counterclockwise continuous traversal grating map, when encountering grid where barrier, by the grid
Centre coordinate is put into candidate area as Obstacle Position.Until barrier is searched for and is stopped after being more than biggest obstacle object quantity in candidate area
Only.
Avoidance path is generated according to the horizontal distance and vertical range of barrier to unmanned plane, with the safe distance provided
Avoiding obstacles.Preferably, first circuit of avoidance route and barrier direction are on the contrary, avoid long avoidance circuit
Reduce operating efficiency.
Meanwhile the avoidance route that unmanned plane generates need to be limited by operating area, avoidance circuit does not allow to exceed operation
Region.If avoidance circuit has crossed operating area in a preferred direction, the obstacle avoidance system is attempted to generate another direction
Avoidance circuit, prevent route searching from failing.For barrier the boundary of course line the case where, obstacle avoidance system selectively skips portion
Point course line is directly entered next course line and continues operation, is effectively shielded from danger zone where barrier.
Unmanned plane stops operation during avoidance, prevents from repeating to spill medicine.After unmanned plane avoiding obstacles return to original course line,
It opens operating system and continues operation, prevent drain spray.
After unmanned plane generates effective avoidance route, if millimetre-wave radar has monitored along avoidance route flight course
Other barriers control the unmanned plane hovering.At this point, earth station's pop-up warning message informs user.
After unmanned plane brakes to barrier, second of detection of barrier is re-started.If barrier is again by milli
Metre wave radar detects that unmanned plane is according to scheduled avoidance logic avoiding obstacles；If barrier is not examined by millimetre-wave radar
It measures, unmanned plane continues operation according to former operating speed.
It is rotated in unmanned plane pitch orientation using servo driving millimetre-wave radar, pitching angle information of the steering engine according to unmanned plane
Adjustment radar angular in real time, it is ensured that radar is at an angle to the horizontal surface always.
Using the real-time angle of inclination of inertial navigation sensor measurement millimetre-wave radar, radar data processing module is fed back to, is used
In control steering engine rotation.
Acquisition and processing, radar angle of inclination data processing, rudder of the radar data processing module for radar data
It the output of machine signal and is communicated with the data of winged control.
Forward direction radar and left and right sides radar establish independent grating map respectively.Wherein two radars of left and right sides share one
A two-dimensional grid map, the map are the square areas centered on unmanned plane, and the coordinate of each grid of the map, which uses, to be taken
Whole mode is calculated, and the data in map are not necessarily to frequent more according to unmanned plane during flying direction and the movement of unmanned plane small range
Newly.The corresponding map of forward direction radar is one-dimensional lattice map, and the direction of map is consistent with current course line, and the starting grid of map is
Result after unmanned plane coordinate rounding.Data in map are not necessarily to move frequent updating according to unmanned plane small range, in map
Data can be removed after each switching route.
The number that barrier in grating map corresponds to a probability value, the value and radar detection to the position is in positive
It closes；If the probability value of a certain grid is more than the threshold value of setting, the Obstacle Position is marked in map.
It is filtered out using the barrier velocity information and the matched mode of unmanned plane speed data of millimetre-wave radar output unrelated
False-alarm data.
Map raster search use spiral centered on unmanned plane by proximad far searching in the way of.
Avoidance path is generated according to the horizontal distance and vertical range of barrier to unmanned plane, with the safe distance provided
Avoiding obstacles.
The avoidance route that unmanned plane generates need to be limited by operating area, and avoidance circuit does not allow to exceed operating area.
Unmanned plane stops operation during avoidance, prevents from repeating to spill medicine.After unmanned plane avoiding obstacles return to original course line,
It opens operating system and continues operation, prevent drain spray.
After unmanned plane generates effective avoidance route, if millimetre-wave radar has monitored along avoidance route flight course
Other barriers control the unmanned plane hovering.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of unmanned plane barrier-avoiding method based on millimetre-wave radar, which is characterized in that the unmanned plane barrier-avoiding method include with
Lower step：
S1, user are arranged unmanned plane operating area by earth station and automatically generate operation course line；
S2, range information and angle of the barrier with unmanned plane in automatic flight operation in current environment are obtained by millimetre-wave radar
Degree information simultaneously establishes local grid map centered on unmanned plane；
S3, the relative position of barrier and unmanned plane is calculated according to the distance and angle information of acquisition and is provided according to RTK modules
Flight coordinate calculate barrier absolute coordinate；
S4, the office centered on real-time unmanned plane is mapped according to the absolute coordinate of the barrier of the real time position of unmanned plane acquisition
On portion's grating map；
S5, whether spiral search barrier coordinate points are more than preset value centered on unmanned plane, are such as larger than equal to preset value, then
Barrier is placed in candidate area and executes next step；Such as less than preset value is then not processed；
S6, judge whether current barrier influences current airline operation according to the set operation course line of unmanned plane, if so, subtracting in advance
Speed, and navigate by water and execute next according to the location information generation avoidance circuit between course-and-bearing calculating unmanned plane and barrier
Step, if not, continuing to navigate by water work；
S7, judge whether unmanned plane avoids the current barrier, work on if so, then returning to original work industry course line and execute step
Rapid S5, if not, continuing to navigate by water and execute step S7.
2. the unmanned plane barrier-avoiding method according to claim 1 based on millimetre-wave radar, which is characterized in that the step S4
In it is further comprising the steps of：
S41, judge whether each data information of millimetre-wave radar feedback is authentic and valid, such as effectively, then maps valid data
On grating map, if not, without any processing to current data.
3. the unmanned plane barrier-avoiding method according to claim 2 based on millimetre-wave radar, which is characterized in that the step S5
In it is further comprising the steps of：
S51, it is filtered out according to the priority indicator of barrier and course line is connect on nobody influences maximum barrier.
4. the unmanned plane barrier-avoiding method according to claim 3 based on millimetre-wave radar, which is characterized in that the step S2
In use multiple millimetre-wave radars combination detected, installation broad beam millimeter is tilted a certain angle at left and right sides of unmanned plane
Wave radar covers unmanned plane both sides low-risk region and front high risk zone, and narrow beam millimeter wave is installed immediately ahead of unmanned plane
High risk zone in front of detections of radar unmanned plane.
5. the unmanned plane barrier-avoiding method according to claim 4 based on millimetre-wave radar, which is characterized in that the narrow beam
The front high risk zone that millimetre-wave radar carries out detects and indicates that unmanned plane slows down at a distance, the broad beam millimetre-wave radar pair
It is responsible for both sides overlay region：The data redundancy detection of front high risk zone, both sides low-risk region are detected at a distance, Yi Jiqian
The accurate detection of square short distance barrier.
6. the unmanned plane barrier-avoiding method according to claim 5 based on millimetre-wave radar, which is characterized in that the broad beam
Millimetre-wave radar deceleration strategies are：Within safe distance of the disturbance in judgement level at left and right sides of the unmanned plane, such as in safe distance
Within, then it controls unmanned plane and is decelerated to horizontal distance equal to hovering at safe distance, such as other than safe distance, then judge vertical
Whether distance is more than suspicious distance threshold, and if vertical range is less than suspicious distance threshold, then unmanned plane is certain apart from barrier
It is reduced speed now at distance to smaller setting speed and continues to fly, until unmanned plane crosses extensive comeback job speed after suspicious barrier
Degree continues operation, and if vertical range is more than suspicious distance threshold, then unmanned plane does not respond, and continues to fly with original operating speed
Row.
7. the unmanned plane barrier-avoiding method according to claim 5 based on millimetre-wave radar, which is characterized in that the narrow beam
Millimetre-wave radar deceleration strategies are：When detecting barrier in beam area, unmanned plane is calculated at a distance from barrier,
It reduces speed now at setting deceleration distance, is reduced to after pre-set velocity the flight that remains a constant speed.When broad beam millimetre-wave radar detects
Barrier and slowing down is moved in setting range, is removed former obstacle information immediately and is simultaneously started to confirm for second, as timing terminates
Before the barrier is not detected, then extensive comeback job speed continues operation, confirms for such as second and to detect barrier, then automatic rule
It draws avoidance route and starts avoidance.
8. the unmanned plane barrier-avoiding method according to claim 7 based on millimetre-wave radar, which is characterized in that the step S3
Described in the calculation formula of absolute coordinate of barrier be：
xo=xp+dr·cos(psi+θr+α)+dp·cos(psi)
yo=yp+dr·sin(psi+θr+α)+dp·sin(psi)
Wherein, (xo, yo) be barrier coordinate, (xp, yp) it is that coordinate is done in unmanned plane position；drFor the barrier of millimetre-wave radar output
Hinder object distance；Psi is unmanned plane course heading, θrFor the barrier angle of millimetre-wave radar output；α is radar setting angle；dp
It is millimetre-wave radar center at a distance from unmanned plane center.
9. the unmanned plane barrier-avoiding method according to claim 8 based on millimetre-wave radar, which is characterized in that described and in S6
In deceleration priority be widebeam radar monitoring short distance barrier ＞ narrow beams monitoring long-distance barrier object ＞ wide waves
The short distance barrier for the long-distance barrier object ＞ narrow beams monitoring that Shu Leida is monitored.
10. the unmanned plane barrier-avoiding method according to claim 9 based on millimetre-wave radar, which is characterized in that it is described and
Avoidance circuit in S6 is generated according to the horizontal distance and vertical range of barrier to unmanned plane；The avoidance circuit is by operation area
Domain limitation does not allow to exceed operating area, then attempts to generate another side more than operating area on preferential avoidance line direction
To avoidance route.
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