CN109240326A - A kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane - Google Patents
A kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane Download PDFInfo
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- CN109240326A CN109240326A CN201810979026.3A CN201810979026A CN109240326A CN 109240326 A CN109240326 A CN 109240326A CN 201810979026 A CN201810979026 A CN 201810979026A CN 109240326 A CN109240326 A CN 109240326A
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- 230000004888 barrier function Effects 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
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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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Abstract
The present invention discloses a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane, including obstacle avoidance apparatus, the obstacle avoidance apparatus includes device noumenon, controller, data transmission module, data processing module, laser ranging module, ultrasonic distance measuring module, laser imaging module and image comparison module, pass through setting laser ranging and ultrasonic distance measurement mixed ranging, and measurement data can combine to the detection of obstacles for more rapidly and accurately completing heading, laser imaging module and image comparison module are arranged simultaneously to carry out imaging come the gap to barrier and compare with unmanned plane itself, to which can judgement pass through gap, and then select suitable flight path, the present invention can complete to carry out effective avoidance flight in the intensive environment in more complex interior or other barriers.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane.
Background technique
Unmanned plane works under environment complex indoors, and single laser ranging module is due to emitting laser beam angle
Small, the accuracy for detecting a certain angle direction is high, but investigative range is narrow, it may appear that obstacle is not detected in laser ranging
Object, but the case where barrier touches unmanned plane edge.It can be detected using the biggish ultrasonic wave module of beam angle range a certain
The obstacle distance of general orientation, but can not the profile to barrier accurately described；By Laser Measuring evidence and ultrasound
It can combine to the detection of obstacles for more rapidly and accurately completing heading according to data, find channel and fly over barrier,
Especially indoors or the intensive place of barrier, find between barrier can by gap it is very necessary.
Chinese Patent Application No.: 201810128813.7 disclose a kind of unmanned plane automatic obstacle-avoiding method and apparatus, nobody
Machine automatic obstacle-avoiding process includes three steps: step 1: disturbance of perception stage；Step 2: cut-through stage；Step 3: field
Scape modeling and route searching stage；The unmanned plane internal stability obstacle avoidance system include unmanned aerial vehicle onboard information acquisition system and
Control UAV system is returned by PC earth station, and airborne information acquisition system is divided into integrated navigation information system and image transmitting storage system
System.A kind of unmanned plane automatic obstacle-avoiding method and apparatus, by being equipped with airborne information acquisition system and the ground PC in unmanned plane
It stands back and controls UAV system, airborne information acquisition system is made of integrated navigation information system and image transmitting storage system, should
Unmanned plane tests integrated navigation information system and image transmitting storage system during avoidance, to demonstrate system
Integrality and real-time and algorithm validity, improve avoidance efficiency, which is difficult to using indoors or barrier is close
The place of collection.
Summary of the invention
The purpose of the present invention is to provide a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane, including obstacle avoidance apparatus,
By setting laser ranging and ultrasonic distance measurement mixed ranging, and measurement data can combine to more rapidly and accurately complete
At the detection of obstacles of heading, while laser imaging module is set and image comparison module to carry out the gap of barrier
It is imaged and is compared with unmanned plane itself, so that can judgement pass through gap, and then select suitable flight path, the present invention
It can complete to carry out effective avoidance flight in the intensive environment in more complex interior or other barriers.
A kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane, including obstacle avoidance apparatus, the obstacle avoidance apparatus include device
Ontology, controller, data transmission module, data processing module, laser ranging module, ultrasonic distance measuring module, laser imaging mould
Block and image comparison module, the front of described device ontology are equipped with laser emitter and laser pickoff, and device noumenon
Front is additionally provided with supersonic generator and ultrasonic receiver；
The controller is used to control the closing and unlatching of obstacle avoidance apparatus, is able to use controller hand after closing obstacle avoidance apparatus
Dynamic manipulation unmanned plane during flying, the data transmission module is for realizing controller and obstacle avoidance apparatus and UAV Flight Control System
Data interaction, the data processing module is used to handle detection information and the control of laser ranging module and ultrasonic distance measuring module
Unmanned plane during flying processed, the laser ranging module measures front obstacle distance in unmanned plane during flying by laser, described super
Sound ranging module measures front obstacle distance in unmanned plane during flying by ultrasonic wave, and told laser imaging module, which utilizes, to swash
Optical scanning barrier, laser reflection is returned, and obtained distributing order is different and is imaged, and is reflected with image drop formed
Picture, described image comparison module is for comparing the size of imaging and unmanned plane itself.
The barrier-avoiding method is:
In unmanned plane to when a direction flight, when ultrasonic wave and laser detection all arrive barrier and apart from it is identical when, press
Common evasion tactics carries out barrier and evades；
When the obstacle distance that laser ranging module detects is greater than the obstacle distance that ultrasonic distance measuring module detects
When, illustrating barrier, there are gaps, and data processing module is passed through upper by UAV Flight Control System control unmanned plane at this time
Lower left and right flight, laser imaging module are imaged according to size and shape of the reflected laser to gap, and imaging is completed
Image comparison module compares the size of gap imaging and unmanned plane itself afterwards, image comparison module after the completion of comparison
Judge whether unmanned plane can ride, and comparing result is sent to data processing module, if it is possible to then data of riding
Processing module controls aircraft by UAV Flight Control System and passes through the sky that can fly with proper height and suitable left and right distance
Between, it changes direction flight if it can not ride according to common evasion tactics.
Preferably, the UAV Flight Control System is embedded flight control system.
Preferably, the laser ranging module, laser imaging module, image comparison module, laser emitter and laser connect
Receipts device is a laser obstacle avoidance system, can only be opened or closed simultaneously.
Preferably, the ultrasonic distance measuring module, supersonic generator and ultrasonic receiver are an avoiding obstacles by supersonic wave
System can only open or close simultaneously.
Preferably, the controller can also individually control unlatching or the pass of laser obstacle avoidance system and ultrasonic evadible system
It closes.
Preferably, the common evasion tactics be unmanned plane in front of encounter barrier after, unmanned plane selection up and down certain
One direction fly always until can avoiding obstacles, changed again if the direction can not finally advise avoiding obstacles a direction fly
Row returns to if four direction can not all advise avoiding obstacles up and down and returns to flight behind home position backward again.
The present invention has the advantages that by setting laser ranging and ultrasonic distance measurement mixed ranging, and by measurement data knot
The detection of obstacles of heading more can be rapidly and accurately completed altogether, while laser imaging module and image pair are set
Imaging is carried out come the gap to barrier than module and is compared with unmanned plane itself, so that can judgement pass through gap, into
And suitable flight path is selected, the present invention can complete to carry out in the intensive environment in more complex interior or other barriers
Effective avoidance flight.
Detailed description of the invention
Fig. 1 is systematic schematic diagram of the invention；
Fig. 2 is work flow diagram of the invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment one:
As shown in Figure 1 to Figure 2, the barrier-avoiding method of the mixing obstacle avoidance apparatus of a kind of unmanned plane, including obstacle avoidance apparatus, it is described to keep away
Fault device includes device noumenon, controller, data transmission module, data processing module, laser ranging module, ultrasonic distance measurement mould
The front of block, laser imaging module and image comparison module, described device ontology is equipped with laser emitter and laser pickoff,
And supersonic generator and ultrasonic receiver are additionally provided with immediately ahead of device noumenon；
The controller is used to control the closing and unlatching of obstacle avoidance apparatus, is able to use controller hand after closing obstacle avoidance apparatus
Dynamic manipulation unmanned plane during flying, the data transmission module is for realizing controller and obstacle avoidance apparatus and UAV Flight Control System
Data interaction, the data processing module is used to handle detection information and the control of laser ranging module and ultrasonic distance measuring module
Unmanned plane during flying processed, the laser ranging module measures front obstacle distance in unmanned plane during flying by laser, described super
Sound ranging module measures front obstacle distance in unmanned plane during flying by ultrasonic wave, and told laser imaging module, which utilizes, to swash
Optical scanning barrier, laser reflection is returned, and obtained distributing order is different and is imaged, and is reflected with image drop formed
Picture, described image comparison module is for comparing the size of imaging and unmanned plane itself.Obstacle avoidance apparatus is controlled
The control of device.
The barrier-avoiding method is:
In unmanned plane to when a direction flight, when ultrasonic wave and laser detection all arrive barrier and apart from it is identical when, press
Common evasion tactics carries out barrier and evades；
When the obstacle distance that laser ranging module detects is greater than the obstacle distance that ultrasonic distance measuring module detects
When, illustrating barrier, there are gaps, and data processing module is passed through upper by UAV Flight Control System control unmanned plane at this time
Lower left and right flight, laser imaging module are imaged according to size and shape of the reflected laser to gap, and imaging is completed
Image comparison module compares the size of gap imaging and unmanned plane itself afterwards, image comparison module after the completion of comparison
Judge whether unmanned plane can ride, and comparing result is sent to data processing module, if it is possible to then data of riding
Processing module controls aircraft by UAV Flight Control System and passes through the sky that can fly with proper height and suitable left and right distance
Between, it changes direction flight if it can not ride according to common evasion tactics.It completes in more complex interior or other barriers
Effective avoidance flight is carried out in the environment for hindering object intensive.
Embodiment two:
As shown in Figure 1 to Figure 2, the barrier-avoiding method of the mixing obstacle avoidance apparatus of a kind of unmanned plane, including obstacle avoidance apparatus, it is described to keep away
Fault device includes device noumenon, controller, data transmission module, data processing module, laser ranging module, ultrasonic distance measurement mould
The front of block, laser imaging module and image comparison module, described device ontology is equipped with laser emitter and laser pickoff,
And supersonic generator and ultrasonic receiver are additionally provided with immediately ahead of device noumenon；
The controller is used to control the closing and unlatching of obstacle avoidance apparatus, is able to use controller hand after closing obstacle avoidance apparatus
Dynamic manipulation unmanned plane during flying, the data transmission module is for realizing controller and obstacle avoidance apparatus and UAV Flight Control System
Data interaction, the data processing module is used to handle detection information and the control of laser ranging module and ultrasonic distance measuring module
Unmanned plane during flying processed, the laser ranging module measures front obstacle distance in unmanned plane during flying by laser, described super
Sound ranging module measures front obstacle distance in unmanned plane during flying by ultrasonic wave, and told laser imaging module, which utilizes, to swash
Optical scanning barrier, laser reflection is returned, and obtained distributing order is different and is imaged, and is reflected with image drop formed
Picture, described image comparison module is for comparing the size of imaging and unmanned plane itself.
The barrier-avoiding method is:
In unmanned plane to when a direction flight, when ultrasonic wave and laser detection all arrive barrier and apart from it is identical when, press
Common evasion tactics carries out barrier and evades；
When the obstacle distance that laser ranging module detects is greater than the obstacle distance that ultrasonic distance measuring module detects
When, illustrating barrier, there are gaps, and data processing module is passed through upper by UAV Flight Control System control unmanned plane at this time
Lower left and right flight, laser imaging module are imaged according to size and shape of the reflected laser to gap, and imaging is completed
Image comparison module compares the size of gap imaging and unmanned plane itself afterwards, image comparison module after the completion of comparison
Judge whether unmanned plane can ride, and comparing result is sent to data processing module, if it is possible to then data of riding
Processing module controls aircraft by UAV Flight Control System and passes through the sky that can fly with proper height and suitable left and right distance
Between, it changes direction flight if it can not ride according to common evasion tactics.
The UAV Flight Control System is embedded flight control system.
The laser ranging module, laser imaging module, image comparison module, laser emitter and laser pickoff are one
A laser obstacle avoidance system, can only open or close simultaneously.These devices need while being used cooperatively just play ideal work
With.
The ultrasonic distance measuring module, supersonic generator and ultrasonic receiver are a ultrasonic evadible system, only
It can open or close simultaneously.These devices need while being used cooperatively to can be only achieved desired work purpose.
The controller can also individually control opening or closing for laser obstacle avoidance system and ultrasonic evadible system.One
A little open landform do not need to close equipment component and system using the property of can choose when the method for the invention.
The common evasion tactics is after encountering barrier in front of unmanned plane, and unmanned plane selects a direction one up and down
Fly nonstop to row until can avoiding obstacles, change the flight of direction again if the direction can not finally advise avoiding obstacles, if on
Lower left and right four direction can not all advise avoiding obstacles, then return to and return to flight behind home position backward again.
Specific embodiment and principle:
When unmanned plane during flying, start the present apparatus, the unmanned plane normal flight in no barrier, when unmanned plane normal flight
Laser ranging module and ultrasonic distance measuring module the distance between work measurement front obstacle and unmanned plane itself always, when swashing
When the obstacle distance that ligh-ranging module detects is less than or equal to the obstacle distance that ultrasonic distance measuring module detects, nobody
Machine is changed direction flight using common evasion tactics；
When the obstacle distance that laser ranging module detects is greater than the obstacle distance that ultrasonic distance measuring module detects
When, illustrating barrier, there are gaps, and data processing module is passed through upper by UAV Flight Control System control unmanned plane at this time
Lower left and right flight, laser imaging module are imaged according to size and shape of the reflected laser to gap, and imaging is completed
Image comparison module compares the size of gap imaging and unmanned plane itself afterwards, image comparison module after the completion of comparison
Judge whether unmanned plane can ride, and comparing result is sent to data processing module, if it is possible to then data of riding
Processing module controls aircraft by UAV Flight Control System and passes through the sky that can fly with proper height and suitable left and right distance
Between, it changes direction flight if it can not ride according to common evasion tactics.
Based on above-mentioned, the present invention is combined measurement data by setting laser ranging and ultrasonic distance measurement mixed ranging
Getting up more can rapidly and accurately complete the detection of obstacles of heading, while laser imaging module and image comparison is arranged
Module carries out imaging come the gap to barrier and compares with unmanned plane itself, so that can judgement pass through gap, in turn
Suitable flight path is selected, the present invention can complete to have in the intensive environment in more complex interior or other barriers
The avoidance of effect is flown.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (6)
1. a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane, which is characterized in that including obstacle avoidance apparatus, the obstacle avoidance apparatus
Including device noumenon, controller, data transmission module, data processing module, laser ranging module, ultrasonic distance measuring module, swash
Light image-forming module and image comparison module, the front of described device ontology is equipped with laser emitter and laser pickoff, and fills
It sets and is additionally provided with supersonic generator and ultrasonic receiver immediately ahead of ontology；
The controller is used to control the closing and unlatching of obstacle avoidance apparatus, is able to use controller after closing obstacle avoidance apparatus and grasps manually
Vertical unmanned plane during flying, the data transmission module for realizing controller and obstacle avoidance apparatus and UAV Flight Control System number
According to interaction, the data processing module is used to handle the detection information of laser ranging module and ultrasonic distance measuring module and controls nothing
Man-machine flight, the laser ranging module measure front obstacle distance, the ultrasonic wave in unmanned plane during flying by laser
Range finder module measures front obstacle distance in unmanned plane during flying by ultrasonic wave, and told laser imaging module is swept using laser
Barrier is retouched, laser reflection is returned, obtained distributing order is different and is imaged, and imaging is reflected with image drop, institute
Image comparison module is stated for comparing the size of imaging and unmanned plane itself.
The barrier-avoiding method is:
In unmanned plane to when a direction flight, when ultrasonic wave and laser detection all arrive barrier and apart from it is identical when, by common
Evasion tactics carries out barrier and evades；
When the obstacle distance that laser ranging module detects is greater than the obstacle distance that ultrasonic distance measuring module detects, say
There are gaps for bright barrier, and data processing module controls unmanned plane by up and down by UAV Flight Control System at this time
Flight, laser imaging module are imaged according to size and shape of the reflected laser to gap, image after the completion of imaging
Comparison module compares the size of gap imaging and unmanned plane itself, and image comparison module judges nothing after the completion of comparison
It is man-machine whether to ride, and comparing result is sent to data processing module, if it is possible to then data processing mould of riding
Block by UAV Flight Control System control aircraft with proper height and suitable left and right distance pass through can flight space, if
It can not ride, change direction flight according to common evasion tactics.
2. a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane according to claim 1, it is characterised in that: the nothing
Man-machine flight control system is embedded flight control system.
3. a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane according to claim 1, it is characterised in that: described to swash
Ligh-ranging module, laser imaging module, image comparison module, laser emitter and laser pickoff are a laser avoidance system
System, can only open or close simultaneously.
4. a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane according to claim 3, it is characterised in that: described super
Sound ranging module, supersonic generator and ultrasonic receiver are a ultrasonic evadible system, can only open or close simultaneously
It closes.
5. a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane according to claim 4, it is characterised in that: the control
Device processed can also individually control opening or closing for laser obstacle avoidance system and ultrasonic evadible system.
6. a kind of barrier-avoiding method of the mixing obstacle avoidance apparatus of unmanned plane according to claim 1, it is characterised in that: described general
Logical evasion tactics is after encountering barrier in front of unmanned plane, and a direction is flown always until can up and down for unmanned plane selection
Avoiding obstacles change a direction flight, if four direction up and down again if the direction can not finally advise avoiding obstacles
Avoiding obstacles can not be all advised, then returns to and returns to flight behind home position backward again.
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| CN110108982A (en) * | 2019-04-30 | 2019-08-09 | 广州供电局有限公司 | High voltage testing system, method and device |
| CN110275543A (en) * | 2019-03-05 | 2019-09-24 | 江苏航空职业技术学院 | One kind being based on multi-rotor unmanned aerial vehicle barrier-avoiding method |
| CN110794854A (en) * | 2019-11-27 | 2020-02-14 | 陈会强 | Autonomous take-off and landing method for fixed-wing unmanned aerial vehicle |
| CN111257237A (en) * | 2020-02-10 | 2020-06-09 | 金陵科技学院 | High-rise building security system design method based on surface acoustic waves |
| CN113359862A (en) * | 2021-07-28 | 2021-09-07 | 北京理工大学 | Control method and device for unmanned aerial vehicle to enter closed environment |
| CN114019968A (en) * | 2021-10-29 | 2022-02-08 | 山东大学 | AGV obstacle avoidance control system and method based on multi-sensor fusion |
| CN115273260A (en) * | 2022-05-09 | 2022-11-01 | 石家庄邮电职业技术学院 | Unmanned aerial vehicle balance wheel module inspection system based on laser and ultrasonic double positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110275543A (en) * | 2019-03-05 | 2019-09-24 | 江苏航空职业技术学院 | One kind being based on multi-rotor unmanned aerial vehicle barrier-avoiding method |
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| CN111257237A (en) * | 2020-02-10 | 2020-06-09 | 金陵科技学院 | High-rise building security system design method based on surface acoustic waves |
| CN113359862A (en) * | 2021-07-28 | 2021-09-07 | 北京理工大学 | Control method and device for unmanned aerial vehicle to enter closed environment |
| CN114019968A (en) * | 2021-10-29 | 2022-02-08 | 山东大学 | AGV obstacle avoidance control system and method based on multi-sensor fusion |
| CN115273260A (en) * | 2022-05-09 | 2022-11-01 | 石家庄邮电职业技术学院 | Unmanned aerial vehicle balance wheel module inspection system based on laser and ultrasonic double positioning |
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