CN109032182A - A UAV obstacle avoidance system and control method based on millimeter wave radar - Google Patents
A UAV obstacle avoidance system and control method based on millimeter wave radar Download PDFInfo
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Abstract
本发明具体涉及一种基于毫米波雷达的无人机避障系统及控制方法,属于无人机避障系统领域。避障系统包括:无人机主体、避障模块、毫米波雷达模块;所述无人机主体为具有独立飞行功能的多旋翼无人机;所述无人机主体的控制系统包括主控制器、主板、飞行控制器和电源;控制方法包括:1)获得对应周围环境的雷达信号;2)雷达信号传送至构图程序;3)绘制出体现无人机附近环境特征的地形图;4)得出当前位置至目标位置,避开所有障碍物后的最短路线;5)得出无人机的动作要求;6)得出与其对应的控制指令,控制无人机做出相应动作。
The invention specifically relates to a drone obstacle avoidance system and a control method based on millimeter wave radar, belonging to the field of drone obstacle avoidance systems. The obstacle avoidance system includes: a drone main body, an obstacle avoidance module, and a millimeter-wave radar module; the drone main body is a multi-rotor drone with independent flight functions; the control system of the drone main body includes a main controller , a main board, a flight controller and a power supply; the control method includes: 1) obtaining a radar signal corresponding to the surrounding environment; 2) transmitting the radar signal to a composition program; 3) drawing a topographic map reflecting the surrounding environment characteristics of the drone; 4) obtaining Get the shortest route from the current position to the target position and avoid all obstacles; 5) Get the action requirements of the UAV; 6) Get the corresponding control instructions, and control the UAV to make corresponding actions.
Description
技术领域technical field
本发明属于无人机避障系统领域,具体涉及一种基于毫米波雷达的无人机避障系统及控制方法。The invention belongs to the field of obstacle avoidance systems for unmanned aerial vehicles, and in particular relates to an obstacle avoidance system and a control method for unmanned aerial vehicles based on millimeter wave radar.
背景技术Background technique
目前的无人机避障方案多采用基于光学的避障方法,其缺点在于,受光线影响大,在黑暗、强光或者尘埃环境下避障效果下降明显。同时,光学器件感应距离近,购买成本高,算法编写难度较大。The current obstacle avoidance solutions for UAVs mostly use optical-based obstacle avoidance methods. The disadvantage is that they are greatly affected by light, and the obstacle avoidance effect drops significantly in dark, strong light or dusty environments. At the same time, the sensing distance of optical devices is short, the purchase cost is high, and the algorithm writing is difficult.
发明内容Contents of the invention
针对上述存在的技术问题,本发明提供一种基于毫米波雷达的无人机避障系统,包括:无人机主体、避障模块、毫米波雷达模块;In view of the above-mentioned technical problems, the present invention provides a UAV obstacle avoidance system based on millimeter wave radar, including: UAV body, obstacle avoidance module, and millimeter wave radar module;
所述无人机主体为具有独立飞行功能的多旋翼无人机;The main body of the drone is a multi-rotor drone with independent flight functions;
所述无人机主体的控制系统包括主控制器、主板、飞行控制器和电源;The control system of the main body of the drone includes a main controller, a main board, a flight controller and a power supply;
所述电源通过主板分别与主控制器、飞行控制器、避障模块连接并供电;The power supply is respectively connected with the main controller, the flight controller, and the obstacle avoidance module through the main board and supplies power;
所述主控制器通过主板与飞行控制器连接,用于执行串口收到的指令,控制飞行器姿态和移动;The main controller is connected with the flight controller through the main board, and is used to execute the instructions received by the serial port, and control the attitude and movement of the aircraft;
所述飞行控制器用于控制无人机的飞行动作;The flight controller is used to control the flight action of the drone;
所述毫米波雷达模块与避障模块连接;The millimeter wave radar module is connected with the obstacle avoidance module;
所述避障模块与主控制器连接;The obstacle avoidance module is connected with the main controller;
所述避障模块采用Raspberry Pi 3,其装载Linux系统Debian发行版作为操作系统;The obstacle avoidance module adopts Raspberry Pi 3, which loads the Linux system Debian distribution as the operating system;
所述操作系统上装载Indigo版本ROS机器人操作系统;Indigo version ROS robot operating system is loaded on the operating system;
所述机器人操作系统上运行有飞行控制程序、毫米波雷达程序、导航程序、构图程序、路径规划程序;The robot operating system runs a flight control program, a millimeter-wave radar program, a navigation program, a composition program, and a path planning program;
所述毫米波雷达程序用于控制毫米波雷达模块的工作状态,并将其反馈的雷达信号传送至构图程序;The millimeter-wave radar program is used to control the working state of the millimeter-wave radar module, and transmit the radar signal fed back to the composition program;
所述构图程序用于根据雷达信号,绘制出体现无人机附近环境特征的地形图;The composition program is used to draw a topographic map reflecting the environmental characteristics near the drone according to the radar signal;
所述路径规划程序用于根据所述地形图中的环境特征,得出当前位置至目标位置的最短路线;The path planning program is used to obtain the shortest route from the current position to the target position according to the environmental characteristics in the topographic map;
所述导航程序用于根据所述最短路线,得出无人机的动作要求,使无人机按照动作要求进行飞行后,其飞行路线能够符合所述最短路线;The navigation program is used to obtain the action requirements of the UAV according to the shortest route, so that after the UAV flies according to the action requirements, its flight route can conform to the shortest route;
所述飞行控制程序用于根据所述动作要求,得出与其对应的控制指令,并通过主控制器和主板将控制指令发送至飞行控制器,从而使飞行控制器控制无人机做出相应动作。The flight control program is used to obtain corresponding control instructions according to the action requirements, and send the control instructions to the flight controller through the main controller and the main board, so that the flight controller controls the drone to make corresponding actions .
所述主控制器采用Arduino Mega 2560单片机,运行PID程序。The main controller adopts an Arduino Mega 2560 single-chip microcomputer to run a PID program.
所述飞行控制器为APM2.8开源飞控。The flight controller is an APM2.8 open source flight controller.
所述毫米波雷达模块包含若干个毫米波雷达,分别安装在所述无人机主体上;每个毫米波雷达的测距方向都在水平面上,并向四周均匀分布;The millimeter-wave radar module includes several millimeter-wave radars, which are respectively installed on the main body of the drone; the ranging direction of each millimeter-wave radar is on the horizontal plane, and is evenly distributed around;
所述毫米波雷达共4个。There are four millimeter-wave radars in total.
所述避障模块与主控制器之间采用USB连接。The obstacle avoidance module and the main controller are connected by USB.
所述基于毫米波雷达的无人机避障系统,还包括基站,用于运行ROS机器人操作系统的工具软件Rviz;所述Rviz用于观察构图程序输出的地形图,以及导航程序指示的最短路线。The UAV obstacle avoidance system based on the millimeter wave radar also includes a base station, which is used to run the tool software Rviz of the ROS robot operating system; the Rviz is used to observe the topographic map output by the composition program, and the shortest route indicated by the navigation program .
所述基站采用PC或手机。The base station uses a PC or a mobile phone.
一种基于毫米波雷达的无人机避障系统的控制方法,采用上述的基于毫米波雷达的无人机避障系统,包括以下步骤:A control method for an unmanned aerial vehicle obstacle avoidance system based on millimeter wave radar, adopting the above-mentioned unmanned aerial vehicle obstacle avoidance system based on millimeter wave radar, comprising the following steps:
步骤1,无人机飞行过程中,所述毫米波雷达程序控制毫米波雷达模块的对各自方位进行扫描测距检测,从而获得对应周围环境在各方向上的雷达信号;Step 1, during the flight of the UAV, the millimeter-wave radar program controls the millimeter-wave radar module to perform scanning and ranging detection on their respective azimuths, so as to obtain radar signals in various directions corresponding to the surrounding environment;
步骤2,所述毫米波雷达程序将毫米波雷达模块反馈的雷达信号传送至构图程序;Step 2, the millimeter wave radar program transmits the radar signal fed back by the millimeter wave radar module to the composition program;
步骤3,所述构图程序根据雷达信号,绘制出体现无人机附近环境特征的地形图;Step 3, the composition program draws a topographic map reflecting the environmental characteristics near the drone according to the radar signal;
步骤4,所述路径规划程序根据所述地形图中的环境特征,得出当前位置至目标位置,避开所有障碍物后的最短路线;Step 4, the path planning program obtains the shortest route from the current position to the target position and avoids all obstacles according to the environmental characteristics in the topographic map;
步骤5,所述导航程序根据所述最短路线,得出无人机的动作要求;所述动作要求,即无人机将要进行的一系列飞行动作,在这些飞行动作的控制下,无人机飞行路线将符合所述最短路线;Step 5, the navigation program obtains the action requirements of the UAV according to the shortest route; the action requirements are a series of flight actions to be performed by the UAV, and under the control of these flight actions, the UAV the flight route will be in accordance with said shortest route;
步骤6,所述飞行控制程序根据所述动作要求,得出与其对应的控制指令,并通过主控制器和主板将控制指令发送至飞行控制器,从而使飞行控制器控制无人机做出相应动作。Step 6, the flight control program obtains corresponding control instructions according to the action requirements, and sends the control instructions to the flight controller through the main controller and the main board, so that the flight controller controls the UAV to make corresponding actions. action.
本发明的有益效果:Beneficial effects of the present invention:
本发明提出一种基于毫米波雷达的无人机避障系统及控制方法。采用的ROS机器人操作系统是一个分布式的系统,只要所有ROS节pa点连接在同一个Core上,无论功能能包运行在哪个硬件上(Raspberry Pi或PC)对于系统来说并无差别。这样需要运行计算量很大的功能包时,可以选择将此部分放在PC平台上运行。The present invention proposes an unmanned aerial vehicle obstacle avoidance system and control method based on millimeter wave radar. The ROS robot operating system adopted is a distributed system. As long as all ROS nodes are connected to the same Core, no matter which hardware (Raspberry Pi or PC) the function package runs on, there is no difference for the system. In this way, when it is necessary to run a function package with a large amount of calculation, you can choose to run this part on the PC platform.
毫米波雷达测距对各自方位进行扫描测距检测,从而获得周围环境的轮廓图,进行地形图构建和路径规划,规避障碍物。毫米波雷达的测速快,精准度高,检测距离远,可实现全天候工作;采用固定式安装,体积小;成本低。The millimeter-wave radar ranging scans and detects the respective azimuths to obtain the contour map of the surrounding environment, construct terrain maps and plan paths, and avoid obstacles. Millimeter-wave radar has fast measurement speed, high accuracy, long detection distance, and can work around the clock; it adopts fixed installation, small size, and low cost.
本发明设计合理,易于实现,具有很好的实用价值。The invention is reasonable in design, easy to realize and has good practical value.
附图说明Description of drawings
图1为本发明具体实施方式中所述基于毫米波雷达的无人机避障系统的结构示意图;Fig. 1 is the structural representation of the UAV obstacle avoidance system based on the millimeter-wave radar described in the specific embodiment of the present invention;
图2为本发明具体实施方式中所述基于毫米波雷达的无人机避障系统的控制方法的流程图。Fig. 2 is a flow chart of the control method of the UAV obstacle avoidance system based on the millimeter wave radar described in the specific embodiment of the present invention.
图中:1、无人机主体;1-1、主控制器;1-2、主板;1-3、飞行控制器;1-4、电源;2、避障模块;3、毫米波雷达模块。In the figure: 1. UAV main body; 1-1, main controller; 1-2, main board; 1-3, flight controller; 1-4, power supply; 2, obstacle avoidance module; 3, millimeter wave radar module .
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施实例,对本发明做出进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本发明,并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
本发明提出一种基于毫米波雷达的无人机避障系统,如图1所示,包括无人机主体1、避障模块2和毫米波雷达模块3;The present invention proposes a UAV obstacle avoidance system based on millimeter wave radar, as shown in Figure 1, including a UAV main body 1, an obstacle avoidance module 2 and a millimeter wave radar module 3;
所述无人机主体1为具有独立飞行功能的多旋翼无人机;The drone main body 1 is a multi-rotor drone with independent flight function;
所述无人机主体1的控制系统包括主控制器1-1、主板1-2、飞行控制器1-3和电源1-4;The control system of the drone main body 1 includes a main controller 1-1, a main board 1-2, a flight controller 1-3 and a power supply 1-4;
所述电源1-4通过主板1-2分别与主控制器1-1、飞行控制器1-3、避障模块2连接并供电;The power supply 1-4 is respectively connected with the main controller 1-1, the flight controller 1-3, and the obstacle avoidance module 2 through the main board 1-2 and supplies power;
所述主控制器1-1通过主板1-2与飞行控制器1-3连接,用于执行串口收到的指令,控制飞行器姿态和移动;The main controller 1-1 is connected with the flight controller 1-3 through the main board 1-2, and is used to execute the instructions received by the serial port, and control the attitude and movement of the aircraft;
本实施例中,所述主控制器1-1采用Arduino Mega 2560单片机,运行PID程序;In the present embodiment, described master controller 1-1 adopts Arduino Mega 2560 single-chip microcomputer, runs PID program;
所述飞行控制器1-3用于控制无人机的飞行动作;本实施例中,所述飞行控制器1-3为APM2.8开源飞控;The flight controller 1-3 is used to control the flight action of the unmanned aerial vehicle; in this embodiment, the flight controller 1-3 is an APM2.8 open source flight control;
所述毫米波雷达模块3与避障模块2连接;所述毫米波雷达模块3包含若干个毫米波雷达,分别安装在所述无人机主体上;每个毫米波雷达的测距方向都在水平面上,并向四周均匀分布;The millimeter-wave radar module 3 is connected with the obstacle avoidance module 2; the millimeter-wave radar module 3 includes several millimeter-wave radars, which are respectively installed on the main body of the drone; the ranging direction of each millimeter-wave radar is in On the horizontal plane, and evenly distributed around;
本实施例中,所述毫米波雷达共4个;In this embodiment, there are 4 millimeter-wave radars;
所述避障模块2与主控制器1-1连接;The obstacle avoidance module 2 is connected with the main controller 1-1;
所述避障模块2与主控制器1-1之间采用USB连接;Adopt USB connection between described obstacle avoidance module 2 and main controller 1-1;
所述避障模块2采用Raspberry Pi 3,其装载Linux系统Debian发行版作为操作系统;Described obstacle avoidance module 2 adopts Raspberry Pi 3, and it loads Linux system Debian distribution version as operating system;
所述操作系统上装载Indigo版本ROS机器人操作系统;Indigo version ROS robot operating system is loaded on the operating system;
所述机器人操作系统上运行有飞行控制程序、毫米波雷达程序、导航程序、构图程序和路径规划程序;The robot operating system runs a flight control program, a millimeter wave radar program, a navigation program, a composition program and a path planning program;
所述毫米波雷达程序用于控制毫米波雷达模块3的工作状态,并将其反馈的雷达信号传送至构图程序;The millimeter-wave radar program is used to control the working state of the millimeter-wave radar module 3, and the radar signal fed back by it is sent to the composition program;
所述构图程序根据雷达信号,绘制出体现无人机附近环境特征的地形图;According to the radar signal, the composition program draws a topographic map reflecting the environmental characteristics near the drone;
所述路径规划程序根据所述地形图中的环境特征,得出当前位置至目标位置的最短路线;The path planning program obtains the shortest route from the current position to the target position according to the environmental characteristics in the topographic map;
所述导航程序根据所述最短路线,得出无人机的动作要求,使无人机按照动作要求进行飞行后,其飞行路线能够符合所述最短路线;The navigation program obtains the action requirements of the UAV according to the shortest route, so that after the UAV flies according to the action requirements, its flight route can conform to the shortest route;
所述飞行控制程序根据所述动作要求,得出与其对应的控制指令,并通过主控制器1-1和主板1-2将控制指令发送至飞行控制器1-3,从而使飞行控制器1-3控制无人机做出相应动作;The flight control program obtains corresponding control instructions according to the action requirements, and sends the control instructions to the flight controller 1-3 through the main controller 1-1 and the main board 1-2, so that the flight controller 1 -3 Control the drone to make corresponding actions;
所述基于毫米波雷达的无人机避障系统,还包括基站,用于运行ROS机器人操作系统的工具软件Rviz;The described UAV obstacle avoidance system based on the millimeter wave radar also includes a base station, which is used to run the tool software Rviz of the ROS robot operating system;
所述Rviz用于观察构图程序输出的地形图,以及导航程序指示的最短路线;The Rviz is used to observe the topographic map output by the composition program, and the shortest route indicated by the navigation program;
所述基站采用PC或手机;The base station adopts PC or mobile phone;
本发明提出一种基于毫米波雷达的无人机避障系统的控制方法,采用上述基于毫米波雷达的无人机避障系统,如图2所示,包括以下步骤:The present invention proposes a control method for an unmanned aerial vehicle obstacle avoidance system based on a millimeter-wave radar, adopting the above-mentioned obstacle avoidance system for an unmanned aerial vehicle based on a millimeter-wave radar, as shown in Figure 2, comprising the following steps:
步骤1,无人机飞行过程中,所述毫米波雷达程序控制毫米波雷达模块3的对各自方位进行扫描测距检测,从而获得对应周围环境在各方向上的雷达信号;Step 1, during the flight of the UAV, the millimeter-wave radar program controls the millimeter-wave radar module 3 to perform scanning and ranging detection on their respective azimuths, so as to obtain radar signals in various directions corresponding to the surrounding environment;
步骤2,所述毫米波雷达程序将毫米波雷达模块3反馈的雷达信号传送至构图程序;Step 2, the millimeter wave radar program transmits the radar signal fed back by the millimeter wave radar module 3 to the composition program;
步骤3,所述构图程序根据雷达信号,绘制出体现无人机附近环境特征的地形图;Step 3, the composition program draws a topographic map reflecting the environmental characteristics near the drone according to the radar signal;
步骤4,所述路径规划程序根据所述地形图中的环境特征,得出当前位置至目标位置,避开所有障碍物后的最短路线;Step 4, the path planning program obtains the shortest route from the current position to the target position and avoids all obstacles according to the environmental characteristics in the topographic map;
步骤5,所述导航程序根据所述最短路线,得出无人机的动作要求;所述动作要求,即无人机将要进行的一系列飞行动作,在这些飞行动作的控制下,无人机飞行路线将符合所述最短路线;Step 5, the navigation program obtains the action requirements of the UAV according to the shortest route; the action requirements are a series of flight actions to be performed by the UAV, and under the control of these flight actions, the UAV the flight route will be in accordance with said shortest route;
步骤6,所述飞行控制程序根据所述动作要求,得出与其对应的控制指令,并通过主控制器1-1和主板1-2将控制指令发送至飞行控制器1-3,从而使飞行控制器1-3控制无人机做出相应动作。Step 6, the flight control program obtains the corresponding control instructions according to the action requirements, and sends the control instructions to the flight controller 1-3 through the main controller 1-1 and the main board 1-2, so that the flight The controllers 1-3 control the UAV to make corresponding actions.
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