CN114815895A - Obstacle avoidance detection system for unmanned aerial vehicle - Google Patents
Obstacle avoidance detection system for unmanned aerial vehicle Download PDFInfo
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- CN114815895A CN114815895A CN202210592900.4A CN202210592900A CN114815895A CN 114815895 A CN114815895 A CN 114815895A CN 202210592900 A CN202210592900 A CN 202210592900A CN 114815895 A CN114815895 A CN 114815895A
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Abstract
The invention relates to the field of unmanned aerial vehicle obstacle avoidance methods, in particular to an obstacle avoidance detection system for an unmanned aerial vehicle, which comprises a main detection module, a processing module, a flight control module, a background server, a positioning module and an auxiliary detection module; obstacle information in front of the unmanned aerial vehicle of the main detection module; the processing module acquires the parameter information from the acquired obstacle information; the flight control module controls the unmanned aerial vehicle to avoid obstacles according to the parameter information; the positioning module is used for positioning the flight position of the unmanned aerial vehicle in real time, the processing module is used for judging the probability of having a net wall barrier in the flight environment of the unmanned aerial vehicle according to the flight position, when the probability is larger than a preset value, the processing module is used for preliminarily judging whether the unmanned aerial vehicle has the net wall barrier, if so, auxiliary allowing information of the auxiliary detection module is obtained from the background server, and the processing module is used for sending a starting signal to the auxiliary detection module; and the auxiliary detection module pumps air according to the starting signal to perform auxiliary detection on the obstacle. The invention reduces the probability that the unmanned aerial vehicle hits the net wall barrier.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle obstacle avoidance methods, in particular to an obstacle avoidance detection system for an unmanned aerial vehicle.
Background
Unmanned aerial vehicles are unmanned aerial vehicles operated by radio remote control equipment and self-contained program control devices, or operated autonomously by an on-board computer, either completely or intermittently, and are small in size and suitable for performing foolproof, dirty or dangerous tasks, such as unmanned fire fighting in the field, field dangerous terrain exploration, etc. using unmanned aerial vehicles.
Unmanned aerial vehicle is when carrying out open-air task, because higher barriers such as trees, wall or other buildings influence, so, unmanned aerial vehicle goes up and carries out the barrier through setting up infrared or ultrasonic technology and surveys to in time keep away the barrier operation, fly smoothly in order to guarantee unmanned aerial vehicle, not disturbed by the barrier.
However, when the unmanned aerial vehicle flies to detect the obstacle by using the infrared technology, if the unmanned aerial vehicle encounters mirror-reflected glass or a net wall arranged in a field bird catching mode, the unmanned aerial vehicle can collide with the obstacle due to the fact that the obstacle cannot be detected, so that the unmanned aerial vehicle cannot interrupt the task, and the efficiency is reduced.
Disclosure of Invention
The invention aims to provide an obstacle avoidance detection system for an unmanned aerial vehicle, and aims to solve the problem that a barrier is easy to collide when a net wall cannot be detected.
The obstacle avoidance detection system for the unmanned aerial vehicle comprises a main detection module, a processing module, a flight control module and a background server;
the main detection module is used for detecting barrier information in the flight process and sending the barrier information to the processing module;
the processing module acquires the barrier information and identifies parameter information in the barrier information, and the processing module sends the parameter information to the flight control module;
the flight control module controls the unmanned aerial vehicle to avoid obstacles according to the parameter information;
the system also comprises a positioning module and an auxiliary detection module;
the positioning module is used for positioning the flight position of the unmanned aerial vehicle in real time and sending the flight position to the processing module, the processing module judges the probability of the unmanned aerial vehicle having the net wall barrier in the flight environment according to the flight position, the processing module compares the probability with a preset value, when the probability is larger than the preset value, the processing module performs preliminary judgment on whether the net wall barrier exists in the barrier information, if yes, the processing module acquires auxiliary permission information of the auxiliary detection module from a background server, and when the auxiliary permission information is acquired, the processing module sends a starting signal to the auxiliary detection module;
and the auxiliary detection module pumps air according to the starting signal to perform auxiliary detection on the obstacle.
The beneficial effect of this scheme is:
in the flight process of the unmanned aerial vehicle, the obstacle information is detected through the main detection module, and the unmanned aerial vehicle is controlled to carry out obstacle avoidance flight according to the obstacle information; meanwhile, the flying position of the unmanned aerial vehicle is located, the probability that the environment where the unmanned aerial vehicle flies has the net wall barrier is preliminarily judged according to the flying position, for example, the suburb position where residents are scattered and vegetation is rich, when the probability is high, whether the environment has the net wall barrier is preliminarily judged, if yes, auxiliary permission information is obtained from a background server, and if the auxiliary permission information is obtained, an auxiliary detection module is started to perform auxiliary detection. The probability of detecting the net wall barrier is improved, the probability of mistakenly detecting the net wall barrier is reduced, the probability that the unmanned aerial vehicle hits the net wall barrier is reduced, and delay of the flight progress of the unmanned aerial vehicle due to mistaken detection is avoided.
Further, the main detection module comprises an ultrasonic unit and a camera unit, the ultrasonic unit detects obstacle information of the obstacle, and the camera unit shoots a flight image of the obstacle as the obstacle information.
The beneficial effects are that: the obstacle detection is carried out from two directions of ultrasonic waves and shooting flight images, and the accuracy and the comprehensiveness of the obstacle detection result are improved.
Further, the processing module acquires the flight image to perform gray processing, identifies the object outline in the flight image, judges whether the object outline has a rod-shaped object or not, counts the number of the rod-shaped objects as preliminary judgment, and acquires auxiliary permission information from the background server when the number is larger than a threshold value.
The beneficial effects are that: because the net wall barriers are mainly transparent nets for catching birds or nets with lighter colors, the nets are installed by means of rods such as bamboo poles, preliminary judgment is carried out by the unmanned section according to the acquired flight images from rod identification on the flight images, interference caused by the fact that the net wall barriers are judged to be arranged when the rods are detected is avoided, further identification is not needed when the rods are arranged, and data processing amount is reduced.
Further, when the number of the flying images is larger than a threshold value, the processing module continuously sends the flying images to a background server, the background server performs web wall identification on the images and confirms whether a web wall exists, if yes, the background server pre-judges the distance between the unmanned aerial vehicle and the web wall, and sends auxiliary permission information to the processing module when the distance is smaller than the limit value, and if not, the background server sends rejection information to the processing module.
The beneficial effects are that: after the bird catching net is preliminarily identified at the unmanned aerial vehicle end, the bird catching net is identified again by the background server, so that the accuracy of bird catching net identification is improved, and the delay of the flight process of the unmanned aerial vehicle caused by mistaken identification is avoided.
Further, when the auxiliary permission information is acquired, the processing module sends a deceleration signal to the flight control module, and the flight control module controls the unmanned aerial vehicle to reduce the flying speed.
The beneficial effects are that: when supplementary surveying, reduce unmanned aerial vehicle's flying speed, avoid unmanned aerial vehicle to hit the net wall because of the speed is too fast and be stuck.
Further, supplementary detection module includes air pump unit and wind-guiding unit, supplementary detection module is started by the air pump unit when receiving the enabling signal, air is pumped into to the wind-guiding unit start-up, the wind-guiding unit blows the cylinder mould with the leading-in the place ahead to unmanned aerial vehicle of air, the supplementary image of cylinder mould is shot to the unit of making a video recording, processing module acquires many supplementary images after sending the enabling signal and sends background server and carry out supplementary detection.
The beneficial effects are that: through letting the air pump unit go into the air to the wind unit pump, let the wind guide unit with the leading-in net wall that blows before unmanned aerial vehicle of air for the net wall can rock, thereby form the fold on the net wall, with can let the camera unit shoot the net wall on the supplementary image, thereby confirm that unmanned aerial vehicle the place ahead has the net wall, improve the accuracy that the transparence net wall surveyed.
Further, the background server sequentially identifies contour information at the centers of the plurality of auxiliary images, compares the contour information with a preset contour, and sends trajectory correction information to the processing module when the contour information is the same as the preset contour, and the processing module sends a flight correction signal to the flight control module according to the trajectory correction information.
The beneficial effects are that: compare through discernment profile information and preset profile, if the same, then confirm to have the cliff, after confirming that unmanned aerial vehicle the place ahead has the cliff, just carry out the correction of unmanned aerial vehicle flight track, avoid losing because of the mistake detects the obstacle and correct the orbit and cause that unmanned aerial vehicle flies, improve unmanned aerial vehicle and keep away the accuracy of barrier.
Further, the background server pre-judges the distance between the unmanned aerial vehicle and the net wall according to a focal length preset by the camera unit.
The beneficial effects are that: through the distance of prejudging unmanned aerial vehicle and net wall, can let unmanned aerial vehicle not bump the net wall in advance.
Drawings
Fig. 1 is a schematic block diagram of a first embodiment of an obstacle avoidance detection system for an unmanned aerial vehicle according to the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
A keep away barrier detecting system for unmanned aerial vehicle, as shown in fig. 1, including main detection module, processing module, flight control module, backend server, orientation module and supplementary detection module, main detection module signal connection processing module, main detection module includes ultrasonic unit and camera unit, the barrier information of barrier is surveyed to the ultrasonic unit, ultrasonic detector on the available unmanned aerial vehicle of ultrasonic unit, camera unit shoots the flight image of barrier as barrier information, camera unit can use current camera of taking photo by plane. The processing module can use current SOC chip, and processing module signal connection flight control module, flight control module can use current unmanned aerial vehicle's flight controller, and processing module carries out wireless communication through current 3G communicator and backend server, and backend server can be the high in the clouds server in backstage. The positioning module is connected with the processing module through signals, the positioning module can use the existing inertial navigation positioning of the unmanned aerial vehicle, and the auxiliary detection module is connected with the processing module through signals.
The main detection module is used for detecting obstacle information in the flight process, the obstacle detection information comprises a distance signal of an obstacle detected by the ultrasonic unit and a flight image obtained by shooting of the camera unit, and the main detection module sends the flight image and the distance signal to the processing module.
The processing module obtains the obstacle information, and the processing module discerns the parameter information in the obstacle information, and processing module uses current recognition algorithm to discern the parameter information from the distance signal promptly, and the parameter information can be obstacle distance, obstacle area and position etc. processing module sends the parameter information to flight control module, and flight control module keeps away the barrier according to parameter information control unmanned aerial vehicle.
The positioning module is used for carrying out real-time location to unmanned aerial vehicle's flight position, and send to processing module, processing module judges the probability that has the net wall barrier in the unmanned aerial vehicle flight environment according to flight position, whether processing module judges the probability that has the net wall for predetermined suburb region and vegetation distribution according to flight position, flight position is in the suburb region and the vegetation distributes sparsely, the probability that has the net wall is 30%, flight position is in the suburb region and the vegetation distributes densely, the probability that has the net wall is 60%, flight position is in the suburb region and the vegetation distributes sparsely, the probability that has the net wall is 40%, flight position is located the suburb region and the vegetation distributes densely, the probability that has the net wall is 50%. The processing module compares the probability with a preset value, the preset value is 45%, when the probability is smaller than the preset value, auxiliary detection is not carried out, only obstacle information obtained by ultrasonic unit detection is used as a basis for flight obstacle avoidance, when the probability is larger than the preset value, the processing module carries out preliminary judgment on whether a net wall obstacle exists in the obstacle information, and if the preliminary judgment shows that the net wall exists, the processing module obtains auxiliary permission information of the auxiliary detection module from a background server. When the auxiliary permission information is acquired, the processing module sends a starting signal to the auxiliary detection module, and the auxiliary detection module pumps air according to the starting signal to perform auxiliary detection on the obstacle.
The processing module acquires the flight image to perform gray processing and identifies the object outline in the flight image, the object outline identification can use the existing outline identification algorithm, the processing module judges whether the object outline has rod-shaped objects or not and counts the number of the rod-shaped objects as preliminary judgment, when the number is larger than a threshold value, the threshold value is 2, and the processing module acquires auxiliary permission information from the background server.
When the number is larger than the threshold value, the processing module continuously sends the flight images to the background server, the background server performs net wall identification on the flight images, the background server recognizes a square outline on the flight images as net wall identification, the background server confirms whether net wall obstacles exist or not, if yes, the background server pre-judges the distance between the unmanned aerial vehicle and the net wall according to a focal length preset by the camera unit, the background server sends auxiliary permission information to the processing module when the distance is smaller than the limit value, the limit value can enable the auxiliary detection module to function according to the distance between the actual unmanned aerial vehicle and the net wall obstacles, the unmanned aerial vehicle does not collide with the net wall obstacles for setting, and if not, the background server sends rejection information to the processing module. Because the position that unmanned aerial vehicle shot the flight image before is relatively far away from the net wall barrier, the square profile that can discern is more limited, this moment, as long as discern a square profile and further reduce to a definite value after apart from the distance of net wall, just send supplementary permission information and assist and survey, improve the accuracy of supplementary surveying.
The supplementary detection module includes air pump unit and wind-guiding unit, supplementary detection module is started by the air pump unit when receiving the enabling signal, the usable miniature fan unit that has of air pump unit, air is gone into to the wind-guiding unit pump to the wind-guiding unit after the wind pump unit starts, the wind-guiding unit blows the wall of a net with the leading-in the place ahead to unmanned aerial vehicle, the pipe of the usable loudspeaker form of wind-guiding unit, the main aspects of pipe are located the play wind side of air pump unit, the tip of pipe is towards wall of a net barrier one side, in order to concentrate wind-force. The shooting unit shoots auxiliary images of the net wall, and the processing module acquires a plurality of auxiliary images after sending the starting signal and sends the auxiliary images to the background server for auxiliary detection.
The profile information of many supplementary image center departments of backend server discernment in proper order, the available current profile identification algorithm of the discernment of profile information, backend server compares profile information with the profile of predetermineeing, when profile information is the same with the profile of predetermineeing, predetermine the profile and save in advance, and predetermine the profile and set to multiple bird catching net under the state of pulling open on the current market, the profile that rocks formation when receiving this embodiment air pump unit to blow, backend server sends the orbit to processing module and corrects the information, correct the information can be the orientation and the distance that fly when letting unmanned aerial vehicle cross the net wall barrier etc. processing module corrects the information and sends the flight according to the orbit and corrects the signal to flight control module.
When the unmanned aerial vehicle flies to avoid the barrier and detects, the positioning module is used for carrying out real-time flight position positioning, and the probability of the net wall barrier in the flying environment is judged according to the flight position. If the probability is smaller than the preset value, the unmanned aerial vehicle detects the net wall barrier in the flying environment through the ultrasonic unit to obtain barrier information, and the unmanned aerial vehicle is controlled to avoid barrier flying according to the barrier information. If the probability is larger than the preset value, the flying image is shot through the camera shooting unit, the processing module on the unmanned aerial vehicle identifies the rod-shaped objects on the flying image and counts the rod-shaped objects, when the counted number is larger than the threshold value, the processing module acquires a plurality of flying images and sends the flying images to the background server, the background server identifies the square outline from the flying image, if the square outline exists, the net wall obstacle is determined to exist, the distance between the unmanned aerial vehicle and the net wall obstacle is judged in advance through the background server, and when the distance is smaller than the limit value, the background server sends auxiliary permission information to the processing module.
The processing module sends a starting signal to the auxiliary detection module after receiving the auxiliary permission information, the air pump unit is started, air is pumped into the air guide unit, the air guide unit guides the air out of the net wall barrier, and the net wall barrier is blown; meanwhile, a plurality of auxiliary images are shot by the camera shooting unit, the processing module acquires the auxiliary images and sends the auxiliary images to the background server, the background server sequentially identifies the contour information of the centers of the auxiliary images and compares the contour information with a preset contour, when the contour information is the same as the preset contour, the background server sends track correction information to the processing module, and the processing module sends a flight correction signal to the flight control module according to the track correction information.
Because the activities of people are mostly present in suburbs and areas with certain vegetation, in addition, crops can be planted in the areas, the areas are rich in food, the birds inhabit the areas to forage, such as pheasants, and meanwhile, part of people with good wildness can stare at the birds, so that plastic nets are installed in some areas to catch the birds, if the unmanned aerial vehicle does not perform corresponding detection in the areas, the unmanned aerial vehicle is easy to collide with the net and cannot continue flying, and the net usually has certain concealment, so that the existing detection method cannot accurately detect the birds, and the danger of the unmanned aerial vehicle in the areas during flying operation is increased. B this embodiment is through setting up trigger condition, carries out corresponding supplementary detection, under the prerequisite that does not increase too many judgement logic costs, improves the probability that detects the net wall barrier, reduces the probability that the net wall barrier was detected to the mistake simultaneously, reduces the probability that unmanned aerial vehicle hit the net wall barrier, still can not cause delaying of unmanned aerial vehicle flight progress because of the mistake is detected.
Example two
The obstacle avoidance detection system for the unmanned aerial vehicle is different from the first embodiment in that when the auxiliary permission information is acquired, the processing module sends a deceleration signal to the flight control module, and the flight control module controls the unmanned aerial vehicle to reduce the flight speed. When supplementary surveying, reduce unmanned aerial vehicle's flying speed, avoid unmanned aerial vehicle to be stuck on hitting the net wall because of speed is too fast, simultaneously, reduce flying speed, improve the definition that the unit of making a video recording shot the auxiliary image, improve the accuracy of discernment net wall barrier.
EXAMPLE III
The obstacle avoidance detection system for the unmanned aerial vehicle is different from the first embodiment in that the processing module calculates the pixel width of the rod on the flight image when the rod is judged to be present, the pixel width is calculated in a grid mode, the pixel width is compared with a set width, the set width is set according to the existing interference source, for example, the set width is 1cm, and when the pixel width is larger than the set width, the processing module counts the number of the rods.
When the rod-shaped object is identified, the width of the rod-shaped object is judged firstly, and when the width is larger than the set width, the counting is carried out, so that the interference of a part of columnar communication base stations or electric poles and the like is eliminated, and the misjudgment and the large data processing capacity caused by interference factors are reduced.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. The obstacle avoidance detection system for the unmanned aerial vehicle comprises a main detection module, a processing module, a flight control module and a background server;
the main detection module is used for detecting barrier information in the flight process and sending the barrier information to the processing module;
the processing module acquires the barrier information and identifies parameter information in the barrier information, and the processing module sends the parameter information to the flight control module;
the flight control module controls the unmanned aerial vehicle to avoid obstacles according to the parameter information; the method is characterized in that:
the system also comprises a positioning module and an auxiliary detection module;
the positioning module is used for positioning the flight position of the unmanned aerial vehicle in real time and sending the flight position to the processing module, the processing module judges the probability of the unmanned aerial vehicle having the net wall barrier in the flight environment according to the flight position, the processing module compares the probability with a preset value, when the probability is larger than the preset value, the processing module performs preliminary judgment on whether the net wall barrier exists in the barrier information, if yes, the processing module acquires auxiliary permission information of the auxiliary detection module from a background server, and when the auxiliary permission information is acquired, the processing module sends a starting signal to the auxiliary detection module;
and the auxiliary detection module pumps air according to the starting signal to perform auxiliary detection on the obstacle.
2. An obstacle avoidance detection system for unmanned aerial vehicles according to claim 1, wherein: the main detection module comprises an ultrasonic unit and a camera unit, the ultrasonic unit detects the obstacle information of the obstacle, and the camera unit shoots the flight image of the obstacle as the obstacle information.
3. An obstacle avoidance detection system for unmanned aerial vehicles according to claim 2, wherein: the processing module acquires the flight image to perform gray processing and identifies the object outline in the flight image, the processing module judges whether the object outline has rod-shaped objects or not and counts the number of the rod-shaped objects as preliminary judgment, and when the number is larger than a threshold value, the processing module acquires auxiliary permission information from the background server.
4. An obstacle avoidance detection system for unmanned aerial vehicles according to claim 3, wherein: when the number is larger than the threshold value, the processing module continuously sends the flying images to the background server, the background server performs web wall identification on the images and confirms whether a web wall exists, if yes, the background server pre-judges the distance between the unmanned aerial vehicle and the web wall, and if not, the background server sends auxiliary permission information to the processing module, and if not, the background server sends rejection information to the processing module.
5. The obstacle avoidance detection system for unmanned aerial vehicles of claim 4, wherein: when the auxiliary permission information is acquired, the processing module sends a deceleration signal to the flight control module, and the flight control module controls the unmanned aerial vehicle to reduce the flight speed.
6. An obstacle avoidance detection system for unmanned aerial vehicles according to claim 5, wherein: supplementary detection module includes air pump unit and wind-guiding unit, supplementary detection module is started by the air pump unit when receiving the enabling signal, air pump unit pump income air to the wind-guiding unit after starting, the cell wall is blown with the leading-in place ahead to unmanned aerial vehicle of air to the wind-guiding unit, the supplementary image of cell wall is shot to the camera unit, processing module acquires many supplementary images after sending the enabling signal and sends and carry out supplementary detection to backend server.
7. An obstacle avoidance detection system for unmanned aerial vehicles according to claim 6, wherein: the background server sequentially identifies contour information at the centers of the multiple auxiliary images, compares the contour information with a preset contour, and sends track correction information to the processing module when the contour information is the same as the preset contour, and the processing module sends a flight correction signal to the flight control module according to the track correction information.
8. The obstacle avoidance detection system for unmanned aerial vehicles of claim 4, wherein: and the background server pre-judges the distance between the unmanned aerial vehicle and the net wall according to the focal length preset by the camera unit.
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| CN115320848A (en) * | 2022-10-13 | 2022-11-11 | 电子科技大学 | Unmanned aerial vehicle system with keep away barrier function |
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