CN110262561A - A kind of unmanned plane automatic obstacle-avoiding method - Google Patents
A kind of unmanned plane automatic obstacle-avoiding method Download PDFInfo
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- CN110262561A CN110262561A CN201910664878.8A CN201910664878A CN110262561A CN 110262561 A CN110262561 A CN 110262561A CN 201910664878 A CN201910664878 A CN 201910664878A CN 110262561 A CN110262561 A CN 110262561A
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- infrared sensor
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- unmanned plane
- automatic
- control module
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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 invention discloses a kind of unmanned plane automatic obstacle-avoiding method, the drone body includes manual control module and automatic control module, and the manual control module and the automatic control module include infrared sensor, braking system, data acquisition and analysis system.There are six the infrared sensor is set, respectively preceding infrared sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor and lower infrared sensor.The unmanned plane is equipped with both of which, one is MANUAL CONTROL modes, another kind is automatic control mode, both of which can all make the measure of urgent avoidance before encountering barrier, not only strong flexibility, but also compared to traditional barrier-avoiding method, up and down front-rear direction of the unmanned plane in space can detect barrier, it more ensures the in-flight safety of unmanned plane, unmanned plane is also avoided not smashed by other flying objects.
Description
Technical field:
The present invention relates to unmanned plane field, specially a kind of unmanned plane automatic obstacle-avoiding method.
Background technique:
UAV referred to as " unmanned plane ", is manipulated not using radio robot and the presetting apparatus provided for oneself
Manned vehicle.Unmanned plane is actually the general designation of unmanned vehicle, can be divided into from technical standpoint definition: unmanned fixed
Wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..With
Manned aircraft is compared, it has small in size, low cost, easy to use, low to operational environment requirement, battlefield survival is stronger etc.
Advantage.With the development of science and technology unmanned plane using more and more extensive more particularly to unmanned plane avoidance field, existing nothing
Man-machine barrier-avoiding method function is relatively simple, and flexibility is poor, often realizes avoidance in automatic mode, and under manual control cannot
Realize automatic obstacle-avoiding, and existing unmanned plane can only be to the carry out avoidance all around of unmanned plane, it cannot be to unmanned plane in sky
In entire space carry out avoidance, and in a manual mode, can not achieve the function of encountering barrier alarm, can not achieve barrier
Hinder object positioning, more reasonable flight path cannot be provided for user.
Summary of the invention:
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of unmanned plane automatic obstacle-avoiding method, to solve above-mentioned back
The problem of scape technology proposes.
To achieve the above object, the invention provides the following technical scheme: a kind of unmanned plane automatic obstacle-avoiding method, including nobody
Machine ontology, which is characterized in that the drone body includes manual control module and automatic control module, described to manually control mould
Block and the automatic control module include infrared sensor, braking system, data acquisition and analysis system, the infrared sensor
There are six if, respectively preceding infrared sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensing
Device and lower infrared sensor, and front end, rear end, left end, right end, the top and bottom of the drone body are sequentially arranged at,
The infrared sensor and the data acquisition and analysis system phase in the manual control module and the automatic control module
Even, the data acquisition and analysis system in the manual control module is connected with alarm system and automatic stop module respectively, described
Automatic stop module is connected with barrier locating module, and the barrier locating module is connected with flight path module is recommended, institute
The data acquisition and analysis system stated in automatic control module is connected with braking system and direction controlling module；Specific barrier-avoiding method packet
Include following steps:
S1: opening manual control module or automatic control module, allows preceding infrared sensor, rear infrared sensor, left infrared sensing
Device, right infrared sensor, upper infrared sensor and lower infrared sensor power on；
S2: by preceding infrared sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor and
Lower infrared sensor detects that unmanned plane is upper and lower at a distance from barrier all around；
S3: when manual control module, when the infrared sensor of the arbitrary orientation on unmanned plane detects between barrier
Distance when be less than or equal to 50cm, alarm system can issue alarm, and there is a barrier in prompting which orientation of user, and user can be with
According to manually adjusting heading, when user continues to keep unmanned plane during flying, the distance between unmanned plane and barrier
When less than or equal to 20cm, automatic stop module meeting stop unmanned plane, unmanned plane will not be moved, and the positioning mould that breaks the barriers
Block positions barrier, then again by recommending flight path module to provide flight path, supply user's reference for user；
S4: when automatic control module, when the infrared sensor of the arbitrary orientation on unmanned plane detects between barrier
Distance when be less than or equal to 20cm, braking system and direction controlling module in unmanned plane, can control unmanned plane towards from
Obstacle distance >=20cm direction running, to realize automatic obstacle-avoiding；
S5: when automatic control module is landed, manual control module is switched to by automatic control module, works as nothing
When the lower infrared sensor and ground location of man-machine bottom are less than or equal to 20 centimetres, by holding unmanned plane, nobody is closed
Electromechanical source realizes landing.
As a preferred technical solution of the present invention, the preceding infrared sensor, the rear infrared sensor, the left side
Infrared sensor, the right infrared sensor, the upper infrared sensor and the lower infrared sensor are screwed
In the drone body.
As a preferred technical solution of the present invention, the inside of the drone body is equipped with battery, the electric power storage
Pond respectively with the infrared sensor, the braking system, the data acquisition and analysis system, the alarm system, it is described from
Dynamic stop module, the barrier locating module and the recommendation flight path module are electrically connected.
As a preferred technical solution of the present invention, the model Sharp GP2Y0A21 of the infrared sensor is infrared
Distance measuring sensor.
As a preferred technical solution of the present invention, the alarm system includes information analysis module, information transmission mould
Block, information receiving module and automatic alarm module, the information analysis module pass through the information transfer module and the information
Receiving module is connected with the automatic alarm module, and the automatic alarm module is made of buzzer and flash lamp.
As a preferred technical solution of the present invention, the barrier locating module and the recommendation flight path module
Using Beidou satellite navigation system.
As a preferred technical solution of the present invention, there are four braking motors and propeller to constitute for the braking system,
The braking motor is fixed on four corners of the drone body.
The beneficial effects of the present invention are: the unmanned plane is equipped with both of which, one is MANUAL CONTROL mode, another kind is certainly
Dynamic control model, both of which can all make the measure of urgent avoidance before encountering barrier, not only strong flexibility, Er Qiexiang
Than traditional barrier-avoiding method, up and down front-rear direction of the unmanned plane in space can detect barrier, more ensure nobody
The in-flight safety of machine also avoids unmanned plane from not smashed by other flying objects.
Detailed description of the invention:
Fig. 1 is the working principle of the invention figure.
Fig. 2 is the side view of unmanned plane of the present invention and infrared sensor.
Fig. 3 is the top view of unmanned plane of the present invention and infrared sensor.
Specific embodiment:
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention can be easier to
Understood by those skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Embodiment 1
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of unmanned plane automatic obstacle-avoiding method, including drone body,
Drone body includes manual control module and automatic control module, and manual control module and automatic control module include infrared
Sensor, braking system, data acquisition and analysis system, which is characterized in that there are six infrared sensor is set, respectively preceding infrared biography
Sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor and lower infrared sensor, and successively
Front end, rear end, left end, right end, the top and bottom of drone body are mounted on, infrared sensor is with manual control module and certainly
Data acquisition and analysis system in dynamic control module is connected, the data acquisition and analysis system in manual control module respectively with alarm
System is connected with automatic stop module, and automatic stop module is connected with barrier locating module, barrier locating module and recommendation
Flight path module is connected, data acquisition and analysis system and braking system and direction controlling module phase in automatic control module
Even；Specific barrier-avoiding method the following steps are included:
S1: opening manual control module or automatic control module, allows preceding infrared sensor, rear infrared sensor, left infrared sensing
Device, right infrared sensor, upper infrared sensor and lower infrared sensor power on；
S2: by preceding infrared sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor and
Lower infrared sensor detects that unmanned plane is upper and lower at a distance from barrier all around；
S3: when manual control module, when the infrared sensor of the arbitrary orientation on unmanned plane detects between barrier
Distance when be less than or equal to 50cm, alarm system can issue alarm, and there is a barrier in prompting which orientation of user, and user can be with
According to manually adjusting heading, when user continues to keep unmanned plane during flying, the distance between unmanned plane and barrier
When less than or equal to 20cm, automatic stop module meeting stop unmanned plane, unmanned plane will not be moved, and the positioning mould that breaks the barriers
Block positions barrier, then again by recommending flight path module to provide flight path, supply user's reference for user；
S4: when automatic control module, when the infrared sensor of the arbitrary orientation on unmanned plane detects between barrier
Distance when be less than or equal to 20cm, braking system and direction controlling module in unmanned plane, can control unmanned plane towards from
Obstacle distance >=20cm direction running, to realize automatic obstacle-avoiding；
S5: when automatic control module is landed, manual control module is switched to by automatic control module, works as nothing
When the lower infrared sensor and ground location of man-machine bottom are less than or equal to 20 centimetres, by holding unmanned plane, nobody is closed
Electromechanical source realizes landing.
Preceding infrared sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor and under
Infrared sensor is fixed by screws in drone body, and the inside of drone body is equipped with battery, battery difference
With infrared sensor, braking system, data acquisition and analysis system, alarm system, automatic stop module, barrier locating module and
Flight path module is recommended to be electrically connected, the model Sharp GP2Y0A21 infrared distance sensor of infrared sensor, alarm
System includes that information analysis module, information transfer module, information receiving module and automatic alarm module, information analysis module pass through
Information transfer module and information receiving module are connected with automatic alarm module, and automatic alarm module is by buzzer and flash of light lamp group
At barrier locating module and recommendation flight path module use Beidou satellite navigation system, and there are four braking electricity for braking system
Machine and propeller are constituted, and braking motor is fixed on four corners of drone body.
Working principle: a kind of unmanned plane automatic obstacle-avoiding method when use, opens infrared biography before manual control module allows
Sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor connect electricity with lower infrared sensor
Source；By preceding infrared sensor, rear infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor and under it is red
Outer sensor detects that unmanned plane is upper and lower at a distance from barrier all around；When the infrared sensing of the arbitrary orientation on unmanned plane
When device detects that the distance between barrier is less than or equal to 50cm, alarm system can issue alarm, information can be transmitted
It into remote controler, is alarmed by buzzer in remote controler and flash lamp, the surrounding orientation of user's unmanned plane is reminded to have barrier
Hinder object, user can be according to manually adjusting heading, when user continues to keep unmanned plane during flying, unmanned plane and obstacle
When the distance between object is less than or equal to 20cm, automatic stop module meeting stop unmanned plane, unmanned plane will not be moved, and pass through
Barrier locating module positions barrier, is positioned using Beidou satellite system and carries out programme path, then again
By recommending flight path module to provide flight path, supply user's reference for user；
Open automatic control module allow preceding infrared sensor, rear infrared sensor, left infrared sensor, right infrared sensor, on
Infrared sensor and lower infrared sensor power on；By preceding infrared sensor, rear infrared sensor, left infrared sensor,
Right infrared sensor, upper infrared sensor and lower infrared sensor detect unmanned plane all around up and down and barrier away from
From；When the infrared sensor of the arbitrary orientation on unmanned plane detect the distance between barrier less than or equal to 20cm when
It waits, the braking system and direction controlling module in unmanned plane, unmanned plane can be controlled towards from the direction obstacle distance >=20cm
Traveling, to realize automatic obstacle-avoiding；
When automatic control module is landed, manual control module is switched to by automatic control module, when nobody
When the lower infrared sensor and ground location of motor spindle are less than or equal to 20 centimetres, by holding unmanned plane, unmanned plane is closed
Power supply realizes landing.
The unmanned plane is equipped with both of which, and one is MANUAL CONTROL mode, another kind is automatic control mode, both of which
The measure of urgent avoidance can be all made before encountering barrier, not only strong flexibility, but also compared to traditional barrier-avoiding method, the nothing
The man-machine front-rear direction up and down in space can detect barrier, more the guarantee in-flight safety of unmanned plane,
Unmanned plane is avoided not smashed by other flying objects.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Claims (7)
1. a kind of unmanned plane automatic obstacle-avoiding method, including drone body, which is characterized in that the drone body includes manual
Control module and automatic control module, the manual control module and the automatic control module include infrared sensor, system
Dynamic system, data acquisition and analysis system；There are six the infrared sensor is set, respectively preceding infrared sensor, rear infrared sensing
Device, left infrared sensor, right infrared sensor, upper infrared sensor and lower infrared sensor, and be sequentially arranged at it is described nobody
Front end, rear end, left end, right end, the top and bottom of machine ontology, the infrared sensor and the manual control module and described
The data acquisition and analysis system in automatic control module is connected, the data acquisition and analysis system in the manual control module
It is connected respectively with alarm system and automatic stop module, the automatic stop module is connected with barrier locating module, the barrier
Object locating module is hindered to be connected with flight path module is recommended, the data acquisition and analysis system and braking in the automatic control module
System is connected with direction controlling module；Specific barrier-avoiding method the following steps are included:
S1: opening the manual control module or the automatic control module, allow the preceding infrared sensor, it is described after infrared biography
Sensor, the left infrared sensor, the right infrared sensor, the upper infrared sensor are connected with the lower infrared sensor
Power supply；
S2: pass through the preceding infrared sensor, rear infrared sensor, the left infrared sensor, the right infrared sensing
Device, the upper infrared sensor and the lower infrared sensor detect that unmanned plane is upper and lower at a distance from barrier all around；
S3: when being in the manual control module, when the infrared sensor of the arbitrary orientation on unmanned plane detects and hinders
When hindering the distance between object to be less than or equal to 50cm, alarm system can issue alarm, which orientation of user is reminded to have barrier,
User can according to manually adjusting heading, when user continues to keep unmanned plane during flying, unmanned plane and barrier it
Between distance when be less than or equal to 20cm, automatic stop module can stop unmanned plane, unmanned plane will not move, and pass through obstacle
Object locating module positions barrier, is then supplied again by recommending flight path module to provide flight path for user
User's reference；
S4: when being in the automatic control module, when the infrared sensor of the arbitrary orientation on unmanned plane detects and hinders
When hindering the distance between object to be less than or equal to 20cm, braking system and direction controlling module in unmanned plane can control nobody
Machine direction is from obstacle distance >=20cm direction running, to realize automatic obstacle-avoiding；
S5: when the automatic control module is landed, being switched to manual control module by automatic control module,
When the lower infrared sensor and ground location of uav bottom are less than or equal to 20 centimetres, by holding unmanned plane, close
Unmanned electromechanical source realizes landing.
2. a kind of unmanned plane automatic obstacle-avoiding method according to claim 1, it is characterised in that: the preceding infrared sensor,
Infrared sensor, left infrared sensor, right infrared sensor, upper infrared sensor and lower infrared sensor are solid by screw afterwards
It is scheduled in the drone body.
3. a kind of unmanned plane automatic obstacle-avoiding method according to claim 1, it is characterised in that: the drone body it is interior
Portion be equipped with battery, the battery respectively with the infrared sensor, the braking system, the data collection and analysis system
System, the alarm system, the automatic stop module, the barrier locating module and the recommendation flight path module are electrical
Connection.
4. a kind of unmanned plane automatic obstacle-avoiding method according to claim 1, it is characterised in that: the infrared sensor is red
Outer distance measuring sensor.
5. a kind of unmanned plane automatic obstacle-avoiding method according to claim 1, it is characterised in that: the alarm system includes letter
Analysis module, information transfer module, information receiving module and automatic alarm module are ceased, the information analysis module passes through the letter
Breath delivery module and the information receiving module be connected with the automatic alarm module, the automatic alarm module by buzzer with
Flash lamp composition.
6. a kind of unmanned plane automatic obstacle-avoiding method according to claim 1, it is characterised in that: the barrier locating module
Beidou satellite navigation system is used with the recommendation flight path module.
7. a kind of unmanned plane automatic obstacle-avoiding method according to claim 1, it is characterised in that: there are four the braking systems
Braking motor and propeller are constituted, and the braking motor is fixed on four corners of the drone body.
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| CN201910664878.8A CN110262561A (en) | 2019-07-23 | 2019-07-23 | A kind of unmanned plane automatic obstacle-avoiding method |
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| CN110824127A (en) * | 2019-10-23 | 2020-02-21 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Intelligent unmanned aerial vehicle water quality monitoring cruise operation monitoring and alarm control method |
| CN111694369A (en) * | 2020-07-09 | 2020-09-22 | 中国人民警察大学 | Night patrol control system for police unmanned aerial vehicle |
| 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 |
| WO2022016562A1 (en) * | 2020-07-22 | 2022-01-27 | 南京科沃信息技术有限公司 | Vision-based crop protection unmanned aerial vehicle obstacle-avoidance system and obstacle avoidance method thereof |
| CN114003056A (en) * | 2021-11-05 | 2022-02-01 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle obstacle avoidance method and device, unmanned aerial vehicle and computer readable storage medium |
| EP4087227A4 (en) * | 2019-12-27 | 2023-08-09 | Vivo Mobile Communication Co., Ltd. | Electronic device |
| KR20230164330A (en) * | 2022-05-25 | 2023-12-04 | 한서대학교 산학협력단 | Avoidance maneuvering apparatus and method for dron |
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| CN110824127A (en) * | 2019-10-23 | 2020-02-21 | 军事科学院军事医学研究院环境医学与作业医学研究所 | Intelligent unmanned aerial vehicle water quality monitoring cruise operation monitoring and alarm control method |
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