CN112612294A - Unmanned aerial vehicle with automatic laser radar obstacle avoidance system - Google Patents
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Abstract
An unmanned aerial vehicle with a laser radar automatic obstacle avoidance system relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle with an obstacle avoidance function, which comprises a body, a laser radar, wings, a lifting device and a ground frame, wherein the laser radar is arranged above the body, the wings are annularly arranged on the body, the lifting device is arranged at the outer end of the wings, the lifting device comprises a propeller, a brushless direct current motor and a speed regulator, the propeller is arranged on the brushless direct current motor, the ground frame is arranged under the body, the body comprises a power supply component, an onboard computer, a positioning device and a flight state monitoring device, the onboard computer scans the surrounding environment of the unmanned aerial vehicle in real time and monitors the distance between the unmanned aerial vehicle and an obstacle through the carried laser radar device, and the measured data is processed through the onboard computer based on an automatic obstacle avoidance algorithm, make unmanned aerial vehicle have the automatic barrier function of keeping away, make unmanned aerial vehicle applicable in various occasions.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with a laser radar automatic obstacle avoidance system.
Background
At present along with the development of science and technology, unmanned aerial vehicle's quantity is also more and more, and unmanned aerial vehicle wide application in operations such as electric power, weather, agriculture, video camera, rescue and relief work, and its unmanned aerial vehicle's operational environment is complicated changeable, requires that unmanned aerial vehicle has more intellectuality. At present unmanned aerial vehicle divide into manual flight, semi-autopilot flight and autopilot flight, two kinds of first needs flight control personnel real-time operation unmanned aerial vehicle, control flight route, autopilot flight is then plan safe route before flight, import relevant data into the unmanned aerial vehicle system, later unmanned aerial vehicle is according to the route autopilot flight of predetermined flight, because the operation in-process, unmanned aerial vehicle often needs to fly at the low latitude, complicated topography condition, because traditional unmanned aerial vehicle can't realize the automatic barrier of keeping away from of high accuracy, therefore unmanned aerial vehicle can only realize automatic flight at the high altitude of keeping away from the barrier, and when the complicated region flight that is close to the barrier, just can only rely on experienced control technical staff to carry out manual supplementary flight, this makes unmanned aerial vehicle operation scope receive very big restriction.
The unmanned aerial vehicle on the existing market adopts the obstacle-avoiding scheme based on ultrasonic sensor or the obstacle-avoiding scheme based on binocular vision sensor more, but because the ultrasonic wave that ultrasonic sensor sent belongs to the mechanical wave, it attenuates easily and receives the interference, thereby lead to measurement accuracy low, and ultrasonic sensor measuring data is few, be unfavorable for unmanned aerial vehicle to keep away the obstacle, and what binocular vision sensor gathered is image information, the calculated amount and the data transmission volume of its data processing module are also bigger, thereby lead to the corresponding consumption height of power of unmanned aerial vehicle, need be equipped with high-power supply and high performance computer, high in practical cost, simultaneously binocular vision sensor receives the light influence greatly, can't use in the scene that the light is dark.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle with a laser radar automatic obstacle avoidance system, aiming at the defects and shortcomings of the prior art, the unmanned aerial vehicle scans the surrounding environment of the unmanned aerial vehicle in real time and monitors the distance between the unmanned aerial vehicle and an obstacle through a carried laser radar device, the measured data is processed through an onboard computer, and the onboard computer analyzes according to the data, so that the unmanned aerial vehicle has an automatic obstacle avoidance function, and meanwhile, the unmanned aerial vehicle also has the characteristics of wide application range and the like.
In order to achieve the purpose, the invention adopts the following technical scheme: it contains organism 1, lidar 2, wing 3, elevating gear 4 and floor stand 5, lidar 2 set up in organism 1 top, 3 annular settings of wing on organism 1, elevating gear 4 set up on 3 outer ends of wing, elevating gear 4 contain screw 41, brushless DC motor 42 and speed regulator 43, screw 41 install on brushless DC motor 42, floor stand 5 set up under organism 1, organism 1 contain power supply module 11, airborne computer 12, positioner 13, flight state monitoring device 14.
Further, the flight state monitoring device 14 includes an inertial measurement unit 141 and a pitot tube 142.
Further, the speed controller 43 is connected to the on-board computer 12 and the brushless dc motor 42.
Furthermore, the power supply assembly 11, the onboard computer 12, the positioning device 13, the inertia measurement unit 141, the airspeed head 142, the laser radar 2 and the speed governor 43 are electrically connected.
Further, the airborne computer 12, the positioning device 13, the inertial measurement unit 141, the airspeed head 142 and the laser radar 2 are connected through a serial line.
Further, an automatic obstacle avoidance system is installed in the onboard computer 12, and the operation steps of the automatic obstacle avoidance system are as follows:
1) the method comprises the steps that scene images around the unmanned aerial vehicle are collected in real time through a laser radar 2, distance information between the unmanned aerial vehicle and an obstacle is collected in real time, position information of the unmanned aerial vehicle is collected in real time through a positioning device 13, and real-time flying speed and flying direction of the unmanned aerial vehicle are collected in real time through a flying state monitoring device;
2) transmitting the data acquired in the step 1) to an onboard computer in real time in a serial port communication mode, wherein the onboard computer 12 is mainly used for image processing and running an automatic obstacle avoidance algorithm, the onboard computer 12 processes the acquired information to construct a virtual three-dimensional scene, then performs data analysis according to the constructed virtual three-dimensional scene and the obstacle avoidance algorithm, and finally generates an obstacle avoidance command according to a data analysis result;
3) according to the obstacle avoidance command obtained in the step 2), regenerating a new safe path on the airborne computer 12 through path calculation, and simultaneously sending the obstacle avoidance command to the unmanned aerial vehicle lifting device 4 by the airborne computer 12 for executing obstacle avoidance action;
further, the automatic obstacle avoidance algorithm adopts an artificial potential field algorithm, a virtual force field is artificially constructed by the method, a gravitational potential field is established at a target position of the unmanned aerial vehicle in the virtual force field, the direction of the gravitational potential field is directed to the target position by the unmanned aerial vehicle carrier according to the gravitational relation, a repulsive potential field is established at a position of an obstacle, and the direction of the repulsive potential field is directed to the unmanned aerial vehicle carrier by the obstacle, and the specific calculation steps are as follows:
1) establishing a force potential field, virtualizing the unmanned aerial vehicle as a point in coordinates in a coordinate space, wherein the point is an artificial potential field, UattFor gravitational potential fields, UrepIs a repulsive force potential field;
2) establishing an attractive force potential field, UattThe size of the gravitational potential field is equal to the distance between the unmanned aerial vehicle and the target pointProportional, and therefore the gravitational potential field function, can be established as,
wherein k isattRepresenting the positive proportional gain coefficient of the gravitational potential field, p (X, X)g)＝||Xg-X | | denotes the linear distance between the drone and the target point, Xg＝(xg，yg) Indicating the position coordinates of the target;
the negative gradient calculation is carried out on the attraction potential field function formula (a) to obtain an attraction function of the unmanned aerial vehicle in the coordinate,
3) establishing a repulsive potential field due to which UrepThere is an influence range, when the unmanned aerial vehicle enters the obstacle influence range, the unmanned aerial vehicle will be influenced by the repulsive force potential field, the size of the repulsive force borne by the unmanned aerial vehicle is inversely proportional to the distance between the unmanned aerial vehicle and the obstacle, and when the unmanned aerial vehicle is not in the obstacle influence range, the unmanned aerial vehicle is not influenced by the repulsive force potential field, at the moment, the unmanned aerial vehicle is only influenced by the attractive force potential field, therefore, the repulsive force potential field function can be established as,
in the formula, krepIs a repulsive potential field positive proportional gain coefficient, p (X, X)0)＝||X0-X | | denotes the linear distance between the drone and the obstacle, X0＝(x0，y0) Indicating the position coordinates, p, of the obstacle0Representing the maximum influence distance of the set barrier on the unmanned aerial vehicle;
calculating the negative gradient of the repulsive force potential field function formula (c) to obtain a repulsive force function of the unmanned aerial vehicle in the coordinate,
4) calculating the resultant force F of the unmanned aerial vehicle carrier in the coordinate, obtaining the resultant force according to the formulas (b) and (d),
F＝Fatt+Frep (e)。
the working principle of the invention is as follows: the invention carries a laser radar device through an unmanned aerial vehicle, utilizes the laser radar to collect the information of the surrounding environment where the unmanned aerial vehicle is located and the distance between the unmanned aerial vehicle and an obstacle in real time, and transmits the data to an onboard computer in real time, and simultaneously, the onboard computer receives the position information of the unmanned aerial vehicle in real time and the flight speed and flight direction information of the unmanned aerial vehicle collected in real time by a positioning device and a flight state monitoring device in real time, during the normal flight process of the unmanned aerial vehicle, the onboard computer flies according to the preset safe path reaching a target, and compares the information of the distance between the unmanned aerial vehicle and the obstacle measured by the laser radar with the preset safe distance of the system in real time, when the distance between the unmanned aerial vehicle and the obstacle measured by the laser radar is less than the safe distance, the onboard computer triggers the built-in automatic obstacle avoidance system, and the, the unmanned aerial vehicle obtains obstacle information on a flight path according to the laser radar in the flight process, calculates the path in real time, obtains a safe path, modifies the flight path in planning by using the calculated safe path, sends an obstacle avoidance instruction to the speed regulator through the onboard computer, and adjusts the flight direction and the flight speed of the unmanned aerial vehicle through the speed regulator to achieve the aim of finally avoiding obstacles.
After the technical scheme is adopted, the invention has the beneficial effects that: the laser radar carried by the invention has the characteristics of high automation degree, small influence by external environment, high precision of acquired information, short data generation period and the like, and meanwhile, the artificial potential field algorithm adopted by the automatic obstacle avoidance system belongs to a local path planning algorithm.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a structural configuration diagram of the body 1.
Fig. 4 is a structural composition diagram of the flight condition monitoring device 14.
Fig. 5 is a structural configuration diagram of the lifting device 4.
Fig. 6 is a flow chart of the automatic obstacle avoidance system programming.
Description of reference numerals: the aircraft comprises an engine body 1, a power supply assembly 11, an onboard computer 12, a positioning device 13, a flight state monitoring device 14, an inertia measuring unit 141, an airspeed tube 142, a laser radar 2, an airfoil 3, a lifting device 4, a propeller 41, a brushless direct current motor 42, a speed regulator 43 and a floor stand 5.
Detailed Description
Referring to fig. 1 to 6, the technical solution adopted by the present embodiment is: it contains organism 1, lidar 2, wing 3, elevating gear 4 and floor stand 5, lidar 2 set up in organism 1 top, 3 annular settings of wing on organism 1, elevating gear 4 set up on 3 outer ends of wing, elevating gear 4 contain screw 41, brushless DC motor 42 and speed regulator 43, screw 41 install on brushless DC motor 42, floor stand 5 set up under organism 1, organism 1 contain power supply module 11, airborne computer 12, positioner 13, flight status monitoring device 14, its positioner 13 is built-in GPS device.
The flight status monitoring device 14 comprises an inertial measurement unit 141 and an airspeed head 142, wherein the inertial measurement unit 141 is used for measuring the three-axis attitude angle and the acceleration of the unmanned aerial vehicle, and the airspeed head 142 is used for measuring the flight speed of the unmanned aerial vehicle.
The speed governor 43 is connected to the on-board computer 12 and the brushless dc motor 42, and the on-board computer 12 outputs PWM pulses to the speed governor 43, so that the brushless dc motor 42 changes the rotation speed and the rotation direction by the speed governor 43.
The power supply module 11, the airborne computer 12, the positioning device 13, the inertia measuring unit 141, the airspeed head 142, the laser radar 2 and the speed regulator 43 are electrically connected, and the power supply module 11 supplies power to the whole unmanned aerial vehicle system.
The airborne computer 12, the positioning device 13, the inertia measurement unit 141, the airspeed head 142 and the laser radar 2 are connected through serial lines, so that data transmission among all units is stable and reliable.
An automatic obstacle avoidance system is installed in the onboard computer 12, and the operation steps of the automatic obstacle avoidance system are as follows:
1) the method comprises the steps that scene images around the unmanned aerial vehicle are collected in real time through a laser radar 2, distance information between the unmanned aerial vehicle and an obstacle is collected in real time, position information of the unmanned aerial vehicle is collected in real time through a positioning device 13, and real-time flying speed and flying direction of the unmanned aerial vehicle are collected in real time through a flying state monitoring device;
2) transmitting the data acquired in the step 1) to an onboard computer in real time in a serial port communication mode, wherein the onboard computer 12 is mainly used for image processing and running an automatic obstacle avoidance algorithm, the onboard computer 12 processes the acquired information to construct a virtual three-dimensional scene, then performs data analysis according to the constructed virtual three-dimensional scene and the obstacle avoidance algorithm, and finally generates an obstacle avoidance command according to a data analysis result;
3) according to the obstacle avoidance command obtained in the step 2), regenerating a new safe path on the airborne computer 12 through path calculation, and simultaneously sending the obstacle avoidance command to the unmanned aerial vehicle lifting device 4 by the airborne computer 12 for executing obstacle avoidance action;
the automatic obstacle avoidance algorithm adopts an artificial potential field algorithm, a virtual force potential field is artificially constructed by the method, a gravitational potential field is established at a target position point of the unmanned aerial vehicle in the virtual force potential field, a direction is pointed to the target position point by an unmanned aerial vehicle carrier according to a gravitational relation, a repulsive force potential field is established at an obstacle position point, and the direction is pointed to the unmanned aerial vehicle carrier by an obstacle, and the method specifically comprises the following calculation steps:
1) establishing a force potential field, virtualizing the unmanned aerial vehicle as a point in coordinates in a coordinate space, wherein the point is an artificial potential field, UattFor gravitational potential fields, UrepIs a repulsive force potential field;
2) establishing an attractive force potential field, UattThe magnitude of the gravitational potential field is proportional to the distance between the drone and the target point, and therefore a gravitational potential field function may be established as,
the negative gradient calculation is carried out on the attraction potential field function formula (a) to obtain an attraction function of the unmanned aerial vehicle in the coordinate,
3) establishing a repulsive potential field due to which UrepThere is an influence range, when the unmanned aerial vehicle enters the obstacle influence range, the unmanned aerial vehicle will be influenced by the repulsive force potential field, the size of the repulsive force borne by the unmanned aerial vehicle is inversely proportional to the distance between the unmanned aerial vehicle and the obstacle, and when the unmanned aerial vehicle is not in the obstacle influence range, the unmanned aerial vehicle is not influenced by the repulsive force potential field, at the moment, the unmanned aerial vehicle is only influenced by the attractive force potential field, therefore, the repulsive force potential field function can be established as,
in the formula, krepIs a repulsive potential field positive proportional gain coefficient, p (X, X)0)＝||X0-X | | denotes the linear distance between the drone and the obstacle, X0＝(x0,y0) Indicating the position coordinates, p, of the obstacle0Representing the maximum influence distance of the set barrier on the unmanned aerial vehicle;
calculating the negative gradient of the repulsive force potential field function formula (c) to obtain a repulsive force function of the unmanned aerial vehicle in the coordinate,
4) calculating the resultant force F of the unmanned aerial vehicle carrier in the coordinate, obtaining the resultant force according to the formulas (b) and (d),
F＝Fatt+Frep (e)。
the invention carries on the laser radar device through the unmanned aerial vehicle, utilizes the laser radar to collect the surrounding environment of the unmanned aerial vehicle and the distance information between the unmanned aerial vehicle and the obstacle in real time, and transmits the data to the onboard computer in real time, simultaneously, the onboard computer receives the positioning device in real time and collects the position information of the unmanned aerial vehicle and the flight speed and flight direction information of the unmanned aerial vehicle collected by the flight state monitoring device in real time, the unmanned aerial vehicle initializes the onboard computer system at the time of taking off, after the system initializes, the target position is input into the system, and the safe flight path is positioned according to the specification of the preset map, then, the unmanned aerial vehicle flies according to the preset safe path reaching the target in the normal flight process, in the flight process, the information of the distance between the unmanned aerial vehicle and the obstacle measured by the laser radar is compared with the safe distance, when the distance between the unmanned aerial vehicle and the obstacle, measured by the laser radar, is greater than the safe distance, it indicates that the obstacle does not affect the current flight state of the unmanned aerial vehicle, the unmanned aerial vehicle continues to fly according to the preset safe path, when the distance between the unmanned aerial vehicle and the obstacle, measured by the laser radar, is less than the safe distance, the onboard computer triggers an automatic obstacle avoidance system built in the unmanned aerial vehicle, the automatic obstacle avoidance system belongs to a local path planning algorithm, the unmanned aerial vehicle acquires obstacle information on the flight path according to the laser radar in the flight process, calculates the path in real time, obtains the safe path, modifies the flight path in the planning by using the calculated safe path, sends an obstacle avoidance instruction to a speed regulator through the onboard computer, adjusts the flight direction and the flight speed of the unmanned aerial vehicle through the speed regulator, and finally achieves the purpose of avoiding the obstacle, and the.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides a take automatic unmanned aerial vehicle who keeps away barrier system of laser radar which characterized in that: it contains organism (1), laser radar (2), wing (3), elevating gear (4) and falls to the ground frame (5), laser radar (2) set up in organism (1) top, wing (3) annular set up on organism (1), elevating gear (4) set up on wing (3) outer end, elevating gear (4) contain screw (41), brushless DC motor (42) and speed regulator (43), screw (41) install on brushless DC motor (42), fall to the ground frame (5) and set up under organism (1), organism (1) contain power supply module (11), airborne computer (12), positioner (13), flight state monitoring device (14).
2. The unmanned aerial vehicle with the automatic laser radar obstacle avoidance system according to claim 1, wherein: the flight state monitoring device (14) comprises an inertial measurement unit (141) and a pitot tube (142).
3. The unmanned aerial vehicle with the automatic laser radar obstacle avoidance system according to claim 1, wherein: the speed regulator (43) is connected with the onboard computer (12) and the brushless direct current motor (42).
4. The unmanned aerial vehicle with the automatic laser radar obstacle avoidance system according to claim 1, wherein: the power supply assembly (11), the airborne computer (12), the positioning device (13), the inertia measurement unit (141), the airspeed head (142), the laser radar (2) and the speed regulator (43) are electrically connected.
5. The unmanned aerial vehicle with the automatic laser radar obstacle avoidance system according to claim 1, wherein: the airborne computer (12), the positioning device (13), the flight state monitoring device (14) and the laser radar (2) are connected through serial port lines.
6. The unmanned aerial vehicle with the automatic laser radar obstacle avoidance system according to claim 1, wherein: an automatic obstacle avoidance system is installed in the airborne computer (12), and the operation steps of the automatic obstacle avoidance system are as follows:
1) the method comprises the steps that scene images around the unmanned aerial vehicle are collected in real time through a laser radar 2, distance information between the unmanned aerial vehicle and an obstacle is collected in real time, position information of the unmanned aerial vehicle is collected in real time through a positioning device (13), and real-time flying speed and flying direction of the unmanned aerial vehicle are collected in real time through a flying state monitoring device;
2) transmitting the data acquired in the step 1) to an onboard computer in real time in a serial port communication mode, wherein the onboard computer (12) is mainly used for image processing and running an automatic obstacle avoidance algorithm, the onboard computer (12) processes the acquired information to construct a virtual three-dimensional scene, then performs data analysis according to the constructed virtual three-dimensional scene and an obstacle avoidance algorithm, and finally generates an obstacle avoidance command according to a data analysis result;
3) according to the obstacle avoidance command obtained in the step 2), a new safety path is regenerated on the airborne computer (12) through path calculation, and meanwhile, the obstacle avoidance command is sent to the unmanned aerial vehicle lifting device (4) by the airborne computer (12) and used for executing obstacle avoidance action.
7. The unmanned aerial vehicle with the automatic laser radar obstacle avoidance system according to claim 6, wherein: the automatic obstacle avoidance algorithm adopts an artificial potential field algorithm, a virtual force potential field is artificially constructed by the method, a gravitational potential field is established at a target position point of the unmanned aerial vehicle in the virtual force potential field, a direction is pointed to the target position point by an unmanned aerial vehicle carrier according to a gravitational relation, a repulsive force potential field is established at an obstacle position point, and the direction is pointed to the unmanned aerial vehicle carrier by an obstacle, and the method specifically comprises the following calculation steps:
1) establishing a force potential field, virtualizing the unmanned aerial vehicle as a point in coordinates in a coordinate space, wherein the point is an artificial potential field, UattFor gravitational potential fields, UrepIs a repulsive force potential field;
2) establishing an attractive force potential field, UattThe magnitude of the gravitational potential field is proportional to the distance between the drone and the target point, and therefore a gravitational potential field function may be established as,
wherein, UattRepresenting the positive proportional gain coefficient of the gravitational potential field, p (X, X)g)＝||Xg-X | | denotes the linear distance between the drone and the target point, Xg＝(xg,yg) Indicating the position coordinates of the target;
the negative gradient calculation is carried out on the attraction potential field function formula (a) to obtain an attraction function of the unmanned aerial vehicle in the coordinate,
3) establishing a repulsive potential field due to which UrepThere is an influence range, when the unmanned aerial vehicle enters the obstacle influence range, the unmanned aerial vehicle will be influenced by the repulsive force potential field, the size of the repulsive force borne by the unmanned aerial vehicle is inversely proportional to the distance between the unmanned aerial vehicle and the obstacle, and when the unmanned aerial vehicle is not in the obstacle influence range, the unmanned aerial vehicle is not influenced by the repulsive force potential field, at the moment, the unmanned aerial vehicle is only influenced by the attractive force potential field, therefore, the repulsive force potential field function can be established as,
in the formula, krepIs a repulsive potential field positive proportional gain coefficient, p (X, X)0)＝||X0-X | | denotes the linear distance between the drone and the obstacle, X0＝(x0,y0) Indicating the position coordinates, p, of the obstacle0Representing the maximum influence distance of the set barrier on the unmanned aerial vehicle;
calculating the negative gradient of the repulsive force potential field function formula (c) to obtain a repulsive force function of the unmanned aerial vehicle in the coordinate,
4) calculating the resultant force F of the unmanned aerial vehicle carrier in the coordinate, obtaining the resultant force according to the formulas (b) and (d),
F＝Fatt+Frep (e)。
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| CN113138397A (en) * | 2021-06-01 | 2021-07-20 | 中国计量大学 | Unmanned aerial vehicle keeps away barrier device and unmanned aerial vehicle |
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| CN113138397A (en) * | 2021-06-01 | 2021-07-20 | 中国计量大学 | Unmanned aerial vehicle keeps away barrier device and unmanned aerial vehicle |
| CN113138397B (en) * | 2021-06-01 | 2023-12-26 | 中国计量大学 | Unmanned aerial vehicle keeps away barrier device and unmanned aerial vehicle |
| CN113998109A (en) * | 2021-11-17 | 2022-02-01 | 北京京能能源技术研究有限责任公司 | Unmanned aerial vehicle with autonomous navigation of space in furnace |
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| CN115150784B (en) * | 2022-09-02 | 2022-12-06 | 汕头大学 | Unmanned aerial vehicle cluster area coverage method and device based on gene regulation and control network |
| CN117516511A (en) * | 2023-12-05 | 2024-02-06 | 长沙云软信息技术有限公司 | Highway geographic information navigation survey method based on unmanned aerial vehicle |
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