CN108958284A - A kind of unmanned plane obstacle avoidance system and method - Google Patents

A kind of unmanned plane obstacle avoidance system and method Download PDF

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Publication number
CN108958284A
CN108958284A CN201810692666.6A CN201810692666A CN108958284A CN 108958284 A CN108958284 A CN 108958284A CN 201810692666 A CN201810692666 A CN 201810692666A CN 108958284 A CN108958284 A CN 108958284A
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detection sensor
unit
unmanned plane
main
data
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CN201810692666.6A
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Inventor
蔡晓东
何力波
黄毅
李玲玲
蔡昊宇
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Hubei Electric Eagle Technology Co Ltd
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Hubei Electric Eagle Technology Co Ltd
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Priority to CN201810692666.6A priority Critical patent/CN108958284A/en
Publication of CN108958284A publication Critical patent/CN108958284A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

The present invention provides a kind of unmanned plane obstacle avoidance system and methods, system includes: unmanned plane, in-line power unit, processor, for detecting at least two detection sensors of barrier, for determining the switch unit of main detection sensor mark, for transmitting flight control units of the acquisition data of main detection sensor to the data fusion control unit of processor and for executing unmanned plane during flying movement, main detection sensor mark is used for the main detection sensor of unique identification, main detection sensor be at least two detection sensors under current weather environment the highest detection sensor of environment sensing accuracy;At least two detection sensors and flight control units are installed in unmanned plane, switch unit, at least two detection sensors are connect with data fusion control unit, and in-line power unit, flight control units and data fusion control unit are connect with processor.Using the embodiment of the present invention, the success rate of unmanned plane avoiding obstacles is improved.

Description

A kind of unmanned plane obstacle avoidance system and method
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of unmanned plane obstacle avoidance system and methods.
Background technique
With the continuous development of science and technology, unmanned plane is more and more intelligent, and unmanned plane obstacle avoidance system is increasingly becoming research Hot spot.
Existing unmanned plane obstacle avoidance system usually requires to realize by human visual operation under avoidance or specified conditions (such as day Gas in order, without strong illumination etc.) automatic obstacle avoiding, and existing unmanned plane obstacle avoidance system that there are obstacle recognition rates is low, Identification types are few, (such as strong light, night, dense fog, sandstorm or heavy rain) obstacle detection speed is slow under extreme climate environment Or the major techniques defect such as can not detect, cause the success rate of unmanned plane avoiding obstacles lower.
It is therefore desirable to design a kind of new unmanned plane obstacle avoidance system, to overcome the above problem.
Summary of the invention
It is an object of the invention to overcome the defect of the prior art, a kind of unmanned plane obstacle avoidance system and method are provided, with Realize the success rate for improving unmanned plane avoiding obstacles.
The present invention is implemented as follows:
In a first aspect, the present invention provides a kind of unmanned plane obstacle avoidance system, comprising: unmanned plane, in-line power unit, processing Device, the switch unit for determining main detection sensor mark, is used at least two detection sensors for detecting barrier The acquisition data of main detection sensor are transmitted to the data fusion control unit of processor and dynamic for executing unmanned plane during flying The flight control units of work, main detection sensor mark are used for the main detection sensor of unique identification, and the main detection sensor is In at least two detection sensor under current weather environment the highest detection sensor of environment sensing accuracy;
At least two detection sensor and the flight control units are installed in the unmanned plane, the switching Unit, at least two detection sensor are connect with the data fusion control unit, the in-line power unit, described Flight control units and the data fusion control unit are connected to the processor.
Optionally, the in-line power unit, the processor, the data fusion control unit and the switching are single Member is integrated in SoC system on chip, and the SoC system on chip is installed in the unmanned plane.
Optionally, the system also includes external power supply unit, the processor and the in-line power unit are and institute State external power supply unit connection.
Optionally, at least two detection sensor includes: visual sensor and millimetre-wave radar sensor.
Optionally, at least two detection sensor includes: infrared sensor and ultrasonic sensor.
Optionally, the system also includes: carry out pretreated data prediction for the acquisition data to main detector Unit, the switch unit, at least two detection sensor are connect with the data pre-processing unit, and the data are pre- Processing unit is connect with the data fusion control unit.
Optionally, the system also includes: for detecting the meteorological detection unit of current weather environment;The meteorological detection Unit is connect with the switch unit.
Second aspect, the present invention provide a kind of unmanned plane barrier-avoiding method, described applied to above-mentioned unmanned plane obstacle avoidance system Method includes:
The barrier of each detection sensor sensorcraft local environment at least two detection sensor is believed Breath forms acquisition data, and gives acquisition data transmission to data fusion control unit;
The switch unit determines main detection sensor mark, identified main detection sensor mark is sent to described Data fusion control unit;Main detection sensor mark is used for the main detection sensor of unique identification, and the main detection sensor is In at least two detection sensor under current weather environment the highest detection sensor of environment sensing accuracy;
The data fusion control unit obtains the acquisition data and the main spy of at least two detection sensor Sensor identification is surveyed, and determines that having the detection sensor of the main detection sensor mark is main detection sensor, it will be described The acquisition data of main detection sensor are sent to the processor;
The processor generates avoidance instruction based on the acquisition data of main detection sensor obtained, and the avoidance is referred to Order is sent to the flight control units, and the avoidance instruction includes being used to indicate the flight that unmanned plane flies according to avoidance path Action command;
The flight control units according to the flare maneuver instruction execution unmanned plane flare maneuver so that unmanned plane is kept away Open barrier.
Optionally, the switch unit obtains main detection sensor mark, comprising:
The selection instruction for obtaining user regard the detection sensor mark in the selection instruction as main detection sensor mark Know;Or,
Current weather environment is obtained, default weather environment table is searched with the current weather environment, obtains current weather ring The corresponding detection sensor mark in border, identifies, wherein the default weather environment table is for storing gas as main detection sensor As the corresponding relationship between environment and detection sensor mark, the corresponding detection sensor of a weather environment is identified as in the gas As the mark of the highest detection sensor of environment sensing accuracy under environment.
Optionally, at least two detection sensor includes: visual sensor and millimetre-wave radar sensor.
The invention has the following advantages: processor can be based on using technical solution provided in an embodiment of the present invention The acquisition data of main detector generate avoidance instruction, so that flight control units can be according to flare maneuver instruction execution unmanned plane Flare maneuver so that unmanned plane avoiding obstacles, since main detection sensor is at least two detection sensors current The highest detection sensor of environment sensing accuracy under weather environment, therefore, main detection sensor is to the accurate of obstacle detection Highest is spent, the flare maneuver in avoidance instruction that the acquisition data based on main detection sensor generate instructs accuracy highest, from And improve the success rate of unmanned plane avoiding obstacles.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of unmanned plane obstacle avoidance system provided in an embodiment of the present invention;
Fig. 2 is a kind of flow diagram of unmanned plane barrier-avoiding method provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other Embodiment shall fall within the protection scope of the present invention.
To solve prior art problem, the present invention provides a kind of unmanned plane obstacle avoidance system and methods, below in conjunction with Fig. 1 Specific embodiment is illustrated.
As shown in Figure 1, a kind of unmanned plane obstacle avoidance system provided by the invention, system include: unmanned plane 101, in-line power Unit 102, processor 103, at least two detection sensors 104 for detecting barrier, for determining main detection sensor The switch unit 105 of mark, for transmitting the acquisition data of main detection sensor to the data fusion control unit 106 of processor And the flight control units 107 for executing unmanned plane during flying movement, main detection sensor mark are used for the main spy of unique identification Sensor is surveyed, the main detection sensor is that environment sensing is quasi- under current weather environment at least two detection sensor The highest detection sensor of exactness;
At least two detection sensor 104 and the flight control units 107 are installed in the unmanned plane, institute State switch unit, at least two detection sensor is connect with the data fusion control unit, the in-line power list First, the described flight control units and the data fusion control unit are connected to the processor.
Above-mentioned processor 103 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.;It can also be digital signal processor (Digital Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array, Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.Processor It can store program in 103, processor 103 can execute the program of its storage, to realize the function of program.
Connection between each component can be electrical connection, and the mode being specifically electrically connected can be with are as follows: is connected by fieldbus It connects, fieldbus includes PROFIBUS fieldbus, CAN (Controller Area Network, controller local area network) total Line etc. can also be to be connected, alternatively, can be with are as follows: pass through what serial communication mode was established in addition to fieldbus by optical fiber Wire/wireless connection etc..
In other implementations, data fusion control unit and flight control units can connect with in-line power unit It connects, data fusion control unit and flight control units can be connected directly to processor by fieldbus.
In a kind of implementation, the in-line power unit, the processor, the data fusion control unit and institute It states switch unit and is integrated in SoC system on chip, the SoC system on chip is installed in the unmanned plane, SoC (System on a Chip, system on chip) it refers to integrating a complete system on a single chip, to all or part of necessary electronic circuits Carry out the technology of packet grouping.
It certainly, can also be by in-line power unit 102, processor 103 and switch unit 105 in other implementations It is integrated in SoC system on chip, data fusion control unit can be set in power supply unit can also be arranged in unmanned plane, unmanned plane Part, data fusion control unit, at least two detection sensors and flight control units can be connect with power supply unit, this When, SoC system on chip can be set in the other equipment in addition to unmanned plane, for example, can install in ground control centre, Or in server, flight control units and data fused controlling unit can be wirelessly connected with processor at this time, to complete Data communication, data fusion control unit between flight control units and processor and the data communication between processor.
In addition, present invention can also apply to the unmanned guide car in ground, underwater robot or nothings in addition to being applied to unmanned plane The unmanned control use environment such as people's submariner device.Multiple groups SoC system on chip can be set in other implementations, in unmanned plane, Data fusion control unit in every group of SoC system on chip can connect to processor.
In another implementation, the system also includes external power supply unit, the external power supply unit and the SoC System on chip connection.
The environment sensing of unmanned plane refers to unmanned plane and obtains using detection sensor the information of unmanned plane local environment, example Such as, the distance between the distance between barrier and unmanned plane, the quantity of barrier, barrier etc., environment sensing accuracy Higher, the accuracy of the obstacle information of detection sensor detection is also higher.
Main detector is the highest spy of environment sensing accuracy under current weather environment at least two detection sensors Sensor is surveyed, when the equal highest of the environment sensing accuracy for there are multiple detection sensors simultaneously, the quantity of main detector can have It is multiple.When main detector has it is multiple when, data fusion control unit carries out data fusion to the acquisition data of all main detectors Processing, using the acquisition data of main detector after Data Fusion as the acquisition data of main detection sensor, and by main detection The acquisition data transmission of sensor is to processor, as long as directly passing the acquisition data of the main detector when main detection one Give processor.
It should be noted that data fusion control unit can obtain the acquisition data of each detection sensor, and only By the acquisition data transmission of main detector to processor, specific implementation can be with are as follows: by other spies in addition to main detector The acquisition data for surveying sensor are arranged to invalid data, for example, the value of the acquisition data of other detection sensors can be arranged For 0, -1, Fales, NULL or None etc..Data Fusion refers to using computer or embedded SoC processor on time Sequence obtains the acquisition data of each main detector, is automatically analyzed, is integrated under certain criterion, to complete required decision and comment The information processing technology estimating task and carrying out.
Illustratively, main detector is visual sensor and millimetre-wave radar sensor, other in addition to main detector Detection sensor is infrared sensor and ultrasonic sensor, then data fusion control unit is by visual sensor and millimeter wave thunder Acquisition data up to sensor carry out Data Fusion, and infrared sensor and ultrasonic sensor are arranged to invalid data, By the acquisition data transmission of main detector after Data Fusion to processor.
At least two detection sensors include: visual sensor and millimetre-wave radar sensor, or include: infrared sensing Device and ultrasonic sensor, or, comprising: visual sensor, millimetre-wave radar sensor, infrared sensor and supersonic sensing Device.Each detection sensor can be with detection sensor mark come uniquely tagged.
Wherein, visual sensor is the instrument that external environment image information is obtained using optical element and imaging device, depending on Feel that sensor mainly applies camera as sensor, visual sensor can be with are as follows: monocular cam, is stood rearview camera Body camera, binocular camera and look around camera etc., it can carry out image procossing by the image taken to camera, To calculate the characteristic quantity (area, center of gravity, length, chamfered shape, position etc.) of barrier, and output data and judging result conduct For the acquisition data of the barrier.It is and available enough since resolution ratio of camera head is into being higher than other detection sensors Environment detail, such as the positional relationship between the appearance of barrier, shape, barrier etc., the other kinds of spy of these details Surveying sensor can not accomplish, therefore be believed that in the case where bright and clear (such as daytime does not haze, also without sandstorm), The environment sensing accuracy highest of visual sensor, can be used as main detector;In the case where insufficient light, it can be used His sensor can haze or sandstorm as main detector, such as at night using infrared sensor as main detector In the case where, it can be using millimetre-wave radar sensor and/or ultrasonic sensor as main detector.
Theoretically, millimetre-wave radar sensor uses millimeter wave, and usual millimeter wave refers to that (wavelength is 30~300GHz frequency domain 1~10mm) electromagnetic wave, can be worked normally under the mal-conditions such as sleet, haze, sand and dust with round-the-clock, and have very strong Anti- land clutter ability, therefore environment sensing accuracy of the millimetre-wave radar sensor under sandstorm or the weather that hazes be higher than vision Sensor.Ultrasonic sensor is the sensor that ultrasonic signal is converted into other energy signals (usually electric signal), is surpassed Sound wave is the mechanical wave that vibration frequency is higher than 20KHz.Ultrasonic wave is very big to the penetrating power of liquid, solid, therefore in rainy, sand and dust Environment sensing accuracy under the sudden and violent or weather that hazes is also above visual sensor.Containing to infrared receiver tube generation in sunlight The infrared ray of interference, infrared sensor is mostly in night use, and at night, the environment sensing accuracy of infrared sensor is higher than vision Sensor.
Although ultrasonic sensor not will receive the interference of light, dust, smog, sound wave will receive under the scene of part Interference, and if the scarce capacity that body surface reflects ultrasonic wave, unmanned plane obstacle avoidance system detect barrier it is effective away from From that will reduce, the security risk of unmanned plane can be significantly improved.In general, if the material of reflection object is concrete floor, The effective distance of ultrasonic wave is 5 meters, if material is not the smooth solids of plane, such as carpet, then ultrasonic wave is anti- Penetrating and receiving will go wrong.Therefore in order to improve the effective distance of system detection barrier, ultrasonic sensor can be placed on nothing Man-machine multiple directions, for example be set to fuselage four direction all around can hover in unmanned plane and when flight pair Surrounding keeps monitoring;Or also can be set in fuselage following above and, to be avoided when taking off, declining and landing Speed encounters very much barrier or ground fastly;Or left and right side in fuselage also can be set.
Infrared sensor can be set in fuselage following above and, and millimetre-wave radar sensor can be set before fuselage The front and back in fuselage also can be set in side and rear, visual sensor, specifically, millimetre-wave radar sensor can be SP70 series radar sensor,
Specifically, each detection sensor 104 at least two detection sensors can be with ring locating for sensorcraft 104 The obstacle information in border forms acquisition data, and will acquire data transmission to data fusion control unit 106;Switch unit 105 It can determine main detection sensor mark, and send identified main detection sensor mark to data fusion control unit 106;Data fusion control unit 106 can obtain the acquisition data and main detection sensing of at least two detection sensors 104 Device mark, and determine that having the detection sensor 104 of main detection sensor mark is main detection sensor, by main detection sensor Acquisition data be sent to processor 103;Processor 103 can be generated based on the acquisition data of main detection sensor obtained Avoidance instruction is sent to flight control units 107 by avoidance instruction, and avoidance instruction includes that flare maneuver instructs;To flight control Unit 107 processed can be according to the flare maneuver of flare maneuver instruction execution unmanned plane 101, so that 101 avoiding obstacles of unmanned plane.
Each detection sensor 104 can form acquisition data, number with the obstacle information of sensorcraft local environment The acquisition data of each detection sensor 104 can be obtained according to fused controlling unit 106, and only by main detection sensor 104 Acquisition data be sent to processor 103, and then processor 103 can be generated based on the acquisition data of main detection sensor 104 Avoidance instruction, since main detection sensor 104 is that environment sensing is quasi- under current weather environment at least two detection sensors The highest detection sensor of exactness, therefore main detection sensor flies the accuracy highest of obstacle detection in avoidance instruction Row action command accuracy highest, to improve the success rate of unmanned plane avoiding obstacles.
The acquisition data of detection sensor can be between the distance between barrier and unmanned plane, barrier and barrier Distance, the quantity of barrier, size, shape etc., so that processor can use existing Robot dodge strategy, based on being obtained Main detection sensor acquisition data, generate avoidance instruction, and MavLink (Micro Air Vehicle can be passed through Link, micro-air-vehicles connection protocol) communication protocol by avoidance instruction be sent to flight control units.Common Robot dodge strategy packet It includes: Visual Graph method, Artificial Potential Field Method, VFH (Vector Field Histogram, vector section column figure method) strategy etc.. MavLink is a kind of communication protocol for miniature self-service carrier, which can be applied between unmanned plane internal subsystems Communication, also can be applied to the communication between unmanned plane and other equipment, unmanned plane can be unmanned Fixed Wing AirVehicle, nothing People's rotor craft etc..It may include flare maneuver instruction in avoidance instruction, so that flight control units can be directly according to winged Instruction execution flare maneuver is made in action.It may include the letter such as flight coordinate, flying speed, flight angle in flare maneuver instruction Breath, flare maneuver instruction can be used to refer to unmanned plane avoiding obstacles.
In a kind of implementation, switch unit can determine main detection sensor mark, specifically, switch unit can mention For human-computer interaction interface, so that it is determined that the mode of main detection sensor mark can be with are as follows: obtain user for selecting main detection The selection instruction of device identifies the detection sensor mark in selection instruction as main detection sensor.
Alternatively, in another implementation, switch unit can obtain current weather environment, with the current weather ring Default weather environment table is searched in border, the corresponding detection sensor mark of current weather environment is obtained, as main detection sensor mark Know, wherein default weather environment table is a tables of data, corresponding between weather environment and detection sensor mark for storing Relationship, the corresponding detection sensor of a weather environment are identified as the highest detection of environment sensing accuracy under the weather environment The mark of sensor.
In other implementations, switch unit can also determine main detection sensor mark using other existing modes Know.
When occurring abnormal for in-line power unit 102, guarantees that SoC system on chip can still obtain electric energy, keep just Often work, in a kind of implementation, system can also include external power supply unit, external power supply unit and in-line power unit 102 connections, external power supply unit are connect with processor 103.
Whether the electricity that processor 103 can detecte out in-line power unit 102 is sufficient, for example, working as in-line power unit When 102 electricity is lower than preset threshold, it is believed that the electricity of in-line power unit 102 is inadequate, at this point it is possible to trigger outside Power supply unit work, external power supply unit in a triggered, internally power, or can also be directly to processor by power supply unit Power supply, or can also power to processor, and charge to in-line power unit, occur to realize in power supply unit 102 When abnormal, guarantee system can still obtain electric energy.
External power supply unit can for dry cell, battery or lithium battery etc., in-line power unit can for power circuit, Power-supply controller of electric/driver, power power-supply or other common powers.
In a kind of implementation, in order to improve system reliability, system can also include: for the acquisition to main detector Data carry out pretreated data pre-processing unit, switch unit, at least two detection sensors 104 with data prediction list Member connection, data pre-processing unit are connect with data fusion control unit 106.
Data pre-processing unit can obtain the acquisition data and main detector mark of each detection sensor transmission, determine With main detection sensor mark detection sensor be main detection sensor, and then to the acquisition data of main detection sensor into Row pretreatment, and give the acquisition data transmission of pretreated main detection sensor to data fusion control unit.
The present invention to specific pretreatment mode without limitation, for example, can be using existing data cleansing algorithm to adopting Duplicate message in collection data is deleted, corrects mistake present in acquisition data, and provides data consistency, alternatively, Interference and the noise etc. in data can be acquired using the removal of existing Kalman filtering algorithm, it can also be existing using other Data prediction mode.
Pretreatment by data pre-processing unit to acquisition data, improves that data fusion control unit is obtained to adopt Collect the reliability of data, and then improves system reliability.
In a kind of implementation, the system can also include: the meteorological detection unit for detecting current weather environment; The meteorology detection unit is connect with the switch unit.
Meteorological detection unit can with real-time detection weather environment, can for existing weather detector, weather monitoring instrument etc., The current weather environmental information that meteorological detection unit can will test is sent to switch unit, and in turn, switch unit is obtaining After weather environment information, main detection sensor mark can be determined according to weather environment information.
Alternatively, meteorological detection unit can detecte current weather environment, and can be determined according to current weather environment at this The highest detection sensor of environment sensing accuracy under weather environment, using the mark of identified detection sensor as main detection Sensor identification sends main detection sensor mark to the switch unit, so that switch unit can directly acquire main detection Sensor identification.
Corresponding with above-mentioned unmanned plane obstacle avoidance system, the embodiment of the present invention also provides a kind of unmanned plane barrier-avoiding method.
It is a kind of flow diagram of unmanned plane barrier-avoiding method provided by the embodiment of the present invention, method referring to such as 2, Fig. 2 Applied to unmanned plane obstacle avoidance system, which comprises
The obstacle information of each detection sensor sensorcraft local environment at least two detection sensors, shape Data fusion control unit is given at acquisition data, and by acquisition data transmission;
Switch unit determines main detection sensor mark, sends identified main detection sensor mark to data fusion Control unit;Main detection sensor mark is used for the main detection sensor of unique identification, and main detection sensor is at least two detections In sensor under current weather environment the highest detection sensor of environment sensing accuracy;
Data fusion control unit obtains the acquisition data and main detection sensor mark of at least two detection sensors, And determine that having the detection sensor of main detection sensor mark is main detection sensor, by the acquisition data of main detection sensor It is sent to processor;
Processor generates avoidance instruction based on the acquisition data of main detection sensor obtained, and avoidance instruction is sent to Flight control units, avoidance instruction include being used to indicate unmanned plane to instruct according to the flare maneuver that avoidance path is flown;
Flight control units according to flare maneuver instruction execution unmanned plane flare maneuver so that unmanned plane avoids obstacle Object.
Using technical solution provided in an embodiment of the present invention, processor can be generated based on the acquisition data of main detector and be kept away Barrier instruction, so that flight control units can be according to the flare maneuver of flare maneuver instruction execution unmanned plane, so that unmanned plane is kept away Barrier is opened, since main detection sensor is the environment sensing accuracy under current weather environment at least two detection sensors Highest detection sensor, therefore, main detection sensor is to the accuracy highest of obstacle detection, based on main detection sensor The flare maneuver acquired in the avoidance instruction that data generate instructs accuracy highest, to improve unmanned plane avoiding obstacles Success rate.
Optionally, switch unit obtains main detection sensor mark, comprising:
The selection instruction for obtaining user identifies the detection sensor mark in selection instruction as main detection sensor; Or,
Current weather environment is obtained, default weather environment table is searched with current weather environment, obtains current weather environment pair The detection sensor mark answered, identifies as main detection sensor, wherein default weather environment table for store weather environment with Corresponding relationship between detection sensor mark, the corresponding detection sensor of a weather environment are identified as under the weather environment The mark of the highest detection sensor of environment sensing accuracy.
Optionally, at least two detection sensors include: visual sensor and millimetre-wave radar sensor.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of unmanned plane obstacle avoidance system characterized by comprising unmanned plane, in-line power unit, processor, for detecting At least two detection sensors of barrier, the switch unit for determining main detection sensor mark, for transmitting main detection Flight control of the acquisition data of sensor to the data fusion control unit of processor and for executing unmanned plane during flying movement Unit processed, main detection sensor mark are used for the main detection sensor of unique identification, and the main detection sensor is described at least two In a detection sensor under current weather environment the highest detection sensor of environment sensing accuracy;
At least two detection sensor and the flight control units are installed in the unmanned plane, and the switching is single First, described at least two detection sensor is connect with the data fusion control unit, the in-line power unit, it is described fly Row control unit and the data fusion control unit are connected to the processor.
2. system according to claim 1, which is characterized in that the in-line power unit, the processor, the data Fused controlling unit and the switch unit are integrated in SoC system on chip, the SoC system on chip install in it is described nobody Machine.
3. system according to claim 2, which is characterized in that the system also includes external power supply unit, the processing Device and the in-line power unit are connect with the external power supply unit.
4. system according to claim 1 or 2, which is characterized in that at least two detection sensor includes: that vision passes Sensor and millimetre-wave radar sensor.
5. system according to claim 1, which is characterized in that at least two detection sensor includes: infrared sensing Device and ultrasonic sensor.
6. system according to claim 1, which is characterized in that the system also includes: for the acquisition to main detector Data carry out pretreated data pre-processing unit, the switch unit, at least two detection sensor with the number The connection of Data preprocess unit, the data pre-processing unit are connect with the data fusion control unit.
7. system according to claim 1, which is characterized in that the system also includes: for detecting current weather environment Meteorological detection unit;The meteorology detection unit is connect with the switch unit.
8. a kind of unmanned plane barrier-avoiding method, which is characterized in that be applied to system described in claim 1, which comprises
The obstacle information of each detection sensor sensorcraft local environment at least two detection sensor, shape Data fusion control unit is given at acquisition data, and by acquisition data transmission;
The switch unit determines main detection sensor mark, sends identified main detection sensor mark to the data Fused controlling unit;Main detection sensor mark is used for the main detection sensor of unique identification, and the main detection sensor is described In at least two detection sensors under current weather environment the highest detection sensor of environment sensing accuracy;
The data fusion control unit obtains the acquisition data of at least two detection sensor and the main detection passes Sensor mark, and determine that having the detection sensor of the main detection sensor mark is main detection sensor, by the main spy The acquisition data for surveying sensor are sent to the processor;
The processor generates avoidance instruction based on the acquisition data of main detection sensor obtained, and the avoidance is instructed and is sent out The flight control units are given, the avoidance instruction includes being used to indicate the flare maneuver that unmanned plane flies according to avoidance path Instruction;
The flight control units according to the flare maneuver instruction execution unmanned plane flare maneuver so that unmanned plane is avoided hindering Hinder object.
9. according to the method described in claim 8, it is characterized in that, the switch unit obtains main detection sensor mark, packet It includes:
The selection instruction for obtaining user identifies the detection sensor mark in the selection instruction as main detection sensor; Or,
Current weather environment is obtained, default weather environment table is searched with the current weather environment, obtains current weather environment pair The detection sensor mark answered, identifies, wherein the default weather environment table is for storing meteorological ring as main detection sensor Corresponding relationship between border and detection sensor mark, the corresponding detection sensor of a weather environment are identified as in the meteorology ring The mark of the highest detection sensor of environment sensing accuracy under border.
10. according to the method described in claim 8, it is characterized in that, at least two detection sensor includes: visual sensing Device and millimetre-wave radar sensor.
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CN109696920A (en) * 2018-12-13 2019-04-30 广州极飞科技有限公司 Operating equipment and its control method and device
CN110147109A (en) * 2019-05-21 2019-08-20 重庆长安汽车股份有限公司 A kind of archetype development system of automated driving system
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