CN109240334A - A kind of barrier-avoiding method of unmanned aerial vehicle - Google Patents
A kind of barrier-avoiding method of unmanned aerial vehicle Download PDFInfo
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- CN109240334A CN109240334A CN201811229552.4A CN201811229552A CN109240334A CN 109240334 A CN109240334 A CN 109240334A CN 201811229552 A CN201811229552 A CN 201811229552A CN 109240334 A CN109240334 A CN 109240334A
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- aerial vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to a kind of barrier-avoiding method of unmanned aerial vehicle, unmanned aerial vehicle head one end is provided with ranging sensing module, for the barrier in front of real-time detection unmanned aerial vehicle；Ranging sensing module will test the obstacle information in front of unmanned aerial vehicle and be sent to the control centre that unmanned aerial vehicle is equipped with, so that unmanned aerial vehicle avoiding obstacles, wherein, the avoiding obstacles method including unmanned aerial vehicle under the avoiding obstacles method and autonomous flight state under manual state of flight.The avoiding obstacles method under avoiding obstacles method under autonomous flight state and manual state of flight in the present invention can rapidly make unmanned plane perceive the environment locating for itself, as much as possible the reduction unmanned plane Yu barrier of property bump against, and improve the safety of unmanned plane.
Description
Technical field
The present invention relates to unmanned aerial vehicle fields, more specifically refer to a kind of barrier-avoiding method of unmanned aerial vehicle.
Background technique
Unmanned aerial vehicle is manipulated by remote controler or can not all perceive the complex environment locating for itself by GPS autonomous flight,
And unmanned aerial vehicle organic a possibility that ruining once with object collision in flight course, situation is serious may to injure people,
And bring certain economic loss.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of barrier-avoiding method of unmanned aerial vehicle is provided.
To achieve the above object, the invention adopts the following technical scheme:
A kind of barrier-avoiding method of unmanned aerial vehicle, unmanned aerial vehicle head one end are provided with ranging sensing module, for examining in real time
Survey the barrier in front of unmanned aerial vehicle；The ranging sensing module will test the obstacle information in front of unmanned aerial vehicle and be sent to
The control centre that unmanned aerial vehicle is equipped with, so that unmanned aerial vehicle avoiding obstacles, wherein including unmanned aerial vehicle in manual state of flight
Under avoiding obstacles method and autonomous flight state under avoiding obstacles method.
Its further technical solution are as follows: wherein, avoiding obstacles method under manual state of flight the following steps are included:
Step 1: unmanned aerial vehicle is switched to manual offline mode；
Step 2: unmanned aerial vehicle reception instructs forward, and flight forward；
Step 3: continuing to fly if the ranging sensing module of unmanned aerial vehicle detects front clear；If nothing
The ranging sensing module of people's aircraft detects that there is barrier in front, then enters next step；
Step 4: unmanned aerial vehicle control centre calculates unmanned aerial vehicle at a distance from barrier, and unmanned aerial vehicle arrival is set
After set a distance, start brake deceleration；
Step 5: unmanned aerial vehicle hovering is simultaneously self-locking after unmanned aerial vehicle advances to the safe distance with barrier；
Step 6: if unmanned aerial vehicle does not receive flight directive backward, unmanned aerial vehicle continues hovering and self-locking；If such as
Fruit unmanned aerial vehicle receives flight directive backward, and unmanned aerial vehicle is unlocked and flown backward；
Step 7: unmanned aerial vehicle avoiding obstacles fly or make a return voyage.
Its further technical solution are as follows: in the step 5, unmanned aerial vehicle advance to the safe distance of barrier be 5 to
15 meters.
Its further technical solution are as follows: in the step 5, unmanned aerial vehicle is not commanded, even if barrier disappears, nothing
People's aircraft continue hovering and it is self-locking.
Its further technical solution are as follows: wherein, avoiding obstacles method under autonomous flight state the following steps are included:
Step 1: unmanned aerial vehicle is switched to manual offline mode；
Step 2: unmanned aerial vehicle is before trend received from instructing, and automatic flight forward；
Step 3: continuation flies forward automatically if the ranging sensing module of unmanned aerial vehicle detects front clear
Row；If the ranging sensing module of unmanned aerial vehicle detects that there is barrier in front, enter next step；
Step 4: in the horizontal direction, unmanned aerial vehicle control centre calculates unmanned aerial vehicle at a distance from barrier, and nothing
After people's aircraft reaches set distance, start brake deceleration；In vertical direction, unmanned aerial vehicle is according on the climbing speed of setting
It rises；
Step 5: in the horizontal direction, when unmanned aerial vehicle is advanced in the safe distance with barrier, unmanned aerial vehicle stops
Advance；At this point, in vertical direction, unmanned aerial vehicle continues to climb, until clearing the jumps；
Step 6: whether the ranging sensing module detection front of unmanned aerial vehicle has barrier；If there is barrier, then enter
Step 4；Such as clear, unmanned aerial vehicle then continues flight forward.
Its further technical solution are as follows: wherein, for unmanned aerial vehicle during climbing, ranging sensing module detects front barrier
Object is hindered to disappear, then unmanned aerial vehicle stopping is climbed, and starts to continue flight forward.
Its further technical solution are as follows: wherein, in the step 5, unmanned aerial vehicle advances to the safe distance with barrier
It is 5 to 15 meters.
Its further technical solution are as follows: the ranging sensing module is TOF measurement module.
Compared with the prior art, the invention has the advantages that: the present invention senses mould by the way that ranging is arranged on unmanned aerial vehicle
Block, for detecting the barrier in unmanned aerial vehicle flight course, so that unmanned aerial vehicle is under manual state of flight or autonomous winged
It, can automatic avoiding obstacles in the state of row.The avoiding obstacles method and hand under autonomous flight state in the present invention
Avoiding obstacles method under dynamic state of flight can rapidly make unmanned plane perceive the environment locating for itself, as much as possible property
Reduction unmanned plane and barrier bump against, improve the safety of unmanned plane.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is the avoiding obstacles flow chart under a kind of manual state of flight of the barrier-avoiding method of unmanned aerial vehicle of the present invention；
Fig. 2 is the avoiding obstacles flow chart under a kind of autonomous flight state of the barrier-avoiding method of unmanned aerial vehicle of the present invention；
Fig. 3 is a kind of unmanned aerial vehicle flying speed of barrier-avoiding method of unmanned aerial vehicle of the present invention and the relationship of obstacle distance
Figure.
Specific embodiment
In order to more fully understand technology contents of the invention, combined with specific embodiments below to technical solution of the present invention into
One step introduction and explanation, but not limited to this.
Such as the drawing that Fig. 1 to Fig. 3 is the embodiment of the present invention.
A kind of barrier-avoiding method of unmanned aerial vehicle, unmanned aerial vehicle head one end are provided with ranging sensing module, for examining in real time
Survey the barrier in front of unmanned aerial vehicle.Ranging sensing module will test the obstacle information in front of unmanned aerial vehicle and be sent to nobody
The control centre that aircraft is equipped with, so that unmanned aerial vehicle avoiding obstacles, wherein including unmanned aerial vehicle under manual state of flight
Avoiding obstacles method under avoiding obstacles method and autonomous flight state.Preferably, ranging sensing module is TOF measurement mould
Block.
Unmanned aerial vehicle has the barrier-avoiding method of TOF measurement module, that is, installs one in the heading of unmanned aerial vehicle
TOF measurement module makes unmanned aerial vehicle have " eyes ".During flight forward before the flight of TOF measurement module real-time detection
The complex environment of side, sees whether that there are barriers, and environmental data is transferred to unmanned aerial vehicle, unmanned aerial vehicle is independently adopted at this time
Corresponding counte-rplan are taken, avoid bumping against with barrier.
TOF measurement module has ranging distance far, and range accuracy is high, the sensitive equal good characteristics of ranging response.When being mounted on
Unmanned aerial vehicle hits exactly Handpiece Location, and TOF measurement module can perceive the obstacle distance of unmanned aerial vehicle front position, and distance is believed
Breath is transferred to unmanned aerial vehicle.
As shown in Figure 1, avoiding obstacles method under manual state of flight the following steps are included:
Step 1: unmanned aerial vehicle is switched to manual offline mode；
Step 2: unmanned aerial vehicle reception instructs forward, and flight forward；
Step 3: continuing to fly if the ranging sensing module of unmanned aerial vehicle detects front clear；If nothing
The ranging sensing module of people's aircraft detects that there is barrier in front, then enters next step；
Step 4: unmanned aerial vehicle control centre calculates unmanned aerial vehicle at a distance from barrier, and unmanned aerial vehicle arrival is set
After set a distance, start brake deceleration；
Step 5: unmanned aerial vehicle hovering is simultaneously self-locking after unmanned aerial vehicle advances to the safe distance with barrier；
Step 6: if unmanned aerial vehicle does not receive flight directive backward, unmanned aerial vehicle continues hovering and self-locking；If such as
Fruit unmanned aerial vehicle receives flight directive backward, and unmanned aerial vehicle is unlocked and flown backward；
Step 7: unmanned aerial vehicle avoiding obstacles fly or make a return voyage
Preferably, in step 5, it is 5 to 15 meters that unmanned aerial vehicle, which is advanced to the safe distance of barrier,.
Preferably, in step 5, unmanned aerial vehicle is not commanded, even if barrier disappears, unmanned aerial vehicle continues hovering simultaneously
It is self-locking.
Specifically, it is to be flown by the rocking bar control of remote controler that unmanned aerial vehicle flies manually.Nobody is manipulated by rocking bar
Aircraft flight, during flight forward, when detecting that there is barrier in front, unmanned aerial vehicle starts brake deceleration.Specifically,
Unmanned aerial vehicle brake speed remoter from barrier is smaller, and nearlyr brake speed is bigger down to maximum brake speed.And with maximum
Braking ability stops at it within the scope of safe distance, and when flying speed is when being reduced to 0m/s, unmanned aerial vehicle is locked
It is fixed, and stop in safe range, even if barrier disappears at this time, unmanned aerial vehicle does not do continuation flare maneuver yet.
Ranging sensing module begins to slow down when detecting effective distance information, is illustrated in fig. 3 shown below, if ranging senses mould
Block detects barrier at 30 meters, and speed is reduced to 2.5m/s, according to curve in the hang at 15 meters of barrier.
The maximum flying speed that avoidance mode allows after opening is 8m/s, if module detects barrier suddenly at 10 meters
Hinder object, hovers then aircraft is just braked with maximum capacity.It is flown by testing with maximum speed, at least to guarantee module at 5 meters
Barrier will be detected before place, otherwise there is the risk of collision of a bit.
Wherein, as shown in Fig. 2, avoiding obstacles method under autonomous flight state the following steps are included:
Step 1: unmanned aerial vehicle is switched to manual offline mode；
Step 2: unmanned aerial vehicle is before trend received from instructing, and automatic flight forward；
Step 3: continuation flies forward automatically if the ranging sensing module of unmanned aerial vehicle detects front clear
Row；If the ranging sensing module of unmanned aerial vehicle detects that there is barrier in front, enter next step；
Step 4: in the horizontal direction, unmanned aerial vehicle control centre calculates unmanned aerial vehicle at a distance from barrier, and nothing
After people's aircraft reaches set distance, start brake deceleration；In vertical direction, unmanned aerial vehicle is according on the climbing speed of setting
It rises；
Step 5: in the horizontal direction, when unmanned aerial vehicle is advanced in the safe distance with barrier, unmanned aerial vehicle stops
Advance；At this point, in vertical direction, unmanned aerial vehicle continues to climb, until clearing the jumps；
Step 6: whether the ranging sensing module detection front of unmanned aerial vehicle has barrier；If there is barrier, then enter
Step 4；Such as clear, unmanned aerial vehicle then continues flight forward
Wherein, for unmanned aerial vehicle during climbing, ranging sensing module detects that front obstacle disappears, then unmanned aerial vehicle
Stopping is climbed, and starts to continue flight forward
Wherein, in the step 5, it is that 5 to 15 meters of unmanned aerial vehicles are logical that unmanned aerial vehicle, which is advanced to the safe distance of barrier,
GPS autonomous flight is crossed, includes autonomous airline operation, independently makes a return voyage, independently follow.During autonomous flight forward, work as nothing
When people's Airplane detection has barrier to front, unmanned aerial vehicle horizontal direction takes brake deceleration (to prevent unmanned aerial vehicle from bumping against obstacle
Object), while taking in vertical direction and climbing upwards, so that unmanned aerial vehicle clears the jumps, reaches and hide barrier in a manner of obstacle detouring
Hinder object.
Wherein, horizontal brake deceleration is as the retarding method of manual avoidance, and climbing in vertical direction, flies nobody
Machine climbs upwards.Unmanned aerial vehicle is remoter from barrier, and climbing speed is slower, and nearlyr climbing speed is faster down to maximum climbing speed.
Unmanned aerial vehicle, once detecting that front obstacle disappears, with regard to stopping climbing, and starts to continue flight forward during climbing.
In conclusion the present invention by the way that ranging sensing module is arranged on unmanned aerial vehicle, flies for detecting in unmanned aerial vehicle
Barrier during row, so that unmanned aerial vehicle under manual state of flight or in the state of autonomous flight, can automatically be kept away
Open barrier.The avoiding obstacles under the avoiding obstacles method and manual state of flight under autonomous flight state in the present invention
Method can rapidly make unmanned plane perceive the environment locating for itself, as much as possible the reduction unmanned plane of property and barrier phase
It hits, improves the safety of unmanned plane.
It is above-mentioned that technology contents of the invention are only further illustrated with embodiment, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by of the invention
Protection.Protection scope of the present invention is subject to claims.
Claims (8)
1. a kind of barrier-avoiding method of unmanned aerial vehicle, which is characterized in that unmanned aerial vehicle head one end is provided with ranging sensing module, uses
Barrier in front of real-time detection unmanned aerial vehicle；The ranging sensing module will test the letter of the barrier in front of unmanned aerial vehicle
Breath is sent to the control centre that unmanned aerial vehicle is equipped with, so that unmanned aerial vehicle avoiding obstacles, wherein including unmanned aerial vehicle manual
The avoiding obstacles method under avoiding obstacles method and autonomous flight state under state of flight.
2. a kind of barrier-avoiding method of unmanned aerial vehicle according to claim 1, which is characterized in that wherein, manual state of flight
Under avoiding obstacles method the following steps are included:
Step 1: unmanned aerial vehicle is switched to manual offline mode；
Step 2: unmanned aerial vehicle reception instructs forward, and flight forward；
Step 3: continuing to fly if the ranging sensing module of unmanned aerial vehicle detects front clear；If nobody flies
The ranging sensing module of machine detects that there is barrier in front, then enters next step；
Step 4: unmanned aerial vehicle control centre calculate unmanned aerial vehicle at a distance from barrier, and unmanned aerial vehicle reach setting away from
From rear, beginning brake deceleration；
Step 5: unmanned aerial vehicle hovering is simultaneously self-locking after unmanned aerial vehicle advances to the safe distance with barrier；
Step 6: if unmanned aerial vehicle does not receive flight directive backward, unmanned aerial vehicle continues hovering and self-locking；If if nothing
People's aircraft receives flight directive backward, and unmanned aerial vehicle is unlocked and flown backward；
Step 7: unmanned aerial vehicle avoiding obstacles fly or make a return voyage.
3. a kind of barrier-avoiding method of unmanned aerial vehicle according to claim 2, which is characterized in that in the step 5, nobody
It is 5 to 15 meters that aircraft, which is advanced to the safe distance of barrier,.
4. a kind of barrier-avoiding method of unmanned aerial vehicle according to claim 2, which is characterized in that in the step 5, nobody
Aircraft is not commanded, though barrier disappear, unmanned aerial vehicle continue hovering and it is self-locking.
5. a kind of barrier-avoiding method of unmanned aerial vehicle according to claim 1, which is characterized in that wherein, autonomous flight state
Under avoiding obstacles method the following steps are included:
Step 1: unmanned aerial vehicle is switched to manual offline mode；
Step 2: unmanned aerial vehicle is before trend received from instructing, and automatic flight forward；
Step 3: continuing automatic flight forward if the ranging sensing module of unmanned aerial vehicle detects front clear；Such as
The ranging sensing module of fruit unmanned aerial vehicle detects that there is barrier in front, then enters next step；
Step 4: in the horizontal direction, unmanned aerial vehicle control centre calculates unmanned aerial vehicle at a distance from barrier, and nobody flies
After machine reaches set distance, start brake deceleration；In vertical direction, unmanned aerial vehicle rises according to the climbing speed of setting；
Step 5: in the horizontal direction, when unmanned aerial vehicle is advanced in the safe distance with barrier, before unmanned aerial vehicle stops
Into；At this point, in vertical direction, unmanned aerial vehicle continues to climb, until clearing the jumps；
Step 6: whether the ranging sensing module detection front of unmanned aerial vehicle has barrier；If there is barrier, then enter step
Four；Such as clear, unmanned aerial vehicle then continues flight forward.
6. a kind of barrier-avoiding method of unmanned aerial vehicle according to claim 5, which is characterized in that wherein, unmanned aerial vehicle is being climbed
During rising, ranging sensing module detects that front obstacle disappears, then unmanned aerial vehicle stopping is climbed, and starts to continue to fly forward
Row.
7. a kind of barrier-avoiding method of unmanned aerial vehicle according to claim 5, which is characterized in that wherein, in the step 5,
It is 5 to 15 meters that unmanned aerial vehicle, which is advanced to the safe distance of barrier,.
8. a kind of barrier-avoiding method of unmanned aerial vehicle according to claim 1, which is characterized in that wherein, the ranging sensing
Module is TOF measurement module.
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| CN110119162A (en) * | 2019-06-20 | 2019-08-13 | 亿航智能设备（广州）有限公司 | A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium |
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| WO2021031195A1 (en) * | 2019-08-22 | 2021-02-25 | 深圳大学 | Lidar-based unmanned aerial vehicle device capable of positioning and obstacle avoidance and method for obstacle avoidance |
| CN112650282A (en) * | 2020-12-15 | 2021-04-13 | 易瓦特科技股份公司 | Reverse conversion fixed-distance braking method for vertical take-off and landing fixed-wing aircraft |
| CN113050691A (en) * | 2021-03-25 | 2021-06-29 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium |
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