CN108803666A - A kind of line data-logging unmanned plane barrier-avoiding method and system based on millimetre-wave radar - Google Patents
A kind of line data-logging unmanned plane barrier-avoiding method and system based on millimetre-wave radar Download PDFInfo
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- 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
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The invention discloses a kind of line data-logging unmanned plane barrier-avoiding method and system based on millimetre-wave radar, the described method comprises the following steps：Emit radar signal by the millimetre-wave radar, judges whether to receive radar echo signal, if it is not, then judging clear；If so, according to the radar echo signal output level alarm signal；The unmanned plane adjusts state of flight according to the alarm signal.Rotor wing unmanned aerial vehicle line data-logging barrier-avoiding method and system provided by the invention based on millimetre-wave radar, by the way that millimetre-wave radar is arranged on unmanned plane, and grade alarm signal is set, the accuracy of identification of millimetre-wave radar can reach conducting wire grade, overcome the existing problem that obstacle detection method accuracy of identification deficiency is carried out using sensor, pass through barrier on real-time detection unmanned plane and surrounding different directions, carry out different degrees of dangerous alarm, and unmanned plane avoidance is realized in adjust automatically flying speed and direction, effectively prevents the accident of unmanned plane collision conducting wire.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of line data-logging unmanned plane avoidance side based on millimetre-wave radar
Method.
Background technology
Unmanned plane has as a kind of novel line data-logging equipment and carries convenient, operation not by regional impact, work effect
The high advantage of rate, is widely used in electrical network field.In drone body, visible light, thermal infrared imager are carried
With oblique photograph device, you can remote, multi-angle, maneuverability inspection is carried out to transmission line of electricity and detects work, but by
It is limited to manipulate the visual range and performance accuracy of hand, the accident of unmanned plane collision conducting wire easily occurs.Therefore, unmanned plane avoidance skill
Art is particularly important during line data-logging.
In existing unmanned plane avoidance technology, mostly uses sensor and barrier is detected, such as《A kind of more rotors
Unmanned plane automatic obstacle avoiding device and barrier-avoiding method》(CN201810115267.3) rotary detection sensor is used, realizes nobody
The detection of machine heading barrier, then carry out the regulation and control in flying speed and direction；And《It is a kind of for polling transmission line
Unmanned plane obstacle avoidance system》(CN201711259999.1) it is carried out by millimetre-wave radar, ultrasonic sensor and visual sensor
Barrier real-tune TT & C is then automatically adjusted according to unmanned plane at a distance from barrier.But sensor-based obstacle
Object detection method is there are sensor accuracy of identification is low, the problem of being not enough to distinguish conducting wire；Based on millimetre-wave radar and sensor
The obstacle recognition method of joint observing and controlling then increases the load capacity of unmanned plane, cause unmanned plane flexibility insufficient and cost compared with
Greatly.
Invention content
To solve the problems mentioned above in the background art, the present invention provides a kind of line data-logging based on millimetre-wave radar
Unmanned plane barrier-avoiding method and system adjust state of flight by the way that grade early warning unmanned plane is arranged, realize that unmanned plane is flexibly kept away
Barrier.
First part of the present invention provides a kind of line data-logging unmanned plane barrier-avoiding method based on millimetre-wave radar, including following
Step：
Emit radar signal by the millimetre-wave radar, judges whether to receive radar echo signal, if it is not, then judging
Clear；If so, according to the radar echo signal output level alarm signal；The unmanned plane is believed according to the alarm
Number adjustment state of flight.
Alternatively, described to be specially according to the radar echo signal output level alarm signal：According to
The radar echo signal obtains unmanned plane and barrier distance R；According to the ratio r of the distance R and default safe distance
Export corresponding grade alarm signal.
Alternatively, described according to distance R grades corresponding with the output of the ratio of default safe distance
Alarm signal is specially：If r > 1.2, no alarm signal；If 1.2 >=r > 1.1 export yellow alarm signal；If 1.1 >=
R > 1 then export orange alarm signal；If r≤1, output red alarm signal.
Alternatively, the voltage relationship of the default safe distance and transmission line of alternation current includes：Work as voltage
For 110kV when, default safe distance 3m；When voltage is 220kV, default safe distance 5m；When voltage is 330kV,
Default safe distance is 7m；When voltage is 500kV, default safe distance 10m；When voltage be 750kV when, preset safety away from
From for 12m；When voltage is 1000kV, default safe distance 15m.
Alternatively, the voltage relationship of the default safe distance and DC power transmission line includes：Work as voltage
For ± 500kV when, default safe distance 15m；When voltage is ± 660kV, default safe distance 18m；When voltage be ±
When 800kV, default safe distance 20m.
Alternatively, the unmanned plane is equipped with millimeter wave thunder in forward, backward, left-hand, dextrad four direction
It reaches, it is described to be specifically included according to the radar echo signal output level alarm signal：Respectively according to forward, backward, left-hand, the right side
To radar echo signal obtain corresponding direction grade alarm signal.
Alternatively, the unmanned plane is specially according to alarm signal adjustment state of flight：
If A. only there are one direction outputting alarm signals, slow down the flying speed in alarm direction, if alarm grade is red
Color is then moved in parallel towards alarm direction opposite direction；It is towards alarm smaller grade if B. two opposite direction outputting alarm signals
Direction move in parallel, until high-grade alarm reduce until, if alarm grade it is identical and not be red, towards apart from larger
Direction moves in parallel；If it is red to alert grade, returned along original flight track；If C. three directions or four direction
Outputting alarm signal then adjusts state of flight according to above-mentioned A or B respectively.
Alternatively, the radar signal is CW with frequency modulation, and the distance R passes through radar signal and radar
Difference on the frequency between echo-signal obtains.
Second part of the present invention provides a kind of line data-logging unmanned plane obstacle avoidance system based on millimetre-wave radar, states unmanned plane
Obstacle avoidance system includes millimetre-wave radar, alerts grade module and flight adjustment module；The millimetre-wave radar is for emitting thunder
Up to signal, and receive radar echo signal；The alarm grade module is used to be accused according to the radar echo signal output level
Alert signal；The flight adjustment module is used to adjust state of flight according to the alarm signal.
Alternatively, the unmanned plane is equipped with millimeter wave thunder in forward, backward, left-hand, dextrad four direction
It reaches, the flight adjustment module, which is used to adjust state of flight according to the alarm signal, is specially：
If A. only there are one direction outputting alarm signals, slow down the flying speed in alarm direction, if alarm grade is red
Color is then moved in parallel towards alarm direction opposite direction；It is towards alarm smaller grade if B. two opposite direction outputting alarm signals
Direction move in parallel, until high-grade alarm reduce until, if alarm grade it is identical and not be the superlative degree, towards apart from larger
Direction move in parallel；If it is the superlative degree to alert grade, returned along original flight track；If C. three directions or four sides
To outputting alarm signal, then adjust state of flight according to above-mentioned A or B respectively.
The advantage of the invention is that：Rotor wing unmanned aerial vehicle line data-logging avoidance side provided by the invention based on millimetre-wave radar
By the way that millimetre-wave radar is arranged on unmanned plane, and grade alarm signal is arranged, the accuracy of identification of millimetre-wave radar in method and system
Conducting wire grade is can reach, the existing problem for carrying out obstacle detection method accuracy of identification deficiency using sensor is overcome, passes through reality
When sensorcraft and surrounding different directions on barrier, carry out different degrees of dangerous alarm, and adjust automatically flying speed
Unmanned plane avoidance is realized with direction, effectively prevents the accident of unmanned plane collision conducting wire.
Description of the drawings
Fig. 1 is the line data-logging unmanned plane barrier-avoiding method flow signal provided in an embodiment of the present invention based on millimetre-wave radar
Figure；
Fig. 2 is the radar range finding principle schematic provided in an embodiment of the present invention based on CW with frequency modulation；
Fig. 3 is unmanned plane nose radar array layout figure provided in an embodiment of the present invention；
Fig. 4 is that unmanned plane inspection flight different brackets provided in an embodiment of the present invention alerts schematic diagram.
Specific implementation mode
With reference to the accompanying drawings and in conjunction with specific embodiments, the present invention is described in further detail.
Embodiment one
Line data-logging unmanned plane barrier-avoiding method flow provided in an embodiment of the present invention based on millimetre-wave radar as shown in Figure 1
Schematic diagram, providing method of the embodiment of the present invention, includes the following steps：
Emit radar signal by the millimetre-wave radar, judges whether to receive radar echo signal, if it is not, then judging
Clear；If so, according to the radar echo signal output level alarm signal；The unmanned plane is believed according to the alarm
Number adjustment state of flight.
It that is to say that whether there is or not barrier judgment and unmanned planes and obstacle distance by emitting and receiving radar signal progress
It measures.After such as emitting radar signal, no radar echo signal, that is, it is 0 to receive radar signal, then is judged as clear or obstacle
Object is with unmanned plane apart from excessive.
Grade alarm signal is arranged by the way that millimetre-wave radar is arranged on unmanned plane in the present embodiment, millimetre-wave radar
Accuracy of identification can reach conducting wire grade, overcomes and existing carries out that obstacle detection method accuracy of identification is insufficient asks using sensor
Topic carries out different degrees of dangerous alarm, and adjust automatically by barrier on real-time detection unmanned plane and surrounding different directions
Unmanned plane avoidance is realized in flying speed and direction, effectively prevents the accident of unmanned plane collision conducting wire.
Optionally, as shown in Fig. 2, the radar signal is CW with frequency modulation, the distance R passes through radar signal and radar
Difference on the frequency between echo-signal obtains.
Optionally, described to be specially according to the radar echo signal output level alarm signal：It is returned according to the radar
Wave signal acquisition unmanned plane and barrier distance R；It is corresponding with the output of the ratio r of default safe distance according to the distance R
Grade alarm signal.
The millimetre-wave radar frequency that the present embodiment uses is 77GHz, wavelength 3.9mm, can be carried out to conducting wire grade barrier
Identification.If f0For the difference on the frequency between radar emission signal and reflection signal, T is the period of modulated triangular wave, and △ F are frequency modulation band
Width, then R be represented by
In formula, c is velocity of electromagnetic wave, i.e. c=3 × 108m/s.
Optionally, as shown in figure 3, it is described according to distance R grades corresponding with the output of the ratio of default safe distance
Alarm signal is specially：If r > 1.2, no alarm signal；If 1.2 >=r > 1.1 export yellow alarm signal；If 1.1 >=
R > 1 then export orange alarm signal；If r≤1, output red alarm signal.
Specific alarm grade classification is as shown in table 1.
1 unmanned plane inspection safe flight of table alerts grade classification
| r | r≥1.2 | 1.1 r≤1.2 < | 1 r≤1.1 < | r≤1 |
| Alert grade | No alarm | Yellow | It is orange | It is red |
Optionally, the unmanned plane is equipped with millimetre-wave radar, the basis in forward, backward, left-hand, dextrad four direction
The radar echo signal output level alarm signal specifically includes：It is returned respectively according to the radar of forward, backward, left-hand, dextrad
The grade alarm signal of wave signal acquisition corresponding direction.
Optionally, the voltage relationship of the default safe distance and transmission line of alternation current includes：When voltage is 110kV,
Default safe distance is 3m；When voltage is 220kV, default safe distance 5m；When voltage be 330kV when, preset safety away from
From for 7m；When voltage is 500kV, default safe distance 10m；When voltage is 750kV, default safe distance 12m；When
When voltage is 1000kV, default safe distance 15m.
Optionally, the voltage relationship of the default safe distance and DC power transmission line includes：When voltage is ± 500kV
When, default safe distance 15m；When voltage is ± 660kV, default safe distance 18m；When voltage is ± 800kV, in advance
If safe distance is 20m.
As shown in figure 4, unmanned plane is set in forward, backward, left-hand, dextrad four direction there are four millimetre-wave radar, point
Not Huo Qu unmanned plane in the shortest distance of front, rear, left and right four direction and barrier, and carried out pair with preset safe distance
Than；Transmission line of electricity is divided into AC and DC, and wherein voltage class transmission line of electricity default safe distance is as shown in the table
2 transmission line of alternation current unmanned plane inspection default safe distance of table
| Voltage class | 110kV | 220kV | 330kV | 500kV | 750kV | 1000kV |
| Default safe distance (m) | 3 | 5 | 7 | 10 | 12 | 15 |
3 DC power transmission line unmanned plane inspection default safe distance of table
| Voltage class | ±500kV | ±660kV | ±800kV |
| Default safe flight distance (m) | 15 | 18 | 20 |
Optionally, the unmanned plane is specially according to alarm signal adjustment state of flight：If A. only there are one directions
Outputting alarm signal then slows down the flying speed in alarm direction, flat towards alarm direction opposite direction if alarm grade is red
Row movement；If B. two opposite direction outputting alarm signals, direction towards alarm smaller grade moves in parallel, until high-grade
Until alarm reduces, if alarm grade is identical and is not red, moved in parallel towards apart from larger direction；If it is equal to alert grade
For red, then returned along original flight track；If the C. outputting alarm signal of three directions or four direction, respectively according to upper
State A or B adjustment state of flights.
According to different directions, different grades of alarm situation, adjust automatically flying speed and direction carry out unmanned plane avoidance.
It is embodied in：When a direction alerts, the flying speed when front direction unmanned plane should be slowed down, if alarm grade reaches
Red should then move in parallel in the opposite direction, until red alarm reduces.
When forward and backward or left and right two opposite directions have alarm, direction towards alarm smaller grade moves in parallel, directly
Until supreme grade alarm reduces, if alarm grade is identical and is not red, the direction big towards the shortest distance moves in parallel, directly
Until the shortest distance on the two directions is almost the same；If it is red to alert grade, returned along original flight track, directly
Until red alarm reduces.
When there is the alarm in three directions or four direction, it is divided into front and rear direction adjustment and left and right direction adjusts two
Step carries out unmanned plane during flying speed and direction tune according to the processing method that above-mentioned single direction or both direction alert
It is whole.
The millimetre-wave radar arranged by front, rear, left and right four direction measures unmanned plane at a distance from peripheral obstacle,
The shortest distance and default safe flight distance for taking different directions are compared, and send out yellow, orange, red three according to the size of ratio
The dangerous alarm of a grade, finally according to different directions, different grades of alarm situation, adjust automatically flying speed and direction are real
Existing unmanned plane avoidance.
Line data-logging unmanned plane barrier-avoiding method provided in this embodiment based on millimetre-wave radar, can accurately identify conducting wire grade
Barrier, and different grades of dangerous alarm can be carried out at a distance from barrier to unmanned plane in front, rear, left and right four direction,
Then adjust automatically unmanned plane during flying state realizes avoidance, securely and reliably, has stronger practicability.
Embodiment two
Second part of the present invention provides a kind of line data-logging unmanned plane obstacle avoidance system based on millimetre-wave radar, states unmanned plane
Obstacle avoidance system includes millimetre-wave radar, alerts grade module and flight adjustment module；The millimetre-wave radar is for emitting thunder
Up to signal, and receive radar echo signal；The alarm grade module is used to be accused according to the radar echo signal output level
Alert signal；The flight adjustment module is used to adjust state of flight according to the alarm signal.
Alternatively, the unmanned plane is equipped with millimeter wave thunder in forward, backward, left-hand, dextrad four direction
It reaches, the flight adjustment module, which is used to adjust state of flight according to the alarm signal, is specially：
If A. only there are one direction outputting alarm signals, slow down the flying speed in alarm direction, if alarm grade is red
Color is then moved in parallel towards alarm direction opposite direction；It is towards alarm smaller grade if B. two opposite direction outputting alarm signals
Direction move in parallel, until high-grade alarm reduce until, if alarm grade it is identical and not be the superlative degree, towards apart from larger
Direction move in parallel；If it is the superlative degree to alert grade, returned along original flight track；If C. three directions or four sides
To outputting alarm signal, then adjust state of flight according to above-mentioned A or B respectively.
Line data-logging unmanned plane obstacle avoidance system specific workflow and work provided in this embodiment based on millimetre-wave radar
Embodiment one is can refer to as principle, details are not described herein.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, the application can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to method, the flow of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It these are only the embodiment of the present invention, be not intended to restrict the invention, it is all in the spirit and principles in the present invention
Within, any modification, equivalent substitution, improvement and etc. done, be all contained in apply pending scope of the presently claimed invention it
It is interior.
Claims (10)
1. a kind of line data-logging unmanned plane barrier-avoiding method based on millimetre-wave radar, which is characterized in that include the following steps：
Emit radar signal by the millimetre-wave radar,
Judge whether to receive radar echo signal, if it is not, then judging clear；If so, being believed according to the radar return
Number output level alarm signal；
The unmanned plane adjusts state of flight according to the alarm signal.
2. the line data-logging unmanned plane barrier-avoiding method according to claim 1 based on millimetre-wave radar, which is characterized in that institute
It states and is specially according to the radar echo signal output level alarm signal：
Unmanned plane and barrier distance R are obtained according to the radar echo signal；
According to distance R grade alarm signals corresponding with the output of the ratio r of default safe distance.
3. the line data-logging unmanned plane barrier-avoiding method according to claim 2 based on millimetre-wave radar, which is characterized in that institute
It states and is specially according to distance R grade alarm signals corresponding with the output of the ratio of default safe distance：
If r > 1.2, no alarm signal；
If 1.2 >=r > 1.1 export yellow alarm signal；
If 1.1 >=r > 1 export orange alarm signal；
If r≤1, output red alarm signal.
4. the line data-logging unmanned plane barrier-avoiding method according to claim 3 based on millimetre-wave radar, which is characterized in that institute
The voltage relationship for stating default safe distance and transmission line of alternation current includes：
When voltage is 110kV, default safe distance 3m；
When voltage is 220kV, default safe distance 5m；
When voltage is 330kV, default safe distance 7m；
When voltage is 500kV, default safe distance 10m；
When voltage is 750kV, default safe distance 12m；
When voltage is 1000kV, default safe distance 15m.
5. the line data-logging unmanned plane barrier-avoiding method according to claim 3 based on millimetre-wave radar, which is characterized in that institute
The voltage relationship for stating default safe distance and DC power transmission line includes：
When voltage is ± 500kV, default safe distance 15m；
When voltage is ± 660kV, default safe distance 18m；
When voltage is ± 800kV, default safe distance 20m.
6. special according to line data-logging unmanned plane barrier-avoiding method of claim 2 to 5 any one of them based on millimetre-wave radar
Sign is that the unmanned plane is equipped with millimetre-wave radar in forward, backward, left-hand, dextrad four direction, described according to the radar
Echo-signal output level alarm signal specifically includes：
The grade alarm signal of corresponding direction is obtained according to the radar echo signal of forward, backward, left-hand, dextrad respectively.
7. special according to line data-logging unmanned plane barrier-avoiding method of the claim 2-5 any one of them based on millimetre-wave radar
Sign is that the unmanned plane adjusts state of flight according to the alarm signal and is specially：
If A. only there are one direction outputting alarm signals, slow down the flying speed in alarm direction, if alarm grade is red,
It is moved in parallel towards alarm direction opposite direction；
If B. two opposite direction outputting alarm signals, direction towards alarm smaller grade moves in parallel, until high-grade announcement
Until alert reduction, if alarm grade is identical and is not red, moved in parallel towards apart from larger direction；If alarm grade is
Red is then returned along original flight track；
If the C. outputting alarm signal of three directions or four direction, state of flight is adjusted according to above-mentioned A or B respectively.
8. special according to line data-logging unmanned plane barrier-avoiding method of claim 2 to 5 any one of them based on millimetre-wave radar
Sign is that the radar signal is CW with frequency modulation, and the distance R passes through the frequency between radar signal and radar echo signal
Difference obtains.
9. a kind of line data-logging unmanned plane obstacle avoidance system based on millimetre-wave radar, which is characterized in that unmanned plane avoidance system
System includes millimetre-wave radar, alerts grade module and flight adjustment module；
The millimetre-wave radar receives radar echo signal for emitting radar signal；
The alarm grade module is used for according to the radar echo signal output level alarm signal；
The flight adjustment module is used to adjust state of flight according to the alarm signal.
10. the line data-logging unmanned plane obstacle avoidance system according to claim 9 based on millimetre-wave radar, the unmanned plane exist
Forward, backward, left-hand, dextrad four direction are equipped with millimetre-wave radar, and the flight adjustment module is used to be believed according to the alarm
Number adjustment state of flight be specially：
If A. only there are one direction outputting alarm signals, slow down the flying speed in alarm direction, if alarm grade is red,
It is moved in parallel towards alarm direction opposite direction；
If B. two opposite direction outputting alarm signals, direction towards alarm smaller grade moves in parallel, until high-grade announcement
Until alert reduction, if alarm grade is identical and is not the superlative degree, moved in parallel towards apart from larger direction；If it is equal to alert grade
For the superlative degree, then returned along original flight track；
If the C. outputting alarm signal of three directions or four direction, state of flight is adjusted according to above-mentioned A or B respectively.
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| CN111157996A (en) * | 2020-01-06 | 2020-05-15 | 珠海丽亭智能科技有限公司 | Parking robot driving safety detection method |
| CN111722215A (en) * | 2019-03-20 | 2020-09-29 | 上海高智科技发展有限公司 | Obstacle detection early warning method and device, portable equipment and storage medium |
| CN115113650A (en) * | 2022-08-30 | 2022-09-27 | 南京金城数据科技有限公司 | Air-ground integrated data fusion system based on unmanned aerial vehicle autonomous operation |
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