WO2017215323A1 - Obstacle avoiding apparatus for flying-robot and obstacle avoiding method for flying-robot - Google Patents

Obstacle avoiding apparatus for flying-robot and obstacle avoiding method for flying-robot Download PDF

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Publication number
WO2017215323A1
WO2017215323A1 PCT/CN2017/079512 CN2017079512W WO2017215323A1 WO 2017215323 A1 WO2017215323 A1 WO 2017215323A1 CN 2017079512 W CN2017079512 W CN 2017079512W WO 2017215323 A1 WO2017215323 A1 WO 2017215323A1
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flying robot
flying
obstacle avoidance
robot
flight
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PCT/CN2017/079512
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French (fr)
Chinese (zh)
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恽为民
邓寅喆
庞作伟
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上海未来伙伴机器人有限公司
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Publication of WO2017215323A1 publication Critical patent/WO2017215323A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Definitions

  • the invention relates to the field of flight robot design, and in particular relates to a flight robot obstacle avoidance device and a flight robot obstacle avoidance method.
  • the common small flying robots have the advantages of good maneuverability, small take-off and landing site, and can fly in the limited (line of sight) range, so they have a wide range of uses.
  • the flying robot can achieve low-altitude real-time monitoring and obtain high-resolution, clear images.
  • flying robots can be used for fire patrols and aerial photography in forest fields and cities. With the application of the flying robot system, it is necessary to fly indoors or in a complicated environment. Therefore, the flying robot needs to have the function of avoiding obstacles.
  • obstacle avoidance sensors carried by flying robots with obstacle avoidance functions are installed at the front of the flying robot. Therefore, since the sensor has a detection dead zone, it is often impossible to realize the 360 degree range of the arbitrary plane of the surrounding environment.
  • those skilled in the art are directed to developing a flying robot obstacle avoidance device and a flying robot obstacle avoidance method capable of realizing a 360 degree range of an arbitrary plane of the surrounding environment.
  • the technical problem to be solved by the present invention is to provide a flying robot obstacle avoidance device capable of realizing the 360 degree range of an arbitrary plane of the surrounding environment and a flying robot obstacle avoiding method.
  • the present invention provides a flying robot obstacle avoidance device comprising: a plurality of detectors mounted on an outer surface of a flying robot; and wherein detection of any two adjacent detectors of the plurality of detectors The regions overlap such that the flying robot obstacle avoidance device is capable of detecting an object approaching the flying robot in any direction within a predetermined distance range around the flying robot.
  • the plurality of detectors are mounted on the same mounting plane and are evenly spaced at regular angles on the mounting plane.
  • the plurality of detectors are equally spaced.
  • the detector is a laser ranging sensor ranging module based on the time-of-flight principle, an RGB-D camera, an infrared ranging module or an ultrasonic ranging sensor.
  • a method for obstacle avoidance of a flying robot comprising:
  • the first step using the detector to detect and determine whether there is an obstacle or threat in the direction around the flying robot in real time; if there are obstacles and/or threats, turn to the second step;
  • a second step establishing a flight no-fly zone corresponding to the obstacle or threat, and calculating a distance of the flying robot to the no-fly zone;
  • a third step determining whether the distance of the flying robot to the no-fly zone is less than a predetermined safety distance
  • the fourth step if the distance of the flying robot to the no-fly zone is less than the safety distance, the obstacle avoidance speed vector is calculated according to the position of the no-fly zone;
  • the fifth step calculating the attitude change angle of the flying robot according to the calculated obstacle avoidance speed vector, so that the flying robot performs the attitude change according to the attitude change angle, and then flying according to the obstacle avoidance speed vector, so that the distance from the flying robot to the no-fly area Not less than a safe distance.
  • the obstacle avoidance speed vector comprises a flight obstacle avoidance speed and an obstacle avoidance flight heading, wherein the flight robot obstacle avoidance flight heading is opposite to the direction of the flying robot relative to the no-fly zone.
  • the flying robot obstacle avoidance method further comprises a sixth step: if the first step does not detect any obstacles or threats, maintaining the original flight state of the flying robot
  • the method for avoiding obstacles of the flying robot further comprises: determining whether the flying robot completes the flying task, and if the flying task is not completed, turning to the first step.
  • the step of advancing the flying robot is further calculated according to the calculated obstacle avoiding speed vector in the fifth step; and further calculating according to the target position in the sixth step
  • the target guides the velocity vector and calculates the step size of the advance based on the target guided velocity vector.
  • FIG. 1 is a schematic diagram of the principle of a flight robot obstacle avoidance device in accordance with a preferred embodiment of the present invention.
  • FIG. 2 is a flow chart of a method of obstacle avoidance by a flying robot in accordance with a preferred embodiment of the present invention.
  • FIG. 1 is a schematic diagram of the principle of a flight robot obstacle avoidance device in accordance with a preferred embodiment of the present invention.
  • a flying robot obstacle avoiding device includes: a plurality of detectors mounted on an outer surface of the flying robot; and wherein any two of the plurality of detectors are adjacent to each other The detection areas overlap, so that the flying robot obstacle avoidance device can detect an object approaching the flying robot in any direction within a predetermined distance range around the flying robot.
  • the flying robot obstacle avoidance device includes a first detector 10, a second detector 20, a third detector 30, a fourth detector 40, and a fifth detector mounted on the outer surface 100 of the flying robot. 50.
  • the sixth detector 60 wherein the first detecting area 11 of the first detector 10 overlaps with the second detecting area 21 of the second detector 20; the second detecting area 21 and the third detecting of the second detector 20
  • the third detection area 31 of the device 30 overlaps; the third detection area 31 overlaps with the fourth detection area 41 of the fourth detector 40; the fourth detection area 41 of the fourth detector 40 and the fifth detection of the fifth detector 50
  • the area 51 overlaps; the fifth detection area 51 of the fifth detector 50 overlaps with the sixth detection area 61 of the sixth detector 60; the sixth detection area 61 of the sixth detector 60 and the first detection of the first detector 10 Area 11 overlaps.
  • the entire detection area covers 360 degrees of the surrounding spherical space.
  • Fig. 1 shows an illustration of a planar arrangement, in fact a stereoscopic arrangement network arranged on the outer surface of the entire flying robot can also be formed.
  • the plurality of detectors are mounted on the same mounting plane and are evenly spaced at regular angles on the mounting plane.
  • the plurality of detectors are equally spaced.
  • the detector is a distance measuring module based on the principle of time of flight (TOF), a distance measuring module of a laser ranging sensor, an RGB-D camera, an infrared ranging module, an ultrasonic ranging module, and the like.
  • TOF time of flight
  • a distance measuring module of a laser ranging sensor an RGB-D camera
  • an infrared ranging module an ultrasonic ranging module, and the like.
  • the flying robot obstacle avoidance device of the invention is installed on the outer surface of the drone, and can simultaneously detect objects close to 360 degrees in any dimension around the circumference, and can realize the obstacles in the 360 spheres around the body.
  • the flying robot obstacle avoidance device of the present invention can realize obstacle avoidance for obstacles approaching in any direction.
  • FIG. 2 is a flow chart of a method of obstacle avoidance by a flying robot in accordance with a preferred embodiment of the present invention.
  • the flying robot obstacle avoidance method according to the preferred embodiment of the present invention shown in FIG. 2 may employ the flying robot obstacle avoiding device according to the preferred embodiment of the present invention shown in FIG. 1.
  • the surrounding condition is detected by the detector, and the obstacles and sudden threats in the direction around the flying robot are detected and judged in real time; if present, the direction of the flying speed is restricted to prevent the flying robot from hitting the obstacle.
  • a flying robot obstacle avoidance method includes:
  • First step S1 using the detector to detect and determine whether there is an obstacle or threat in the direction around the flying robot in real time; if there is an obstacle and/or threat, go to the second step S2; otherwise, go to the sixth step S6;
  • a second step S2 establishing a flight no-fly zone corresponding to the obstacle or threat, and calculating a distance of the flying robot to the no-fly zone;
  • a third step S3 determining whether the distance of the flying robot to the no-fly zone is less than a predetermined safety distance
  • Fourth step S4 if the distance of the flying robot to the no-fly zone is less than the safety distance, according to the no-fly zone
  • the position is calculated as an obstacle avoidance speed vector; specifically, the obstacle avoidance speed vector includes a flight obstacle avoidance speed and an obstacle avoidance flight heading, wherein the flight obstacle avoidance flight heading is opposite to the flight robot in a direction opposite to the no-fly zone;
  • the obstacle avoidance process may not be performed temporarily.
  • a fifth step S5 calculating a posture change angle of the flying robot according to the calculated obstacle avoidance speed vector, so that the flying robot performs a posture change according to the attitude change angle, and then flying according to the obstacle avoidance speed vector, thereby causing the flying robot to fly to no fly
  • the distance of the zone is not less than the safety distance
  • the sixth step S6 if no obstacles or threats are detected, the original flight state of the flying robot is maintained;
  • the flight robot can be judged whether the flight task is completed in real time or periodically. If the flight task is not completed, the first step S1 can be continued to determine that there are obstacles and/or threats and the subsequent steps are performed; if the flight task is completed, the process can be ended.
  • the step size of the flying robot advance is further calculated according to the calculated obstacle avoiding speed vector in the fifth step S5; and further according to the target position in the sixth step S6
  • a target guiding speed vector is calculated, and a forward step is calculated based on the target guiding speed vector.
  • the flying robot obstacle avoidance method according to the preferred embodiment of the present invention can effectively perform obstacle avoidance processing.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

Disclosed are an obstacle avoiding apparatus for a flying-robot and an obstacle avoiding method for a flying-robot. The obstacle avoiding apparatus for a flying-robot comprises a plurality of detectors (10, 20, 30, 40, 50, 60) mounted on an outer surface (100) of the flying-robot. Any two adjacent detection zones (11, 21, 31, 41, 51, 61) formed by the plurality of detectors (10, 20, 30, 40, 50, 60) overlap each other, so that the obstacle avoiding apparatus for a flying-robot can detect an object approaching toward the flying-robot in any direction within a pre-determined distance range around the flying-robot.

Description

飞行机器人避障装置以及飞行机器人避障方法Flying robot obstacle avoidance device and flight robot obstacle avoiding method 技术领域Technical field
本发明涉及飞行机器人设计领域，具体涉及一种飞行机器人避障装置以及飞行机器人避障方法。The invention relates to the field of flight robot design, and in particular relates to a flight robot obstacle avoidance device and a flight robot obstacle avoidance method.
背景技术Background technique
飞行机器人的种类繁多，常见的小型飞行机器人具有机动性好、起飞着陆场地小的优点，可在空中有限的(视距)范围内作飞行，因此具有相当广泛的用途。There are many types of flying robots. The common small flying robots have the advantages of good maneuverability, small take-off and landing site, and can fly in the limited (line of sight) range, so they have a wide range of uses.
在一些使用场合，飞行机器人可以实现低空实时监视，获得的分辨率高、清晰的图像。一般，飞行机器人可以用于森林田野及城市的防火巡视、空中摄像等工作。随着飞行机器人系统的应用深入，需要在室内或复杂环境下飞行，因此，需要飞行机器人具有避障的功能。In some applications, the flying robot can achieve low-altitude real-time monitoring and obtain high-resolution, clear images. In general, flying robots can be used for fire patrols and aerial photography in forest fields and cities. With the application of the flying robot system, it is necessary to fly indoors or in a complicated environment. Therefore, the flying robot needs to have the function of avoiding obstacles.
目前，具有避障的功能的飞行机器人携带的避障传感器均安装在飞行机器人前部。从而，由于传感器存在探测盲区，往往无法实现对周围环境任意平面360度范围的感知。At present, obstacle avoidance sensors carried by flying robots with obstacle avoidance functions are installed at the front of the flying robot. Therefore, since the sensor has a detection dead zone, it is often impossible to realize the 360 degree range of the arbitrary plane of the surrounding environment.
因此，本领域的技术人员致力于开发一种能够实现对周围环境任意平面360度范围的感知的飞行机器人避障装置以及飞行机器人避障方法。Accordingly, those skilled in the art are directed to developing a flying robot obstacle avoidance device and a flying robot obstacle avoidance method capable of realizing a 360 degree range of an arbitrary plane of the surrounding environment.
发明内容Summary of the invention
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是提供一种能够实现对周围环境任意平面360度范围的感知的飞行机器人避障装置以及飞行机器人避障方法。In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a flying robot obstacle avoidance device capable of realizing the 360 degree range of an arbitrary plane of the surrounding environment and a flying robot obstacle avoiding method.
为实现上述目的，本发明提供了一种飞行机器人避障装置，包括：安装于飞行机器人外表面的多个探测器；而且其中所述多个探测器中任意两个相邻的探测器的探测区域重叠，从而使飞行机器人避障装置能够探测飞行机器人周围预定距离范围内任意方向朝向飞行机器人靠近的物体。To achieve the above object, the present invention provides a flying robot obstacle avoidance device comprising: a plurality of detectors mounted on an outer surface of a flying robot; and wherein detection of any two adjacent detectors of the plurality of detectors The regions overlap such that the flying robot obstacle avoidance device is capable of detecting an object approaching the flying robot in any direction within a predetermined distance range around the flying robot.
优选地，所述多个探测器安装在同一安装平面上，并且在安装平面上每隔一定夹角均布安装。Preferably, the plurality of detectors are mounted on the same mounting plane and are evenly spaced at regular angles on the mounting plane.
优选地，所述多个探测器等间距布置。Preferably, the plurality of detectors are equally spaced.
优选地，探测器是基于飞行时间原理的激光测距传感器测距模块、RGB-D摄像机、红外测距模块或超声测距传感器。Preferably, the detector is a laser ranging sensor ranging module based on the time-of-flight principle, an RGB-D camera, an infrared ranging module or an ultrasonic ranging sensor.
根据本发明，还提供了一种飞行机器人避障方法，包括： According to the present invention, there is also provided a method for obstacle avoidance of a flying robot, comprising:
第一步骤：利用探测器实时探测并判断飞行机器人周围方向上是否存在障碍物或威胁；如果存在障碍物和/或威胁，转向第二步骤；The first step: using the detector to detect and determine whether there is an obstacle or threat in the direction around the flying robot in real time; if there are obstacles and/or threats, turn to the second step;
第二步骤：建立所述障碍物或威胁对应的飞行禁飞区，并计算飞行机器人到所述禁飞区的距离；a second step: establishing a flight no-fly zone corresponding to the obstacle or threat, and calculating a distance of the flying robot to the no-fly zone;
第三步骤：判断飞行机器人到所述禁飞区的距离是否小于预定的安全距离；a third step: determining whether the distance of the flying robot to the no-fly zone is less than a predetermined safety distance;
第四步骤：如果飞行机器人到禁飞区的距离小于安全距离，则根据禁飞区位置计算避障速度矢量；The fourth step: if the distance of the flying robot to the no-fly zone is less than the safety distance, the obstacle avoidance speed vector is calculated according to the position of the no-fly zone;
第五步骤：根据所计算得到的避障速度矢量，计算飞行机器人的姿态变化角以使得飞行机器人根据姿态变化角执行姿态变化，随后按照避障速度矢量飞行，使得飞行机器人到禁飞区的距离不小于安全距离。The fifth step: calculating the attitude change angle of the flying robot according to the calculated obstacle avoidance speed vector, so that the flying robot performs the attitude change according to the attitude change angle, and then flying according to the obstacle avoidance speed vector, so that the distance from the flying robot to the no-fly area Not less than a safe distance.
优选地，所述避障速度矢量包括飞行机器人避障速度以及避障飞行航向，其中飞行机器人避障飞行航向与飞行机器人相对于禁飞区的方向相反。Preferably, the obstacle avoidance speed vector comprises a flight obstacle avoidance speed and an obstacle avoidance flight heading, wherein the flight robot obstacle avoidance flight heading is opposite to the direction of the flying robot relative to the no-fly zone.
优选地，所述飞行机器人避障方法还包括第六步骤：如果第一步骤没有探测到任何的障碍物或者威胁，则保持飞行机器人的原有飞行状态Preferably, the flying robot obstacle avoidance method further comprises a sixth step: if the first step does not detect any obstacles or threats, maintaining the original flight state of the flying robot
优选地，所述飞行机器人避障方法还包括：判断飞行机器人是否完成飞行任务，如果没有完成飞行任务，则转第一步骤。Preferably, the method for avoiding obstacles of the flying robot further comprises: determining whether the flying robot completes the flying task, and if the flying task is not completed, turning to the first step.
优选地，在当飞行机器人设置有飞行目标点的情况下，则在第五步骤进一步根据所计算得到的避障速度矢量，计算飞行机器人前进的步长；而且在第六步骤进一步根据目标位置计算目标引导速度矢量，并根据该目标引导速度矢量计算前进的步长。Preferably, in a case where the flying robot is provided with the flying target point, the step of advancing the flying robot is further calculated according to the calculated obstacle avoiding speed vector in the fifth step; and further calculating according to the target position in the sixth step The target guides the velocity vector and calculates the step size of the advance based on the target guided velocity vector.
以下将结合附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。The concept, the specific structure and the technical effects of the present invention will be further described in conjunction with the accompanying drawings in order to fully understand the objects, features and effects of the invention.
附图说明DRAWINGS
图1是根据本发明优选实施例的飞行机器人避障装置的原理示意图。1 is a schematic diagram of the principle of a flight robot obstacle avoidance device in accordance with a preferred embodiment of the present invention.
图2是根据本发明优选实施例的飞行机器人避障方法的流程图。2 is a flow chart of a method of obstacle avoidance by a flying robot in accordance with a preferred embodiment of the present invention.
需要说明的是，附图用于说明本发明，而非限制本发明。注意，表示结构的附图可能并非按比例绘制。并且，附图中，相同或者类似的元件标有相同或者类似的标号。It is to be understood that the drawings are not intended to limit the invention. It is noted that the drawings that represent the structures may not be drawn to scale. In the drawings, the same or similar elements are designated by the same or similar reference numerals.
具体实施方式detailed description
<飞行机器人避障装置><Flying robot obstacle avoidance device>
图1是根据本发明优选实施例的飞行机器人避障装置的原理示意图。1 is a schematic diagram of the principle of a flight robot obstacle avoidance device in accordance with a preferred embodiment of the present invention.
如图1所示，根据本发明优选实施例的飞行机器人避障装置包括：安装于飞行机器人外表面的多个探测器；而且其中所述多个探测器中任意两个相邻的探测器的 探测区域重叠，从而使飞行机器人避障装置能够探测飞行机器人周围预定距离范围内任意方向朝向飞行机器人靠近的物体。As shown in FIG. 1, a flying robot obstacle avoiding device according to a preferred embodiment of the present invention includes: a plurality of detectors mounted on an outer surface of the flying robot; and wherein any two of the plurality of detectors are adjacent to each other The detection areas overlap, so that the flying robot obstacle avoidance device can detect an object approaching the flying robot in any direction within a predetermined distance range around the flying robot.
例如，如图1所述，飞行机器人避障装置包括安装于飞行机器人外表面100的第一探测器10、第二探测器20、第三探测器30、第四探测器40、第五探测器50、第六探测器60；其中，第一探测器10的第一探测区域11与第二探测器20的第二探测区域21重叠；第二探测器20的第二探测区域21与第三探测器30的第三探测区域31重叠；第三探测区域31与第四探测器40的第四探测区域41重叠；第四探测器40的第四探测区域41与第五探测器50的第五探测区域51重叠；第五探测器50的第五探测区域51与第六探测器60的第六探测区域61重叠；第六探测器60的第六探测区域61与第一探测器10的第一探测区域11重叠。由此，整体探测区域覆盖360度的周围球状空间。For example, as illustrated in FIG. 1, the flying robot obstacle avoidance device includes a first detector 10, a second detector 20, a third detector 30, a fourth detector 40, and a fifth detector mounted on the outer surface 100 of the flying robot. 50. The sixth detector 60; wherein the first detecting area 11 of the first detector 10 overlaps with the second detecting area 21 of the second detector 20; the second detecting area 21 and the third detecting of the second detector 20 The third detection area 31 of the device 30 overlaps; the third detection area 31 overlaps with the fourth detection area 41 of the fourth detector 40; the fourth detection area 41 of the fourth detector 40 and the fifth detection of the fifth detector 50 The area 51 overlaps; the fifth detection area 51 of the fifth detector 50 overlaps with the sixth detection area 61 of the sixth detector 60; the sixth detection area 61 of the sixth detector 60 and the first detection of the first detector 10 Area 11 overlaps. Thereby, the entire detection area covers 360 degrees of the surrounding spherical space.
而且，图1示出了平面布置的示意，实际上也可以形成布置在整个飞行机器人外表面的立体布置网络。Moreover, Fig. 1 shows an illustration of a planar arrangement, in fact a stereoscopic arrangement network arranged on the outer surface of the entire flying robot can also be formed.
优选地，所述多个探测器安装在同一安装平面上，并且在安装平面上每隔一定夹角均布安装。Preferably, the plurality of detectors are mounted on the same mounting plane and are evenly spaced at regular angles on the mounting plane.
优选地，所述多个探测器等间距布置。Preferably, the plurality of detectors are equally spaced.
例如，探测器是基于飞行时间(Time of Flight，TOF)原理的激光测距传感器的测距模块、RGB-D摄像机、红外测距模块、超声测距模块等传感器。For example, the detector is a distance measuring module based on the principle of time of flight (TOF), a distance measuring module of a laser ranging sensor, an RGB-D camera, an infrared ranging module, an ultrasonic ranging module, and the like.
本发明的飞行机器人避障装置安装于无人机外表面，可以同时探测周围任意维度360度范围内接近的物体，可以实现对周围360球体内的障碍物进行感知。本发明的飞行机器人避障装置可以实现对任意方向靠近的障碍物实施避障。The flying robot obstacle avoidance device of the invention is installed on the outer surface of the drone, and can simultaneously detect objects close to 360 degrees in any dimension around the circumference, and can realize the obstacles in the 360 spheres around the body. The flying robot obstacle avoidance device of the present invention can realize obstacle avoidance for obstacles approaching in any direction.
<飞行机器人避障方法><Flying robot obstacle avoidance method>
图2是根据本发明优选实施例的飞行机器人避障方法的流程图。图2所示的根据本发明优选实施例的飞行机器人避障方法可以采用图1所示的根据本发明优选实施例的飞行机器人避障装置。2 is a flow chart of a method of obstacle avoidance by a flying robot in accordance with a preferred embodiment of the present invention. The flying robot obstacle avoidance method according to the preferred embodiment of the present invention shown in FIG. 2 may employ the flying robot obstacle avoiding device according to the preferred embodiment of the present invention shown in FIG. 1.
当飞行机器人进行操控飞行时，通过探测器探测周围状况，实时探测并判断飞行机器人周围方向上是否存在障碍物及突发威胁；如果存在则进行限制飞行速度方向，避免飞行机器人撞击障碍物体。When the flying robot performs the control flight, the surrounding condition is detected by the detector, and the obstacles and sudden threats in the direction around the flying robot are detected and judged in real time; if present, the direction of the flying speed is restricted to prevent the flying robot from hitting the obstacle.
具体地，如图2所示，根据本发明优选实施例的飞行机器人避障方法包括：Specifically, as shown in FIG. 2, a flying robot obstacle avoidance method according to a preferred embodiment of the present invention includes:
第一步骤S1：利用探测器实时探测并判断飞行机器人周围方向上是否存在障碍物或威胁；如果存在障碍物和/或威胁，转向第二步骤S2；否则转向第六步骤S6；First step S1: using the detector to detect and determine whether there is an obstacle or threat in the direction around the flying robot in real time; if there is an obstacle and/or threat, go to the second step S2; otherwise, go to the sixth step S6;
第二步骤S2：建立所述障碍物或威胁对应的飞行禁飞区，并计算飞行机器人到所述禁飞区的距离；a second step S2: establishing a flight no-fly zone corresponding to the obstacle or threat, and calculating a distance of the flying robot to the no-fly zone;
第三步骤S3：判断飞行机器人到所述禁飞区的距离是否小于预定的安全距离；a third step S3: determining whether the distance of the flying robot to the no-fly zone is less than a predetermined safety distance;
第四步骤S4：如果飞行机器人到禁飞区的距离小于安全距离，则根据禁飞区 位置计算避障速度矢量；具体地，所述避障速度矢量包括飞行机器人避障速度以及避障飞行航向，其中飞行机器人避障飞行航向与飞行机器人相对于禁飞区的方向相反；Fourth step S4: if the distance of the flying robot to the no-fly zone is less than the safety distance, according to the no-fly zone The position is calculated as an obstacle avoidance speed vector; specifically, the obstacle avoidance speed vector includes a flight obstacle avoidance speed and an obstacle avoidance flight heading, wherein the flight obstacle avoidance flight heading is opposite to the flight robot in a direction opposite to the no-fly zone;
另一方面，如果飞行机器人到禁飞区的距离不小于安全距离，则可以暂时不执行避障处理。On the other hand, if the distance from the flying robot to the no-fly zone is not less than the safety distance, the obstacle avoidance process may not be performed temporarily.
第五步骤S5：根据所计算得到的避障速度矢量，计算飞行机器人的姿态变化角以使得飞行机器人根据姿态变化角执行姿态变化，随后按照避障速度矢量飞行，由此使得飞行机器人到禁飞区的距离不小于安全距离；a fifth step S5: calculating a posture change angle of the flying robot according to the calculated obstacle avoidance speed vector, so that the flying robot performs a posture change according to the attitude change angle, and then flying according to the obstacle avoidance speed vector, thereby causing the flying robot to fly to no fly The distance of the zone is not less than the safety distance;
第六步骤S6：如果没有探测到任何的障碍物或者威胁，则保持飞行机器人的原有飞行状态；The sixth step S6: if no obstacles or threats are detected, the original flight state of the flying robot is maintained;
可以实时地或者定期地判断飞行机器人是否完成飞行任务，如果没有完成飞行任务则可以转第一步骤S1持续判断存在障碍物和/或威胁并执行后续步骤；如果完成飞行任务则可以结束处理。The flight robot can be judged whether the flight task is completed in real time or periodically. If the flight task is not completed, the first step S1 can be continued to determine that there are obstacles and/or threats and the subsequent steps are performed; if the flight task is completed, the process can be ended.
此外，在当飞行机器人设置有飞行目标点的情况下，则在第五步骤S5进一步根据所计算得到的避障速度矢量，计算飞行机器人前进的步长；而且在第六步骤S6进一步根据目标位置计算目标引导速度矢量，并根据该目标引导速度矢量计算前进的步长。In addition, in a case where the flying robot is provided with the flying target point, the step size of the flying robot advance is further calculated according to the calculated obstacle avoiding speed vector in the fifth step S5; and further according to the target position in the sixth step S6 A target guiding speed vector is calculated, and a forward step is calculated based on the target guiding speed vector.
根据本发明优选实施例的飞行机器人避障方法能够有效地执行避障处理。The flying robot obstacle avoidance method according to the preferred embodiment of the present invention can effectively perform obstacle avoidance processing.
上述说明示出并描述了本发明的优选实施例，如前所述，应当理解本发明并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本发明的精神和范围，则都应在本发明所附权利要求的保护范围内。 The above description shows and describes a preferred embodiment of the present invention. As described above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be construed as being Combinations, modifications, and environments are possible, and can be modified by the teachings of the above teachings or related art within the scope of the inventive concept described herein. All changes and modifications made by those skilled in the art are intended to be within the scope of the appended claims.

Claims (9)

  1. 一种飞行机器人避障装置，其特征在于包括：安装于飞行机器人外表面的多个探测器；而且其中所述多个探测器中任意两个相邻的探测器的探测区域重叠，从而使飞行机器人避障装置能够探测飞行机器人周围预定距离范围内任意方向朝向飞行机器人靠近的物体。A flying robot obstacle avoiding device, comprising: a plurality of detectors mounted on an outer surface of a flying robot; and wherein a detecting area of any two adjacent detectors of the plurality of detectors overlaps, thereby enabling flight The robotic obstacle avoidance device is capable of detecting an object approaching the flying robot in any direction within a predetermined distance range around the flying robot.
  2. 如权利要求1所述的飞行机器人避障装置，其特征在于，所述多个探测器安装在同一安装平面上，并且在安装平面上每隔一定夹角均布安装。The flying robot obstacle avoidance device according to claim 1, wherein the plurality of detectors are mounted on the same mounting plane and are uniformly installed at regular intervals on the mounting plane.
  3. 如权利要求1或2所述的飞行机器人避障装置，其特征在于，所述多个探测器等间距布置。The flying robot obstacle avoidance device according to claim 1 or 2, wherein the plurality of detectors are equally spaced.
  4. 如权利要求1或2所述的飞行机器人避障装置，其特征在于，探测器是基于飞行时间原理的激光测距传感器测距模块、RGB-D摄像机、红外测距模块或超声测距传感器。The flying robot obstacle avoidance device according to claim 1 or 2, wherein the detector is a laser ranging sensor ranging module based on the time-of-flight principle, an RGB-D camera, an infrared ranging module or an ultrasonic ranging sensor.
  5. 一种飞行机器人避障方法，其特征在于包括：A method for obstacle avoidance of a flying robot, comprising:
    第一步骤：利用探测器实时探测并判断飞行机器人周围方向上是否存在障碍物或威胁；如果存在障碍物和/或威胁，转向第二步骤；The first step: using the detector to detect and determine whether there is an obstacle or threat in the direction around the flying robot in real time; if there are obstacles and/or threats, turn to the second step;
    第二步骤：建立所述障碍物或威胁对应的飞行禁飞区，并计算飞行机器人到所述禁飞区的距离；a second step: establishing a flight no-fly zone corresponding to the obstacle or threat, and calculating a distance of the flying robot to the no-fly zone;
    第三步骤：判断飞行机器人到所述禁飞区的距离是否小于预定的安全距离；a third step: determining whether the distance of the flying robot to the no-fly zone is less than a predetermined safety distance;
    第四步骤：如果飞行机器人到禁飞区的距离小于安全距离，则根据禁飞区位置计算避障速度矢量；The fourth step: if the distance of the flying robot to the no-fly zone is less than the safety distance, the obstacle avoidance speed vector is calculated according to the position of the no-fly zone;
    第五步骤：根据所计算得到的避障速度矢量，计算飞行机器人的姿态变化角以使得飞行机器人根据姿态变化角执行姿态变化，随后按照避障速度矢量飞行，使得飞行机器人到禁飞区的距离不小于安全距离。The fifth step: calculating the attitude change angle of the flying robot according to the calculated obstacle avoidance speed vector, so that the flying robot performs the attitude change according to the attitude change angle, and then flying according to the obstacle avoidance speed vector, so that the distance from the flying robot to the no-fly area Not less than a safe distance.
  6. 如权利要求5所述的飞行机器人避障方法，其特征在于，所述避障速度矢量包括飞行机器人避障速度以及避障飞行航向，其中飞行机器人避障飞行航向与飞行机器人相对于禁飞区的方向相反。The obstacle avoidance method for a flying robot according to claim 5, wherein the obstacle avoidance speed vector comprises a flight obstacle avoidance speed and an obstacle avoidance flight heading, wherein the flight robot obstacle avoidance flight heading and the flying robot relative to the no-fly zone The opposite direction.
  7. 如权利要求5或6所述的飞行机器人避障方法，其特征在于还包括：The obstacle avoidance method for a flying robot according to claim 5 or 6, further comprising:
    第六步骤：如果第一步骤没有探测到任何的障碍物或者威胁，则保持飞行机器人的原有飞行状态The sixth step: if the first step does not detect any obstacles or threats, then maintain the original flight state of the flying robot
  8. 如权利要求5或6所述的飞行机器人避障方法，其特征在于还包括：判断飞行机器人是否完成飞行任务，如果没有完成飞行任务，则转第一步骤。The method for avoiding obstacles of a flying robot according to claim 5 or 6, further comprising: determining whether the flying robot completes the flying task, and if the flying task is not completed, turning to the first step.
  9. 如权利要求5或6所述的飞行机器人避障方法，其特征在于，在当飞行机器人设置有飞行目标点的情况下，则在第五步骤进一步根据所计算得到的避障速度矢量，计算飞行机器人前进的步长；而且在第六步骤进一步根据目标位 置计算目标引导速度矢量，并根据该目标引导速度矢量计算前进的步长。 The obstacle avoidance method for a flying robot according to claim 5 or 6, wherein in the case where the flying robot is provided with the flying target point, the flying is further calculated based on the calculated obstacle avoiding speed vector in the fifth step. The step size of the robot forward; and in the sixth step further according to the target position The target guiding speed vector is calculated, and the step size of the advance is calculated according to the target guiding speed vector.
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