CN110209193A - A kind of general quadrotor avoidance obstacle method and system - Google Patents
A kind of general quadrotor avoidance obstacle method and system Download PDFInfo
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- CN110209193A CN110209193A CN201910483397.7A CN201910483397A CN110209193A CN 110209193 A CN110209193 A CN 110209193A CN 201910483397 A CN201910483397 A CN 201910483397A CN 110209193 A CN110209193 A CN 110209193A
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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 general quadrotor avoidance obstacle method and system, by way of autonomous control device is arranged, does not need to change winged control code, do not need to increase on hardware to winged control, so that it may expand the function of flying to control, greatly reduce difficulty.And flies control effectively not only for open source, the function that commodity fly control can also be expanded.It transfers to autonomous control device to complete the work that sensing data is read, mitigates the computational burden for flying control.Autonomous control device selects simple and reliable STM32 processor, substantially reduces development difficulty, and expansibility is strong, provides resource for later secondary development.
Description
Technical field
The present invention relates to air vehicle technique field, more particularly to a kind of general quadrotor avoidance obstacle method and
System.
Background technique
Unmanned air vehicle technique rapidly develops, and the application field of unmanned plane is also more and more, answers in addition to aerial survey of taking photo by plane etc. is traditional
With scene, unmanned plane is widely used to indoor patrol, the place of the narrow spaces such as warehouse logistics at present.Make unmanned plane application
In new application places, it is necessary first to which unmanned plane experiences the variation of environment, could make a response to environment.
The solution of the existing environment that unmanned plane is applied to the narrow spaces such as interior is mainly to fly in unmanned plane
Install new sensor module, such as infrared ray, millimetre-wave radar, ultrasonic wave etc. in control additional.Using this technology method it is good
Place is that the environmental data for detecting sensor directly applies in the control algolithm for flying control, improves the efficiency of control.
Do not have expansion it is clear that flying to control using the shortcomings that existing method, it only need at the beginning of the design for flying control
The function of wanting integrates into just can be with.Fly for control for increasing income, expansion is strong, but development difficulty carrys out vast majority of people
Say it is very big.The winged control PX4 core code part of famous open source alreadys exceed 540,000 rows in the world, and learning cost is very
It is high.Therefore, if increasing sensor since source code, the more functions of unmanned plane, such as omnidirection avoidance are realized, are not existing
Real, the development of demand cannot be kept up with.
Summary of the invention
To overcome above-mentioned technical problem of the existing technology, the present invention provides a kind of general quadrotors to keep away
Hinder control method and system.
The technical scheme to solve the above technical problems is that
According to an aspect of the invention, there is provided a kind of general quadrotor avoidance obstacle method, comprising:
Obtain remote control receiver command signal；
Measure four direction barrier of unmanned plane and aircraft distance；
According to described instruction signal and four direction barrier and aircraft distance, determine that UAV Flight Control is believed
Number, and unmanned plane during flying is controlled according to flight control signal.
It is described according to described instruction signal and four direction barrier and aircraft distance, determine UAV Flight Control
Signal, further includes:
Whether can be acted according to described instruction signal according to four direction barrier and aircraft Distance Judgment；
If so, using described instruction signal as UAV Flight Control signal；Otherwise, avoidance action signal is calculated according to obstacle avoidance algorithm,
And as UAV Flight Control signal.
The method also includes:
According to four direction barrier and aircraft distance and described instruction signal, COMPREHENSIVE CALCULATING UAV Flight Control
Signal；The flight control signal had both been different from the avoidance action signal, also different from described instruction signal.
Described instruction signal is read by the external interrupt function of the STM32 processor of remote control receiver, including five tunnels
Remote controller signal, the respectively pitch channel of remote controler, roll channel, throttle channel, direction channel, offline mode switching channel
Signal.
Four direction barrier of the measurement unmanned plane and aircraft distance use polling mode to measure each direction respectively
Barrier is at a distance from aircraft.
In the circulation of each process of measurement, the barrier in a direction in four aspects is only measured at a distance from aircraft,
And state machine is updated, the barrier in its excess-three direction saved in bonding state machine is used as four direction at a distance from aircraft
Barrier at a distance from aircraft.
It is described to control unmanned plane during flying according to flight control signal, comprising:
Using the timer interruption of STM32 processor, generates and fly the pwm signal that control can be read；
Pwm signal is converted into PPM signal, is input to and flies in control, completes the control to aircraft.
According to another aspect of the present invention, a kind of general quadrotor obstruction-avoiding control system is provided, including
Remote controler, autonomous control device, ranging mould group and winged control mould group, wherein
The remote controler, for generating command signal；
The ranging mould group, for measuring four direction barrier of unmanned plane and aircraft distance；
The autonomous control device is used for according to described instruction signal and four direction barrier and aircraft distance, really
Determine UAV Flight Control signal；
The winged control mould group controls unmanned plane during flying for controlling signal according to the flight.
The autonomous control device uses STM32 processor, is according to four direction barrier and aircraft Distance Judgment
It is no to be acted according to described instruction signal；If so, using described instruction signal as UAV Flight Control signal；It is no
Then, avoidance action signal is calculated according to obstacle avoidance algorithm, and as UAV Flight Control signal.
Described instruction signal is read by the external interrupt function of the STM32 processor of remote control receiver, including five tunnels
Remote controller signal, the respectively pitch channel of remote controler, roll channel, throttle channel, direction channel, offline mode switching channel
Signal；
Four direction barrier of the measurement unmanned plane and aircraft distance use polling mode to measure each direction respectively
Barrier is at a distance from aircraft；
The autonomous control device uses the timer interruption of STM32 processor, generates and flies the pwm signal that control can be read；It will
Pwm signal is converted into PPM signal, is input to and flies to complete the control to aircraft in control mould group.
The beneficial effects of the present invention are: providing a kind of general quadrotor avoidance obstacle method and system, lead to
The mode for crossing setting autonomous control device does not need to change winged control code, does not need to increase on hardware to winged control, so that it may expand and fly
The function of control, greatly reduces difficulty.And flies control effectively not only for open source, the function that commodity fly control can also be expanded.It will
The work that sensing data is read transfers to autonomous control device to complete, and mitigates the computational burden for flying control.Autonomous control device is selected simple
Reliable STM32 processor, substantially reduces development difficulty, expansibility is strong, provides resource for later secondary development.
Detailed description of the invention
Fig. 1 is general quadrotor avoidance obstacle Method And Principle flow chart provided in an embodiment of the present invention.
Fig. 2 is that general quadrotor obstruction-avoiding control system provided in an embodiment of the present invention realizes schematic diagram.
Fig. 3 is autonomous control device work in general quadrotor avoidance obstacle method provided in an embodiment of the present invention
Flow diagram.
Fig. 4 is general quadrotor obstruction-avoiding control system structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.It should be noted that in the absence of conflict, in embodiments herein and embodiment
Feature can be combined with each other.
The present invention provides the functions that a kind of simple and convenient, practical reliable way realizes omnidirectional's avoidance.We are in source
Fly to joined one " autonomous control device " on the basis of control.The data for the sensor being newly added are read using autonomous control device, with
And the order of remote control receiver, these data of integrated treatment determine the movement of aircraft next step, finally by the dynamic of next step
Make order to be converted into flying the signal that control can be read, the input order control aircraft as winged control completes corresponding movement.
It can save the development time significantly in this way, the required function of realization, and can be secondary on this basis
Exploitation, realization is more multi-functional, further applies learning activities in schools, match etc..
Quadrotor described in the present embodiment is a kind of unmanned vehicle, and rotor is not limited to quadrotor,
It can be six rotors or other rotor quantity.
The general quadrotor avoidance obstacle method flow that the present embodiment is related to is as shown in Figure 1.Wherein,
Step 11, remote control receiver command signal is obtained；
Step 12, measurement four direction barrier of unmanned plane and aircraft distance；
Step 13, according to described instruction signal and four direction barrier and aircraft distance, unmanned plane during flying is determined
Signal is controlled, and controls unmanned plane during flying according to flight control signal.
It is described according to described instruction signal and four direction barrier and aircraft distance, determine UAV Flight Control
Signal, further includes:
Whether can be acted according to described instruction signal according to four direction barrier and aircraft Distance Judgment；
If so, using described instruction signal as UAV Flight Control signal；Otherwise, avoidance action signal is calculated according to obstacle avoidance algorithm,
And as UAV Flight Control signal.
According to four direction barrier and aircraft distance and described instruction signal, COMPREHENSIVE CALCULATING UAV Flight Control
Signal；The flight control signal had both been different from the avoidance action signal, also different from described instruction signal, but according to two
Person's data combination goes out optimal control program.
Described instruction signal is read by the external interrupt function of the STM32 processor of remote control receiver, including five tunnels
Remote controller signal, the respectively pitch channel of remote controler, roll channel, throttle channel, direction channel, offline mode switching channel
Signal.
Four direction barrier of the measurement unmanned plane and aircraft distance use polling mode to measure each direction respectively
Barrier is at a distance from aircraft.
In the circulation of each process of measurement, the barrier in a direction in four aspects is only measured at a distance from aircraft,
And state machine is updated, the barrier in its excess-three direction saved in bonding state machine is used as four direction at a distance from aircraft
Barrier at a distance from aircraft.
It is described to control unmanned plane during flying according to flight control signal, comprising:
Using the timer interruption of STM32 processor, generates and fly the pwm signal that control can be read；
Pwm signal is converted into PPM signal, is input to and flies in control, completes the control to aircraft.
In fact, as shown in Fig. 2, the present embodiment can be system structure as shown in Figure 2, in remote signal and ultrasonic wave
It controls and autonomous control device is added between mould group, controlled by autonomous control device and fly control module, and then control flying platform.
Specifically, autonomous control device is added on original winged control basis, the main function of autonomous control device is to read
Remote signal is taken, ultrasound data is read by the two fusion calculation and obtains the flare maneuver of next step aircraft.Autonomous control
Device generates control signal, controls aircraft flight.
Autonomous control device reads remote control receiver signal using the STM32F1 processor of STMicw Electronics in this programme,
The measurement that obstacle distance is carried out using HC-SR04 ultrasonic wave module will generate new control after the processing of both the above aggregation of data
Signal processed is input to and flies in control, controls and flies control execution.
As shown in figure 3, being a kind of workflow of autonomous control device provided in this embodiment, wherein handled by STM32
The external interrupt function of device reads 5 road remote controller signals, the respectively pitch channel of remote controler, roll channel, throttle channel, side
To channel, offline mode switching channel, this five remote signals are mainly used for controlling the flight of aircraft.
Because ultrasonic distance measurement speed is unhappy, a state machine is arranged, every in this programme ranging by the way of poll
The distance in a direction in all around is only measured in the circulation of one secondary program, and updates state machine.
The measurement result of all directions obstacle distance and the reading result of remote controller signal carry out judgement calculating, determine to fly
The flare maneuver of row device next step.
It is generated using the method for the timer interruption of STM32 processor and flies the pwm signal that can read of control, then by pwm signal
It is converted into PPM signal, is recently entered in winged control, the control to aircraft is completed.
In the present embodiment, in such a way that autonomous control device is set, does not need to change winged control code, do not need to increase hardware
Onto winged control, so that it may expand the function of flying control, greatly reduce difficulty.And this method, which flies control not only for open source, to be had
Effect can also expand the function that commodity fly control.It transfers to autonomous control device to complete the work that sensing data is read, mitigates and fly control
Computational burden.Autonomous control device selects simple and reliable STM32 processor, substantially reduces development difficulty, and expansibility is strong, is
Later secondary development provides resource.
As shown in figure 4, be general quadrotor obstruction-avoiding control system structural schematic diagram provided in this embodiment,
In, including remote controler 41, autonomous control device 42, ranging mould group 43 and winged control mould group 44, wherein
The remote controler 41, for generating command signal；
The ranging mould group 43, for measuring four direction barrier of unmanned plane and aircraft distance；
The autonomous control device 42 is used for according to described instruction signal and four direction barrier and aircraft distance,
Determine UAV Flight Control signal；
The winged control mould group 44 controls unmanned plane during flying for controlling signal according to the flight.
The autonomous control device 42 uses STM32 processor, according to four direction barrier and aircraft Distance Judgment
Whether can be acted according to described instruction signal；If so, using described instruction signal as UAV Flight Control signal；It is no
Then, avoidance action signal is calculated according to obstacle avoidance algorithm, and as UAV Flight Control signal.
Described instruction signal is read by the external interrupt function of the STM32 processor of remote control receiver, including five tunnels
Remote controller signal, the respectively pitch channel of remote controler, roll channel, throttle channel, direction channel, offline mode switching channel
Signal；
Four direction barrier of the measurement unmanned plane and aircraft distance use polling mode to measure each direction respectively
Barrier is at a distance from aircraft；
The autonomous control device 42 is generated using the timer interruption of STM32 processor and is flown the pwm signal that control can be read；
Pwm signal is converted into PPM signal, is input to and flies to complete the control to aircraft in control mould group.
In the description of the present invention, it should be noted that term "top", "bottom" ", the orientation of instructions such as "inner", "outside" or
Positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, and should not be understood as indicating
Or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within 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 general quadrotor avoidance obstacle method characterized by comprising
Obtain remote control receiver command signal；
Measure four direction barrier of unmanned plane and aircraft distance；
According to described instruction signal and four direction barrier and aircraft distance, UAV Flight Control signal is determined, and
Unmanned plane during flying is controlled according to flight control signal.
2. general quadrotor avoidance obstacle method according to claim 1, which is characterized in that described according to institute
Command signal and four direction barrier and aircraft distance are stated, determines UAV Flight Control signal, further includes:
Whether can be acted according to described instruction signal according to four direction barrier and aircraft Distance Judgment；If
It is, using described instruction signal as UAV Flight Control signal；Otherwise, avoidance action signal is calculated according to obstacle avoidance algorithm, and
As UAV Flight Control signal.
3. general quadrotor avoidance obstacle method according to claim 2, which is characterized in that the method is also
Include:
According to four direction barrier and aircraft distance and described instruction signal, COMPREHENSIVE CALCULATING UAV Flight Control letter
Number；The flight control signal had both been different from the avoidance action signal, also different from described instruction signal.
4. general quadrotor avoidance obstacle method according to claim 1, which is characterized in that described instruction letter
It number is read by the external interrupt function of the STM32 processor of remote control receiver, including five road remote controller signals, it is respectively distant
Control pitch channel, roll channel, throttle channel, direction channel, the offline mode switching channel signal of device.
5. general quadrotor avoidance obstacle method according to claim 1, which is characterized in that the measurement nothing
Man-machine four direction barrier and aircraft distance using polling mode measure respectively each direction barrier and aircraft away from
From.
6. general quadrotor avoidance obstacle method according to claim 5, which is characterized in that further include:
In the circulation of each process of measurement, the barrier in a direction in four aspects is only measured at a distance from aircraft, and more
New state machine, the barrier in its excess-three direction saved in bonding state machine is at a distance from aircraft as the barrier of four direction
Hinder object at a distance from aircraft.
7. general quadrotor avoidance obstacle method according to claim 1, which is characterized in that described according to institute
State flight control signal control unmanned plane during flying, comprising:
Using the timer interruption of STM32 processor, generates and fly the pwm signal that control can be read；
Pwm signal is converted into PPM signal, is input to and flies in control, completes the control to aircraft.
8. a kind of general quadrotor obstruction-avoiding control system, which is characterized in that including remote controler, autonomous control device, survey
Away from mould group and fly control mould group, wherein
The remote controler, for generating command signal；
The ranging mould group, for measuring four direction barrier of unmanned plane and aircraft distance；
The autonomous control device, for determining nothing according to described instruction signal and four direction barrier and aircraft distance
Man-machine flight controls signal；
The winged control mould group controls unmanned plane during flying for controlling signal according to the flight.
9. general quadrotor obstruction-avoiding control system according to claim 8, which is characterized in that described from master control
Whether device processed uses STM32 processor, can be according to described instruction according to four direction barrier and aircraft Distance Judgment
Signal is acted；If so, using described instruction signal as UAV Flight Control signal；Otherwise, it is calculated according to obstacle avoidance algorithm
Avoidance action signal, and as UAV Flight Control signal.
10. general quadrotor obstruction-avoiding control system according to claim 8, which is characterized in that described instruction
Signal is read by the external interrupt function of the STM32 processor of remote control receiver, including five road remote controller signals, respectively
Pitch channel, roll channel, throttle channel, direction channel, the offline mode switching channel signal of remote controler；
The measurement four direction barrier of unmanned plane and aircraft distance measure the obstacle in each direction using polling mode respectively
Object is at a distance from aircraft；
The autonomous control device uses the timer interruption of STM32 processor, generates and flies the pwm signal that control can be read；PWM is believed
Number it is converted into PPM signal, is input to and flies to complete the control to aircraft in control mould group.
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Application publication date: 20190906 |