CN109032182A - A kind of unmanned plane obstacle avoidance system and control method based on millimetre-wave radar - Google Patents
A kind of unmanned plane obstacle avoidance system and control method based on millimetre-wave radar Download PDFInfo
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- CN109032182A CN109032182A CN201810949785.5A CN201810949785A CN109032182A CN 109032182 A CN109032182 A CN 109032182A CN 201810949785 A CN201810949785 A CN 201810949785A CN 109032182 A CN109032182 A CN 109032182A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Present invention relates particularly to a kind of unmanned plane obstacle avoidance system and control method based on millimetre-wave radar, belongs to unmanned plane obstacle avoidance system field.Obstacle avoidance system includes: unmanned plane main body, obstacle avoidance module, millimeter wave radar module；The unmanned plane main body is the multi-rotor unmanned aerial vehicle with independent flight function；The control system of the unmanned plane main body includes master controller, mainboard, flight controller and power supply；Control method includes: 1) to obtain the radar signal of corresponding ambient enviroment；2) radar signal is sent to composition program；3) topographic map for embodying environmental characteristic near unmanned plane is drawn out；4) current location to target position is obtained, the minimal path after avoiding all barriers；5) action request of unmanned plane is obtained；6) corresponding control instruction is obtained, control unmanned plane makes corresponding actions.
Description
Technical field
The invention belongs to unmanned plane obstacle avoidance system fields, and in particular to a kind of unmanned plane avoidance system based on millimetre-wave radar
System and control method.
Background technique
Current unmanned plane avoidance scheme is mostly used based on optical barrier-avoiding method, its shortcoming is that, it is influenced by light,
Avoidance effect decline is obvious under dark, strong light or dust environment.Meanwhile optical device distance of reaction is close, purchase cost is high,
Algorithm writing difficulty is larger.
Summary of the invention
For the above technical problems, the present invention provides a kind of unmanned plane obstacle avoidance system based on millimetre-wave radar,
It include: unmanned plane main body, obstacle avoidance module, millimeter wave radar module；
The unmanned plane main body is the multi-rotor unmanned aerial vehicle with independent flight function；
The control system of the unmanned plane main body includes master controller, mainboard, flight controller and power supply；
The power supply is connect and is powered with master controller, flight controller, obstacle avoidance module respectively by mainboard；
The master controller is connect by mainboard with flight controller, the instruction received for executing serial ports, control flight
Device posture and movement；
The flight controller is used to control the flare maneuver of unmanned plane；
The millimeter wave radar module is connect with obstacle avoidance module；
The obstacle avoidance module is connect with master controller；
The obstacle avoidance module uses Raspberry Pi 3, loads linux system Debian release as operation system
System；
Indigo version ROS robot operating system is loaded in the operating system；
Operation has flight control program, millimetre-wave radar program, Navigator, composition journey on the robot operating system
Sequence, path planning program；
The millimetre-wave radar program is used to control the working condition of millimeter wave radar module, and the radar letter fed back
Number it is sent to composition program；
The composition program is used to draw out the topographic map for embodying environmental characteristic near unmanned plane according to radar signal；
The path planning program is used to obtain current location to target position according to the environmental characteristic in the topographic map
Minimal path；
The Navigator makes unmanned plane according to dynamic for obtaining the action request of unmanned plane according to the minimal path
It is required after being flown, flight path can meet the minimal path；
The flight control program is used to obtain corresponding control instruction, and pass through master according to the action request
Control instruction is sent to flight controller by controller and mainboard, so that it is corresponding dynamic to make flight controller control unmanned plane
Make.
The master controller uses 2560 single-chip microcontroller of Arduino Mega, runs PID program.
The flight controller is that APM2.8 open source flies control.
The millimeter wave radar module includes several millimetre-wave radars, is separately mounted in the unmanned plane main body；Often
The ranging direction of a millimetre-wave radar all in the horizontal plane, and is uniformly distributed around；
The millimetre-wave radar totally 4.
USB connection is used between the obstacle avoidance module and master controller.
The unmanned plane obstacle avoidance system based on millimetre-wave radar, further includes base station, for running ROS robot manipulation system
The tool software Rviz of system；Topographic map and Navigator of the Rviz for observing the output of composition program indicate most short
Route.
The base station uses PC or mobile phone.
A kind of control method of the unmanned plane obstacle avoidance system based on millimetre-wave radar, using above-mentioned based on millimetre-wave radar
Unmanned plane obstacle avoidance system, comprising the following steps:
Step 1, during unmanned plane during flying, the millimetre-wave radar process control millimeter wave radar module to respective side
Position is scanned ranging detection, to obtain radar signal of the corresponding ambient enviroment in all directions；
Step 2, the radar signal that millimeter wave radar module is fed back is sent to composition program by the millimetre-wave radar program；
Step 3, the composition program draws out the topographic map for embodying environmental characteristic near unmanned plane according to radar signal；
Step 4, the path planning program obtains current location to target position according to the environmental characteristic in the topographic map
It sets, the minimal path after avoiding all barriers；
Step 5, the Navigator obtains the action request of unmanned plane according to the minimal path；The action request,
That is a series of flare maneuvers that will carry out of unmanned plane, under the control of these flare maneuvers, unmanned plane during flying route will meet
The minimal path；
Step 6, the flight control program obtains corresponding control instruction according to the action request, and passes through
Control instruction is sent to flight controller by master controller and mainboard, so that it is corresponding dynamic to make flight controller control unmanned plane
Make.
Beneficial effects of the present invention:
The present invention proposes a kind of unmanned plane obstacle avoidance system and control method based on millimetre-wave radar.The ROS machine of use
People's operating system is a distributed system, as long as all ROS section pa point is connected on the same Core, no matter function can be wrapped
Which (Raspberry Pi or PC) is operated on hardware to be no difference for system.It needs to run calculation amount so very big
Function packet when, can choose to put this part and run on a pc platform.
Millimetre-wave radar ranging is scanned ranging detection to respective orientation, so that the profile diagram of ambient enviroment is obtained, into
The building of row topographic map and path planning, avoiding barrier.Testing the speed for millimetre-wave radar is fast, and precision is high, and detecting distance is remote, can be real
Existing all weather operations；It is small in size using fixedly mounted；It is at low cost.
The present invention has rational design, it is easy to accomplish, there is good practical value.
Detailed description of the invention
Fig. 1 is the structural representation of the unmanned plane obstacle avoidance system based on millimetre-wave radar described in the specific embodiment of the invention
Figure；
Fig. 2 is the control method of the unmanned plane obstacle avoidance system based on millimetre-wave radar described in the specific embodiment of the invention
Flow chart.
In figure: 1, unmanned plane main body；1-1, master controller；1-2, mainboard；1-3, flight controller；1-4, power supply；2, it keeps away
Barrier module；3, millimeter wave radar module.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and embodiment,
Further description is made to the present invention.It should be appreciated that described herein, specific examples are only used to explain the present invention, and
It is not used in the restriction present invention.
The present invention proposes a kind of unmanned plane obstacle avoidance system based on millimetre-wave radar, as shown in Figure 1, including unmanned plane main body
1, obstacle avoidance module 2 and millimeter wave radar module 3；
The unmanned plane main body 1 is the multi-rotor unmanned aerial vehicle with independent flight function；
The control system of the unmanned plane main body 1 includes master controller 1-1, mainboard 1-2, flight controller 1-3 and power supply
1-4；
The power supply 1-4 is connect simultaneously with master controller 1-1, flight controller 1-3, obstacle avoidance module 2 respectively by mainboard 1-2
Power supply；
The master controller 1-1 is connect by mainboard 1-2 with flight controller 1-3, the instruction received for executing serial ports,
Control attitude of flight vehicle and movement；
In the present embodiment, the master controller 1-1 uses 2560 single-chip microcontroller of Arduino Mega, runs PID program；
The flight controller 1-3 is used to control the flare maneuver of unmanned plane；In the present embodiment, the flight controller 1-
3 fly control for APM2.8 open source；
The millimeter wave radar module 3 is connect with obstacle avoidance module 2；The millimeter wave radar module 3 includes several millimeters
Wave radar is separately mounted in the unmanned plane main body；The ranging direction of each millimetre-wave radar in the horizontal plane, and to four
Week is uniformly distributed；
In the present embodiment, the millimetre-wave radar totally 4；
The obstacle avoidance module 2 is connect with master controller 1-1；
USB connection is used between the obstacle avoidance module 2 and master controller 1-1；
The obstacle avoidance module 2 uses Raspberry Pi 3, loads linux system Debian release as operation system
System；
Indigo version ROS robot operating system is loaded in the operating system；
Operation has flight control program, millimetre-wave radar program, Navigator, composition journey on the robot operating system
Sequence and path planning program；
The millimetre-wave radar program is used to control the working condition of millimeter wave radar module 3, and the radar fed back
Signal is sent to composition program；
The composition program draws out the topographic map for embodying environmental characteristic near unmanned plane according to radar signal；
The path planning program obtains current location to target position most according to the environmental characteristic in the topographic map
Short-circuit line；
The Navigator obtains the action request of unmanned plane, unmanned plane according to movement according to the minimal path
It asks after being flown, flight path can meet the minimal path；
The flight control program obtains corresponding control instruction according to the action request, and passes through main control
Control instruction is sent to flight controller 1-3 by device 1-1 and mainboard 1-2, so that flight controller 1-3 control unmanned plane be made to make
Corresponding actions；
The unmanned plane obstacle avoidance system based on millimetre-wave radar, further includes base station, for running ROS robot manipulation system
The tool software Rviz of system；
The Rviz is used to observe the topographic map of composition program output and the minimal path of Navigator instruction；
The base station uses PC or mobile phone；
The present invention proposes a kind of control method of unmanned plane obstacle avoidance system based on millimetre-wave radar, using above-mentioned based on milli
The unmanned plane obstacle avoidance system of metre wave radar, as shown in Figure 2, comprising the following steps:
Step 1, during unmanned plane during flying, the millimetre-wave radar process control millimeter wave radar module 3 to respective
Orientation is scanned ranging detection, to obtain radar signal of the corresponding ambient enviroment in all directions；
Step 2, the radar signal that millimeter wave radar module 3 is fed back is sent to composition journey by the millimetre-wave radar program
Sequence；
Step 3, the composition program draws out the topographic map for embodying environmental characteristic near unmanned plane according to radar signal；
Step 4, the path planning program obtains current location to target position according to the environmental characteristic in the topographic map
It sets, the minimal path after avoiding all barriers；
Step 5, the Navigator obtains the action request of unmanned plane according to the minimal path；The action request,
That is a series of flare maneuvers that will carry out of unmanned plane, under the control of these flare maneuvers, unmanned plane during flying route will meet
The minimal path；
Step 6, the flight control program obtains corresponding control instruction according to the action request, and passes through
Control instruction is sent to flight controller 1-3 by master controller 1-1 and mainboard 1-2, so that flight controller 1-3 be made to control nobody
Machine makes corresponding actions.
Claims (9)
1. a kind of unmanned plane obstacle avoidance system based on millimetre-wave radar characterized by comprising unmanned plane main body, obstacle avoidance module,
Millimeter wave radar module；
The unmanned plane main body is the multi-rotor unmanned aerial vehicle with independent flight function；
The control system of the unmanned plane main body includes master controller, mainboard, flight controller and power supply；
The power supply is connect and is powered with master controller, flight controller, obstacle avoidance module respectively by mainboard；
The master controller is connect by mainboard with flight controller, the instruction received for executing serial ports, controls aircraft appearance
State and movement；
The flight controller is used to control the flare maneuver of unmanned plane；
The millimeter wave radar module is connect with obstacle avoidance module；
The obstacle avoidance module is connect with master controller；
The obstacle avoidance module uses Raspberry Pi 3, loads linux system Debian release as operating system；
Indigo version ROS robot operating system is loaded in the operating system；
On the robot operating system operation have flight control program, millimetre-wave radar program, Navigator, composition program,
Path planning program；
The radar signal that the millimetre-wave radar program is used to control the working condition of millimeter wave radar module, and is fed back passes
It send to composition program；
The composition program is used to draw out the topographic map for embodying environmental characteristic near unmanned plane according to radar signal；
The path planning program is used to obtain current location to target position most according to the environmental characteristic in the topographic map
Short-circuit line；
The Navigator is used to obtain the action request of unmanned plane according to the minimal path, unmanned plane according to movement
It asks after being flown, flight path can meet the minimal path；
The flight control program is used to obtain corresponding control instruction, and pass through main control according to the action request
Control instruction is sent to flight controller by device and mainboard, so that flight controller control unmanned plane be made to make corresponding actions.
2. the unmanned plane obstacle avoidance system according to claim 1 based on millimetre-wave radar, which is characterized in that the main control
Device uses 2560 single-chip microcontroller of Arduino Mega, runs PID program.
3. the unmanned plane obstacle avoidance system according to claim 1 based on millimetre-wave radar, which is characterized in that the flight control
Device processed is that APM2.8 open source flies control.
4. the unmanned plane obstacle avoidance system according to claim 1 based on millimetre-wave radar, which is characterized in that the millimeter wave
Radar module includes several millimetre-wave radars, is separately mounted in the unmanned plane main body；The ranging of each millimetre-wave radar
Direction all in the horizontal plane, and is uniformly distributed around.
5. the unmanned plane obstacle avoidance system according to claim 1 based on millimetre-wave radar, which is characterized in that the millimeter wave
Radar totally 4.
6. the unmanned plane obstacle avoidance system according to claim 1 based on millimetre-wave radar, which is characterized in that the avoidance mould
USB connection is used between block and master controller.
7. the unmanned plane obstacle avoidance system according to claim 1 based on millimetre-wave radar, which is characterized in that described based on milli
The unmanned plane obstacle avoidance system of metre wave radar, further includes base station, for running the tool software Rviz of ROS robot operating system；
The Rviz is used to observe the topographic map of composition program output and the minimal path of Navigator instruction.
8. the unmanned plane obstacle avoidance system according to claim 7 based on millimetre-wave radar, which is characterized in that adopt the base station
With PC or mobile phone.
9. a kind of control method of the unmanned plane obstacle avoidance system based on millimetre-wave radar, which is characterized in that use claim 1 institute
The unmanned plane obstacle avoidance system based on millimetre-wave radar stated, comprising the following steps:
Step 1, during unmanned plane during flying, the millimetre-wave radar process control millimeter wave radar module to respective orientation into
Row scanning ranging detection, to obtain radar signal of the corresponding ambient enviroment in all directions；
Step 2, the radar signal that millimeter wave radar module is fed back is sent to composition program by the millimetre-wave radar program；
Step 3, the composition program draws out the topographic map for embodying environmental characteristic near unmanned plane according to radar signal；
Step 4, the path planning program obtains current location to target position according to the environmental characteristic in the topographic map,
Minimal path after avoiding all barriers；
Step 5, the Navigator obtains the action request of unmanned plane according to the minimal path；The action request, i.e., without
A series of man-machine flare maneuvers that will be carried out, under the control of these flare maneuvers, unmanned plane during flying route will meet described
Minimal path；
Step 6, the flight control program obtains corresponding control instruction according to the action request, and passes through master control
Control instruction is sent to flight controller by device and mainboard processed, so that flight controller control unmanned plane be made to make corresponding actions.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021087737A1 (en) * | 2019-11-05 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Radar mounting state detection method and device, movable platform, and storage medium |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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| CN206709853U (en) * | 2017-04-06 | 2017-12-05 | 南京航空航天大学 | Drawing system is synchronously positioned and builds in a kind of multi-rotor unmanned aerial vehicle room |
| CN107656545A (en) * | 2017-09-12 | 2018-02-02 | 武汉大学 | A kind of automatic obstacle avoiding searched and rescued towards unmanned plane field and air navigation aid |
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2018
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Patent Citations (4)
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| CN105892489A (en) * | 2016-05-24 | 2016-08-24 | 国网山东省电力公司电力科学研究院 | Multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and control method |
| CN106950978A (en) * | 2017-03-28 | 2017-07-14 | 西安电子科技大学 | Fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixed-wing unmanned plane |
| CN206709853U (en) * | 2017-04-06 | 2017-12-05 | 南京航空航天大学 | Drawing system is synchronously positioned and builds in a kind of multi-rotor unmanned aerial vehicle room |
| CN107656545A (en) * | 2017-09-12 | 2018-02-02 | 武汉大学 | A kind of automatic obstacle avoiding searched and rescued towards unmanned plane field and air navigation aid |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021087737A1 (en) * | 2019-11-05 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Radar mounting state detection method and device, movable platform, and storage medium |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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