CN114047788B - Automatic keep away mooring unmanned aerial vehicle of barrier and follow car system - Google Patents
Automatic keep away mooring unmanned aerial vehicle of barrier and follow car system Download PDFInfo
- Publication number
- CN114047788B CN114047788B CN202210024128.6A CN202210024128A CN114047788B CN 114047788 B CN114047788 B CN 114047788B CN 202210024128 A CN202210024128 A CN 202210024128A CN 114047788 B CN114047788 B CN 114047788B
- Authority
- CN
- China
- Prior art keywords
- obstacle
- aerial vehicle
- unmanned
- unmanned aerial
- mooring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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 captive unmanned aerial vehicle following system capable of automatically avoiding obstacles. The system comprises a detection module, a feedback module and a control module, wherein the detection module is used for transmitting a detection signal and receiving a return signal; the measuring module is connected with the detecting module and used for judging whether an obstacle exists above the road in the current traveling direction range, if so, the appearance characteristics of the outer contour of the obstacle are further calculated, and the position relation between the obstacle and the current road is calculated based on the appearance characteristics of the outer contour of the obstacle; keep away the barrier module and be connected respectively with measuring device, unmanned transport vechicle and mooring unmanned aerial vehicle for whether the current barrier satisfies the condition of keeping away based on the position relation judgement, if, then the barrier control command is kept away in the generation, and unmanned transport vechicle and mooring unmanned aerial vehicle are marchd according to keeping away the barrier control command respectively, in order to keep away the barrier. The invention can solve the problem of automatic obstacle avoidance of the mooring unmanned aerial vehicle system, enlarge the free operation radius and improve the response speed.
Description
Technical Field
The invention relates to the technical field of a follow-up system of a tethered unmanned aerial vehicle, in particular to a follow-up system of a tethered unmanned aerial vehicle capable of automatically avoiding obstacles.
Background
Mooring unmanned aerial vehicle is many rotor unmanned aerial vehicle's a special form, utilizes the ground advantage of ground unmanned transport vechicle to transmit the power for unmanned aerial vehicle through mooring cable, replaces traditional machine to carry the power, and the long-time ground of for unmanned aerial vehicle stagnates and suspends and provide technical solution. The ground unmanned transport vehicle provides sustainable power supply and wired communication for the tethered drone through the tethered cable. Be provided with basic station and RTK dual antenna on the unmanned transport vechicle in ground, be provided with the RTK dual antenna on the mooring unmanned aerial vehicle, provide the mutual calibration of geographical coordinate information for both, realize the wireless data communication function simultaneously. The main application scene of the mooring unmanned aerial vehicle is to provide reliable emergency response services in the aspects of communication relay, emergency lighting and high-altitude observation and monitoring when a natural disaster happens. Aiming at the application scene, the obstacle avoidance function is not considered before, and accidents can occur when low-altitude or high-altitude obstacles are met, so that the damage to the unmanned aerial vehicle or the mooring cable is caused.
Disclosure of Invention
The invention aims to provide a captive unmanned aerial vehicle following system capable of automatically avoiding obstacles aiming at the defects in the prior art.
In order to achieve the above object, the present invention provides a tethered unmanned aerial vehicle following system capable of automatically avoiding obstacles, including an unmanned transport vehicle, a tethered unmanned aerial vehicle, and a tethered cable connected between the unmanned transport vehicle and the tethered unmanned aerial vehicle, wherein the unmanned transport vehicle is provided with a base station and RTK dual antennas, the tethered unmanned aerial vehicle is provided with RTK dual antennas, the unmanned transport vehicle is configured to receive a transition instruction issued by a control center and download an electronic map including a travel path, and simultaneously travels on a centerline of a corresponding road according to the electronic map, the unmanned transport vehicle is further configured to send a travel control instruction to the tethered unmanned aerial vehicle so that the tethered unmanned aerial vehicle is maintained directly above the unmanned transport vehicle, and further including:
the two detection modules are respectively arranged on the unmanned transport vehicle and the tethered unmanned aerial vehicle and used for transmitting detection signals to the area above the road within the set range of the current traveling direction and receiving return signals;
the measuring module is connected with the detecting module and used for judging whether an obstacle exists above the road in the current traveling direction range or not based on the return signal, if so, the appearance characteristic of the outer contour of the obstacle is further calculated, and the position relation between the obstacle and the current road is calculated based on the appearance characteristic of the outer contour of the obstacle;
keep away the barrier module, with measurement module, unmanned transport vehicle and mooring unmanned aerial vehicle connect respectively, are used for based on whether the current barrier of position relation judgement satisfies the condition of keeping away, if, then generate and keep away barrier control command, and will keep away barrier control command and send to unmanned transport vehicle and mooring unmanned aerial vehicle, so that unmanned transport vehicle and mooring unmanned aerial vehicle are marchd according to keeping away barrier control command respectively, in order to avoid the barrier.
Further, the step of determining whether the current obstacle satisfies the avoidance condition based on the position relationship specifically includes:
establishing a coordinate system by taking an anchoring point of a mooring cable on the unmanned transport vehicle as an O point, taking the traveling direction of the unmanned transport vehicle as an X-axis direction, taking the transverse direction of the unmanned transport vehicle as a Y-axis direction and taking the height direction of the unmanned transport vehicle as a Z axis;
carrying out graphical processing on the appearance characteristics of the outer contour of the obstacle to obtain panoramic information of the outer contour of the obstacle projected on an XOY plane;
calculating Y-axis coordinate value Y of leftmost boundary point according to projection of outer contour of obstacle on XOY planeLAnd Y-axis coordinate value Y of rightmost boundary pointR；
When Y of each obstacleLAnd YRAnd when the road center of the front side of the current unmanned transport vehicle is a positive value or a negative value, determining that a clearance area is arranged above the road center of the front side of the current unmanned transport vehicle, and meeting the obstacle avoidance condition of a clearance area obstacle avoidance mode.
Further, the mode of obstacle mode is kept away in headroom district is as follows, based on set up both sides position coordinate and calculate the direction of travel in real time of the RTK antenna on unmanned transport vechicle and the mooring unmanned aerial vehicle, through the real-time calculation result of the real-time communication transmission position relation of mooring cable anchoring point on the unmanned transport vechicle, mooring cable and mooring cable anchoring point on the mooring unmanned aerial vehicle keep under the prerequisite in the XOZ plane, control unmanned transport vechicle and mooring unmanned aerial vehicle and advance in step.
Further, the method also comprises the following steps:
and when the projection of the outer contour of the obstacle on the XOY plane exceeds the center line of the current road, but no other obstacle exists on the opposite side of the obstacle, determining that no clearance area exists in the front upper part of the current unmanned transport vehicle, and meeting the obstacle avoidance condition of the obstacle avoidance mode.
Further, the bypassing obstacle avoidance mode is as follows:
carrying out graphical processing on the appearance characteristics of the outer contour of the obstacle to obtain panoramic information of the outer contour of the obstacle projected on a YOZ plane;
get YLSum of absolute values of YRThe smaller point in the absolute value of (a) is taken as a first division point, and a straight line passing through the point O and the first division point is made, wherein the straight line divides the projection of the outer contour of the obstacle on the YOZ plane into S1 and S2;
if one of the S1 or S2 is empty, an acute angle formed by the straight line and the Y axis is an ultimate obstacle avoidance angle;
the real-time calculation result of the position relation is transmitted through real-time communication of a mooring cable based on real-time kinematic (RTK) antennas arranged on the unmanned transport vehicle and the mooring unmanned aerial vehicle to control the mooring unmanned aerial vehicle to move towards the Y directionLSum of absolute values of YRThe smaller side of the absolute values of the angles is flown, so that the acute angle formed by the mooring cable and the Y axis is smaller than the limit obstacle avoidance angle, the angle is kept, and the unmanned transport vehicle and the mooring unmanned aerial vehicle synchronously advance on the premise that the mooring cable anchoring point on the unmanned transport vehicle, the mooring cable and the mooring cable anchoring point on the unmanned aerial vehicle are kept in the YOZ plane.
Further, if neither of the S1 and S2 is empty, the straight line is rotated downward N times with the point O as a rotation point, N is a natural number equal to or greater than 1, each time the straight line is rotated by a set angle, the rotated straight line divides the projection of the outer contour of the obstacle on the YOZ plane into SN1 or SN2, until one of SN1 or SN2 into which the rotated straight line is divided is empty, and an acute angle formed by the straight line at that time and the Y axis is used as a limit obstacle avoidance angle.
Further, when there is no clearance area and the obstacle avoidance condition of the obstacle avoidance mode is not satisfied in the detour, the unmanned transport vehicle sends a stop and fall obstacle avoidance instruction to the tethered unmanned aerial vehicle, so that both the tethered unmanned aerial vehicle and the unmanned transport vehicle stop traveling temporarily, then the tethered unmanned aerial vehicle lands, after the unmanned aerial vehicle lands on the stop platform safely, the unmanned aerial vehicle travels forward, and after leaving the obstacle section, the unmanned transport vehicle sends a lift-off instruction, so that the tethered unmanned aerial vehicle lifts off.
Further, the detection module includes the laser radar module, and it includes two, and two laser radar modules set up respectively on mooring unmanned aerial vehicle and the unmanned transport vechicle.
Has the advantages that: according to the invention, the detection modules are respectively arranged on the unmanned transport vehicle and the tethered unmanned aerial vehicle, so that the obstacle above the current road can be accurately identified, different obstacle avoidance modes are adopted according to the characteristics of the obstacle, the automatic obstacle avoidance problem of the tethered unmanned aerial vehicle system can be solved, the free operation radius is enlarged, and when natural disasters happen suddenly, the unmanned transport vehicle can reach the destination in time, so that reliable emergency response services in the aspects of communication relay, emergency lighting and high-altitude observation and monitoring are provided in time.
Drawings
Fig. 1 is a schematic diagram of a captive unmanned aerial vehicle following system for automatic obstacle avoidance according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of the scanning range of a detection module on an unmanned transport vehicle;
fig. 3 is a schematic view of the scan range of a detection module on a tethered drone;
FIG. 4 is a schematic view of an obstacle above the left side of a roadway but not beyond the centerline of the roadway;
FIG. 5 is a schematic view of an obstacle above the right side of a roadway but not beyond the centerline of the roadway;
FIG. 6 is a schematic view of an obstacle over both sides of a roadway but not exceeding the centerline of the roadway;
FIG. 7 is a schematic view of a clearance area formed by obstacles above both sides of a roadway, but neither exceeding the centerline of the roadway;
FIG. 8 is a schematic view of an obstacle above the left side of a roadway but beyond the centerline of the roadway;
FIG. 9 is a schematic view of an obstacle above the right side of a roadway but beyond the centerline of the roadway;
FIG. 10 is a schematic view of the obstacle above both sides of the roadway but with the left obstacle beyond the centerline of the roadway;
FIG. 11 is a schematic view of an obstacle above both sides of a roadway but with the right obstacle passing over the centerline of the roadway.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical solution of the present invention, and it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an automatic obstacle avoidance following system for a tethered unmanned aerial vehicle, including an unmanned transport vehicle 1, a tethered unmanned aerial vehicle 2, and a tethered cable 3 connected between the unmanned transport vehicle 1 and the tethered unmanned aerial vehicle 2. Be provided with basic station and RTK dual antenna on the unmanned transport vechicle 1, be provided with the RTK dual antenna on the unmanned aerial vehicle 2 of mooring, the RTK dual antenna provides the mutual calibration of geographical coordinate information for both, realizes wireless data communication function simultaneously. Unmanned transport vechicle 1 provides logistics support tasks such as navigation, power supply for mooring unmanned aerial vehicle 2's support equipment. Mooring cable 3 is the middle tie equipment between unmanned transport vechicle 1 and mooring unmanned aerial vehicle 2, ensures that the power of unmanned transport vechicle 1 reliably reaches mooring unmanned aerial vehicle 2, provides the link of wired communication contact for unmanned ground transport vechicle and mooring unmanned aerial vehicle simultaneously. The mooring unmanned aerial vehicle 2 is aerial work equipment, and provides reliable emergency response services in the aspects of communication relay, emergency lighting and aerial observation monitoring when natural disasters happen suddenly. The unmanned transport vehicle 1 is used for receiving a transition instruction issued by the control center, downloading an electronic map containing a driving path, and driving on a central line of a corresponding road according to the electronic map. It should be noted that the width of the road and the center line thereof may be acquired by an electronic map, or the unmanned transportation vehicle 1 may acquire these information by scanning. The unmanned transport vehicle 1 is also configured to send a travel control instruction to the tethered drone 2 to hold the tethered drone 2 directly above the unmanned transport vehicle. The above is the prior art and is not described in detail. The invention also comprises a detection module, a measurement module and an obstacle avoidance module.
The detection module is used for transmitting detection signals to the area above the road within the set range of the current traveling direction and receiving return signals. The detection module preferably adopts the laser radar module to preferably adopt two, two detection modules set up respectively on unmanned transport vechicle 1 and mooring unmanned aerial vehicle 2. Referring to fig. 2 and 3, fig. 2 illustrates the scanning area of the detection module provided on the unmanned transport vehicle 1, and fig. 3 illustrates the scanning area of the detection module provided on the tethered drone 2. In the advancing process, the unmanned transport vehicle 1 sends a scanning instruction to a detection module arranged on the front side of the unmanned transport vehicle, the unmanned transport vehicle scans in a conical area with an angle alpha at a distance L from the ground to the front, and controls the detection module to scan the landform characteristics in the advancing direction and identify the condition of the obstacle in the advancing direction. The tethered unmanned aerial vehicle 2 synchronously sends scanning instructions to the detection modules arranged at the front lower side of the tethered unmanned aerial vehicle, and scans a conical area with a forward distance L and an angle beta at the air height H. The obstacle is an obstacle that mainly affects the passage of the mooring cable 3, such as a tree on both sides of a road, and is assumed to be in a clear state on the road, and the travel of the mooring drone 2 is not affected by the obstacle because the flying height of the mooring drone 2 is high, generally 100 meters or more.
The measuring module is connected with the detecting module and used for judging whether an obstacle exists above the road in the current traveling direction range or not based on the return signal, if so, the appearance characteristic of the outer contour of the obstacle is further calculated, and the position relation between the obstacle and the current road is calculated based on the appearance characteristic of the outer contour of the obstacle. In addition, when an obstacle is detected in the process of traveling, the system immediately starts an obstacle avoidance work flow, firstly, the tethered unmanned aerial vehicle 2 and the unmanned transport vehicle 1 stop traveling temporarily, and the ground and the air are matched to confirm the outline of the obstacle.
Keep away the barrier module and be connected respectively with measuring module, unmanned transport vehicle 1 and mooring unmanned aerial vehicle 2 for whether the current barrier satisfies the condition of keeping away based on the position relation judgement between barrier and the current road, if, then generate and keep away barrier control command, and will keep away barrier control command and send to unmanned transport vehicle 1 and mooring unmanned aerial vehicle 2, so that unmanned transport vehicle 1 and mooring unmanned aerial vehicle 2 are marchd according to keeping away barrier control command respectively, in order to avoid the barrier.
The embodiment of the present invention, which determines whether the current obstacle satisfies the avoidance condition based on the position relationship between the obstacle and the current road, specifically includes:
a coordinate system is established with the anchoring point of the mooring cable on the unmanned transport vehicle 1 as the point O, the advancing direction of the unmanned transport vehicle 1 as the X-axis direction, the transverse direction of the unmanned transport vehicle 1 as the Y-axis direction, and the height direction of the unmanned transport vehicle 1 as the Z-axis. And carrying out graphical processing on the appearance characteristics of the outer contour of the obstacle to obtain panoramic information of the outer contour of the obstacle projected on an XOY plane. Calculating Y-axis coordinate value Y of leftmost boundary point according to projection of outer contour of obstacle on XOY planeLAnd Y-axis coordinate value Y of rightmost boundary pointR. When Y of each obstacleLAnd YRAnd when the road center of the front side of the current unmanned transport vehicle 1 is a positive value or a negative value, determining that a clearance area is arranged above the road center of the front side of the current unmanned transport vehicle 1, and meeting the obstacle avoidance condition of a clearance area obstacle avoidance mode.
Referring specifically to fig. 4 to 7, Wt in the drawings is the width of the unmanned transport vehicle 1, Wr is the width of the road, and fig. 4 illustrates that the obstacle is on the upper left side of the road. When the projection of the obstacle on the XOY plane does not pass through the center line of the road, YLAnd YRBoth positive values. FIG. 5 illustrates an obstacle above the right side of the roadway, when the projection of the obstacle on the XOY plane does not pass through the centerline of the roadway, YLAnd YRAre simultaneously negativeThe value is obtained. FIG. 6 shows two obstacles above the two sides of the road, respectively, and when the projections of the two obstacles on the XOY plane do not pass through the center line of the road, the projection of the obstacle on the left side is YLAnd YRBoth positive and Y of right-hand obstacleLAnd YRAnd is also negative. At this time, it is determined that a clearance area is located above the middle of the road on the front side of the current unmanned transport vehicle 1, and obstacle avoidance conditions of a clearance area obstacle avoidance mode are met. Fig. 7 illustrates clearance zones formed when two obstacles are located on both sides of the center line of the roadway, respectively.
The mode of obstacle mode is kept away in headroom district is as follows, based on set up the RTK antenna on unmanned transport vechicle 1 and mooring unmanned aerial vehicle 2 obtain both sides position coordinate in real time and calculate the direction of travel, through the real-time calculation result of the real-time communication transmission position relation of mooring cable, mooring cable anchor point on unmanned transport vechicle 1, mooring cable 3 and mooring cable anchor point on mooring unmanned aerial vehicle 2 keep under the prerequisite in the XOZ plane, control unmanned transport vechicle 1 and mooring unmanned aerial vehicle 3 and advance in step. That is, the unmanned transport vehicle 1 is controlled to keep advancing along the center line of the road, the unmanned aerial vehicle 2 is kept right above the unmanned transport vehicle 1, and the mooring cable 3 is kept in a stretched state.
The embodiment of the invention also comprises the following steps: when Y of the obstacleLAnd YRWhen the distance between the two obstacles is positive and negative, the projection of the outer contour of the obstacle on the XOY plane exceeds the center line of the current road, and at the moment, if no other obstacle exists on the opposite side of the obstacle, the situation that no clearance area exists above the current unmanned transport vehicle is judged, and the obstacle avoidance condition of the obstacle avoidance mode is met.
With particular reference to fig. 8 and 9, fig. 8 illustrates an obstacle above the left side of the roadway, when the projection of the obstacle on the XOY plane passes through the centerline of the roadway, YLIs a positive value, YRIs negative and YLIs greater than YRAbsolute value of (a). FIG. 9 illustrates an obstacle above the right side of the roadway, when the projection of the obstacle on the XOY plane passes through the centerline of the roadway, YLIs a positive value, YRIs negative and YLIs less than YRAbsolute value of (a). At the moment, it is judged that no clearance area exists above the current unmanned transport vehicle, and obstacle avoidance conditions of the bypassing obstacle avoidance mode are met.
The bypassing obstacle avoidance mode of the embodiment of the invention has the following mode:
and carrying out graphical processing on the appearance characteristics of the outer contour of the obstacle to obtain panoramic information of the outer contour of the obstacle projected on a YOZ plane. The Y-axis coordinate value of the boundary point of the outer contour of the obstacle on the leftmost projection of the YOZ plane is YLThe Y-axis coordinate value of the rightmost boundary point is YRThe two boundary points are identical to the projection result on the XOY plane.
Get YLSum of absolute values of YRThe smaller point of the absolute values of (a) is taken as a first division point, a straight line passing through the point (O) and the first division point is made, and the outer contour of the obstacle is divided into S1 and S2 by the projection of the straight line on the YOZ plane. Y is aboveLSum of absolute values of YRThe smaller side in the absolute value of the distance between the two obstacles is the avoidance side, and when the obstacle is mainly positioned on the left side of the center line of the road, the right side is the avoidance side; when the obstacle is mainly positioned above the right side of the center line of the road, the left side is the avoidance side. For some obstacles, a straight line passing through the point O and the first division point intersects with the outer contour of the obstacle only at the first division point in the projection of the YOZ plane, in which case one of S1 or S2 is empty, and the other is equal to the whole projection of the outer contour of the obstacle in the projection of the YOZ plane, and at this time, the acute angle formed by the straight line and the Y axis is the limit obstacle avoidance angle. Under the condition, the real-time calculation result of the position relation is transmitted through the real-time communication of the mooring cable based on the real-time kinematic (RTK) antennas arranged on the unmanned transport vehicle and the mooring unmanned aerial vehicle to control the mooring unmanned aerial vehicle to move to the Y directionLSum of absolute values of YRThe smaller side (avoidance side) of the absolute value of (a), so that the acute angle formed by the mooring cable 3 and the Y axis is smaller than the limit avoidance angle, and then the angle is maintained, and on the premise that the mooring cable anchoring point on the unmanned transport vehicle 1, the mooring cable 3, and the mooring cable anchoring point on the mooring drone 2 are maintained within the YOZ plane,and controlling the unmanned transport vehicle 1 and the mooring unmanned aerial vehicle 2 to synchronously advance. Travel may be controlled by setting an angle threshold, such as 3 ° or 5 °, and then making the acute angle formed by the tethered cable 3 with the Y-axis less than the angle threshold.
In addition, when the clearance area and the non-clearance area can detour on road sections alternately, the clearance area road sections are processed according to a clearance area obstacle avoidance mode, the non-clearance area road sections are processed according to a detour obstacle avoidance mode, and the scene switching transition section needs to be smoothly transited through reasonable adjustment of the travelling speed and the relative position.
For some shape obstacles, S1 and S2 obtained by dividing the outer contour of the obstacle by the straight line passing through the point O and the first dividing point in the projection on the YOZ plane may not be empty, in this case, the straight line is rotated downward N times by taking the point O as a rotation point, N is a natural number greater than or equal to 1, each rotation is set for an angle, for example, the straight line after rotation can rotate 1 ° each time to divide the outer contour of the obstacle into SN1 or SN2 in the projection on the YOZ plane until one of SN1 or SN2 divided by the straight line after rotation is empty, and the acute angle formed by the straight line at that time and the Y axis is taken as a limit obstacle avoidance angle, and then the obstacle is avoided by bypassing in the above manner.
Referring to fig. 10 and 11, when there are obstacles on both sides of the road and the projection of the outline of the obstacle on one side on the XOY plane exceeds the center line of the road, it is determined that there is no clearance area and the obstacle avoidance mode cannot be satisfied, at this time, the unmanned transport vehicle sends a landing obstacle avoidance command to the tethered unmanned aerial vehicle, so that both the tethered unmanned aerial vehicle and the unmanned transport vehicle stop traveling temporarily, then the tethered unmanned aerial vehicle lands, after the unmanned aerial vehicle lands safely on the parking platform, the unmanned transport vehicle carries the unmanned aerial vehicle to travel forward, and after the unmanned aerial vehicle leaves the obstacle section, the unmanned transport vehicle sends an ascent command to lift the tethered unmanned aerial vehicle. It should be noted that the clearance area does not exist and the obstacle avoidance mode for bypassing is not satisfied, and the obstacle avoidance mode is not limited to the above-mentioned case of the obstacle, and may be a case of passing through a tunnel, for example, but the obstacle avoidance mode for stopping and landing may be adopted for obstacle avoidance.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that other parts not specifically described are within the skill or common general knowledge of one of ordinary skill in the art. Without departing from the principle of the invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the scope of the invention.
Claims (7)
1. The utility model provides an automatic keep away mooring unmanned aerial vehicle of barrier with car system, includes unmanned transport vechicle, mooring unmanned aerial vehicle and connects the mooring cable between unmanned transport vechicle and mooring unmanned aerial vehicle, be provided with basic station and RTK dual antenna on the unmanned transport vechicle, be provided with the RTK dual antenna on the mooring unmanned aerial vehicle, its characterized in that, unmanned transport vechicle is used for receiving the transition instruction that control center assigned to download the electronic map that contains the route of traveling, simultaneously according to electronic map traveles on the central line of corresponding road, unmanned transport vechicle still is used for sending the control command of marcing to mooring unmanned aerial vehicle, so that mooring unmanned aerial vehicle keeps directly over unmanned transport vechicle, still includes:
the two detection modules are respectively arranged on the unmanned transport vehicle and the tethered unmanned aerial vehicle and used for transmitting detection signals to the area above the road within the set range of the current traveling direction and receiving return signals;
the measuring module is connected with the detecting module and used for judging whether an obstacle exists above the road in the current traveling direction range or not based on the return signal, if so, the appearance characteristic of the outer contour of the obstacle is further calculated, and the position relation between the obstacle and the current road is calculated based on the appearance characteristic of the outer contour of the obstacle;
the obstacle avoidance module is connected with the measuring module, the unmanned transport vehicle and the mooring unmanned aerial vehicle respectively and used for judging whether the current obstacle meets an avoidance condition or not based on the position relation, if so, an obstacle avoidance control instruction is generated and sent to the unmanned transport vehicle and the mooring unmanned aerial vehicle so that the unmanned transport vehicle and the mooring unmanned aerial vehicle respectively travel according to the obstacle avoidance control instruction to avoid the obstacle;
judging whether the current obstacle meets the avoidance condition based on the position relationship specifically includes:
establishing a coordinate system by taking an anchoring point of a mooring cable on the unmanned transport vehicle as an O point, taking the traveling direction of the unmanned transport vehicle as an X-axis direction, taking the transverse direction of the unmanned transport vehicle as a Y-axis direction and taking the height direction of the unmanned transport vehicle as a Z axis;
carrying out graphical processing on the appearance characteristics of the outer contour of the obstacle to obtain panoramic information of the outer contour of the obstacle projected on an XOY plane;
calculating Y-axis coordinate value Y of leftmost boundary point according to projection of outer contour of obstacle on XOY planeLAnd Y-axis coordinate value Y of rightmost boundary pointR；
When Y of each obstacleLAnd YRAnd when the road center of the front side of the current unmanned transport vehicle is a positive value or a negative value, determining that a clearance area is arranged above the road center of the front side of the current unmanned transport vehicle, and meeting the obstacle avoidance condition of a clearance area obstacle avoidance mode.
2. The tethered unmanned aerial vehicle car tracking system of automatic obstacle avoidance of claim 1, wherein the mode of the clearance area obstacle avoidance mode is such that based on RTK antennas provided on the unmanned transport vehicle and the tethered unmanned aerial vehicle to obtain both position coordinates in real time and calculate the direction of travel, the real-time calculation result of the position relationship is transmitted by real-time communication of the tethered cable, and on the premise that the tethered cable anchor point on the unmanned transport vehicle, the tethered cable and the tethered cable anchor point on the tethered unmanned aerial vehicle are maintained in the XOZ plane, the unmanned transport vehicle and the tethered unmanned aerial vehicle are controlled to travel synchronously.
3. The automatic obstacle avoidance tethered unmanned aerial vehicle car following system of claim 1, further comprising:
and when the projection of the outer contour of the obstacle on the XOY plane exceeds the center line of the current road, but no other obstacle exists on the opposite side of the obstacle, determining that no clearance area exists in the front upper part of the current unmanned transport vehicle, and meeting the obstacle avoidance condition of the obstacle avoidance mode.
4. The tethered unmanned aerial vehicle following system of claim 3, wherein the obstacle avoidance by detour mode is as follows:
carrying out graphical processing on the appearance characteristics of the outer contour of the obstacle to obtain panoramic information of the outer contour of the obstacle projected on a YOZ plane;
get YLSum of absolute values of YRThe smaller point in the absolute value of (a) is taken as a first division point, and a straight line passing through the point O and the first division point is made, wherein the straight line divides the projection of the outer contour of the obstacle on the YOZ plane into S1 and S2;
if one of the S1 or S2 is empty, an acute angle formed by the straight line and the Y axis is an ultimate obstacle avoidance angle;
the real-time calculation result of the position relation is transmitted through real-time communication of a mooring cable based on real-time kinematic (RTK) antennas arranged on the unmanned transport vehicle and the mooring unmanned aerial vehicle to control the mooring unmanned aerial vehicle to move towards the Y directionLSum of absolute values of YRThe smaller side of the absolute values of the angles is flown, so that the acute angle formed by the mooring cable and the Y axis is smaller than the limit obstacle avoidance angle, the angle is kept, and the unmanned transport vehicle and the mooring unmanned aerial vehicle synchronously advance on the premise that the mooring cable anchoring point on the unmanned transport vehicle, the mooring cable and the mooring cable anchoring point on the unmanned aerial vehicle are kept in the YOZ plane.
5. The automatic obstacle avoidance tethered unmanned aerial vehicle car following system of claim 4, wherein if neither of said S1 or S2 is empty, said straight line is rotated downward N times with O point as a rotation point, N is a natural number greater than or equal to 1, each time the straight line is rotated by a set angle, the rotated straight line segments the outer contour of the obstacle into SN1 or SN2 in the projection on the YOZ plane until one of SN1 or SN2 into which the rotated straight line is segmented is empty, and an acute angle formed by the straight line at that time and the Y axis is taken as a limit obstacle avoidance angle.
6. The system of claim 3, wherein when there is no clearance area and the obstacle avoidance condition of the obstacle avoidance by-pass mode is not satisfied, the unmanned transportation vehicle sends a landing obstacle avoidance command to the unmanned transportation vehicle, so that both the unmanned transportation vehicle and the unmanned transportation vehicle stop traveling temporarily, and then the unmanned transportation vehicle lands, and after the unmanned transportation vehicle lands safely on the landing platform, the unmanned transportation vehicle travels forwards, and after leaving the obstacle section, the unmanned transportation vehicle sends a lift-off command to lift the unmanned transportation vehicle off.
7. The automatic obstacle avoidance tethered unmanned aerial vehicle car tracking system of claim 1, wherein said detection module comprises two lidar modules, two lidar modules being disposed on said tethered unmanned aerial vehicle and said unmanned transport vehicle, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210024128.6A CN114047788B (en) | 2022-01-11 | 2022-01-11 | Automatic keep away mooring unmanned aerial vehicle of barrier and follow car system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210024128.6A CN114047788B (en) | 2022-01-11 | 2022-01-11 | Automatic keep away mooring unmanned aerial vehicle of barrier and follow car system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114047788A CN114047788A (en) | 2022-02-15 |
| CN114047788B true CN114047788B (en) | 2022-04-15 |
Family
ID=80213619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210024128.6A Active CN114047788B (en) | 2022-01-11 | 2022-01-11 | Automatic keep away mooring unmanned aerial vehicle of barrier and follow car system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114047788B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102026793B1 (en) * | 2019-06-03 | 2019-11-04 | 조순식 | Wired drone system having two winches |
| CN110869872A (en) * | 2018-11-30 | 2020-03-06 | 深圳市大疆创新科技有限公司 | Method and device for accurately determining obstacle and computer-readable storage medium |
| CN111781949A (en) * | 2020-07-03 | 2020-10-16 | 江苏大学 | Method for avoiding rod-shaped obstacle by unmanned aerial vehicle |
| CN112306087A (en) * | 2019-07-29 | 2021-02-02 | 极光飞行科学公司 | System and method for generating flight path to navigate aircraft |
| CN113022879A (en) * | 2021-05-17 | 2021-06-25 | 南京航天国器智能装备有限公司 | Follow car and tie unmanned aerial vehicle and keep away barrier system |
| CN113900443A (en) * | 2021-09-28 | 2022-01-07 | 合肥工业大学 | Unmanned aerial vehicle obstacle avoidance early warning method and device based on binocular vision |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200385116A1 (en) * | 2019-06-06 | 2020-12-10 | Motorola Solutions, Inc. | System and Method of Operating a Vehicular Computing Device to Selectively Deploy a Tethered Vehicular Drone for Capturing Video |
-
2022
- 2022-01-11 CN CN202210024128.6A patent/CN114047788B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110869872A (en) * | 2018-11-30 | 2020-03-06 | 深圳市大疆创新科技有限公司 | Method and device for accurately determining obstacle and computer-readable storage medium |
| KR102026793B1 (en) * | 2019-06-03 | 2019-11-04 | 조순식 | Wired drone system having two winches |
| CN112306087A (en) * | 2019-07-29 | 2021-02-02 | 极光飞行科学公司 | System and method for generating flight path to navigate aircraft |
| CN111781949A (en) * | 2020-07-03 | 2020-10-16 | 江苏大学 | Method for avoiding rod-shaped obstacle by unmanned aerial vehicle |
| CN113022879A (en) * | 2021-05-17 | 2021-06-25 | 南京航天国器智能装备有限公司 | Follow car and tie unmanned aerial vehicle and keep away barrier system |
| CN113900443A (en) * | 2021-09-28 | 2022-01-07 | 合肥工业大学 | Unmanned aerial vehicle obstacle avoidance early warning method and device based on binocular vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114047788A (en) | 2022-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR0176302B1 (en) | Apparatus for and method of controlling vehicular systems while travelling | |
| CN109035832A (en) | Signal lamp intersection intelligence traffic system based on V2X communication | |
| CN208477372U (en) | A kind of automated driving system | |
| US8090489B2 (en) | Computerized driverless vehicles and traffic control system | |
| CA2290118C (en) | Automatic guidance system for flight vehicle having parafoil and navigation guidance apparatus for the system | |
| AU2019301524A1 (en) | Control of automated following in vehicle convoys | |
| CN109901580A (en) | A kind of unmanned plane cooperates with unmanned ground robot follows diameter obstacle avoidance system and its method | |
| CN110716558A (en) | Automatic driving system for non-public road based on digital twin technology | |
| CN108646748A (en) | A kind of place unmanned vehicle trace tracking method and system | |
| CN113791621B (en) | Automatic steering tractor and airplane docking method and system | |
| CN109564729A (en) | Apparatus for measuring road, car-mounted device and vehicle | |
| EP2775366A2 (en) | Autonomous aircraft guiding mobile unit | |
| CN105015521A (en) | Automatic parking device of large vehicle based on magnetic nail | |
| JP2001109519A (en) | Travel control unit for vehicle | |
| CN105955257A (en) | Bus automatic driving system based on fixed route and driving method thereof | |
| CN111309053B (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle return control method, unmanned aerial vehicle, medium and control system | |
| CN111966104A (en) | Fusion navigation vehicle automatic driving system and method based on magnetic nail | |
| CN112817307A (en) | Vehicle auxiliary driving system and method based on unmanned aerial vehicle road perception | |
| CN110428619A (en) | A kind of intelligent driving method based on bus or train route cooperative system | |
| JP2018160134A (en) | Moving body, moving body control system, moving body control method | |
| CN107091647A (en) | Harbour container level carries unmanned vehicle navigation method | |
| JPH1144551A (en) | Mounted-type navigation apparatus including topography display function | |
| CN111465556A (en) | Information processing system, information processing method, and program | |
| CN110673638B (en) | Unmanned airship avoiding system and unmanned airship flight control system | |
| CN110825099B (en) | Inspection unmanned aerial vehicle control method and device for smart road |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |