WO2022016562A1 - Système d'évitement d'obstacle pour véhicule aérien sans pilote à protection de récolte basée sur la vision et procédé d'évitement d'obstacle associé - Google Patents

Système d'évitement d'obstacle pour véhicule aérien sans pilote à protection de récolte basée sur la vision et procédé d'évitement d'obstacle associé Download PDF

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WO2022016562A1
WO2022016562A1 PCT/CN2020/104940 CN2020104940W WO2022016562A1 WO 2022016562 A1 WO2022016562 A1 WO 2022016562A1 CN 2020104940 W CN2020104940 W CN 2020104940W WO 2022016562 A1 WO2022016562 A1 WO 2022016562A1
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capacitor
pin
resistor
transistor
diode
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PCT/CN2020/104940
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English (en)
Chinese (zh)
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张正强
段纳
苗珍
孟国华
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南京科沃信息技术有限公司
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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

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  • the invention relates to the technical field of UAV obstacle avoidance, in particular to a vision-based plant protection UAV obstacle avoidance system and an obstacle avoidance method.
  • the obstacle avoidance acquisition system of the UAV needs to accurately collect the detection sensor data from the UAV, and then through data processing, output attitude angle, yaw angle, altitude, air pressure, position and speed and other information, and the flight control system based on The received information controls the operation of other modules, so that the UAV can fly according to the expected effect, and then detects the accuracy value of the output information of the sensor system, which indirectly affects the quality of the flight, and then fails to achieve the expected flight effect.
  • the control chip of the machine is easily disturbed by external noise and other factors, resulting in low accuracy of the collected data.
  • Purpose of the invention to provide a vision-based plant protection UAV obstacle avoidance system to solve the above problems.
  • a vision-based plant protection UAV obstacle avoidance system including:
  • a power supply module for transmitting the adjusted output power to the control module and the sensor measurement module, thereby providing a power source for the UAV obstacle avoidance system module;
  • a control module for receiving the detection signal fed back by the sensor measurement module, so as to control the acquired detection signal, and then convey different control instructions;
  • a sensor measurement module for judging and estimating the obstacles and the distances between the obstacles and the obstacles during the flight of the UAV according to the speed of the ultrasonic waves and the time interval of ultrasonic transmission and reception through the ultrasonic ranging method.
  • the power supply module includes a power module and a clock reset module, wherein the power module includes a capacitor C2, a capacitor C1, a power supply U1, a capacitor C4, a capacitor C3, and a capacitor C5, wherein the capacitor C2 One end is respectively connected with one end of the capacitor C1, the input power supply 12V, the pin 1 and pin 3 of the power supply U1; the other end of the capacitor C2 is respectively connected with the other end of the capacitor C1 and the U1 pin 2 of the power supply; the power supply U1 leads The pin 5 is respectively connected with one end of the capacitor C3 and the positive terminal of the capacitor C5; the other end of the capacitor C3 is respectively connected with the negative terminal of the capacitor C5 and the ground wire GND; the pin 4 of the power supply device U1 is connected with the negative terminal of the capacitor C4; The positive terminal of C4 is connected to the ground wire GND.
  • the clock reset module includes a button S1, a capacitor C6, a resistor R1, a transistor Q1, a resistor R2, a resistor R3, and a capacitor C7, wherein one end of the button S1 is respectively connected to one end of the resistor R1 and the positive end of the capacitor C6.
  • the other end of the button S1 is respectively connected with the negative terminal of the capacitor C6, one end of the resistor R3, the negative terminal of the capacitor C7, and the ground wire GND; the other end of the resistor R1 is connected with the base terminal of the transistor Q1; the emitter terminal of the transistor Q1 is respectively connected with One end of the capacitor C2, one end of the capacitor C1, the input power supply 12V, the pin 1 and pin 3 of the power supply U1 are connected; the collector end of the transistor Q1 is connected with one end of the resistor R2; the other end of the resistor R2 is respectively connected with the other end of the resistor R3, The positive terminal of capacitor C7 is connected.
  • the control module includes a control unit, an ultrasonic receiving unit, and an alarm module, wherein the control unit includes a controller U2, and the pin 60 of the controller U2 is respectively connected to the other end of the resistor R2 and the other end of the resistor R3. One end, the positive terminal of the capacitor C7 is connected; the pin 5 of the controller U2 and the pin 5 of the power supply U1 are respectively connected to one end of the capacitor C3 and the positive terminal of the capacitor C5; the pin 7 of the controller U2 is respectively connected to one end of the button S1, One end of the resistor R1 and the positive end of the capacitor C6 are connected;
  • the ultrasonic receiving unit includes a resistor R9, a capacitor C19, a resistor R10, a resistor R8, a capacitor C18, and a receiver L1, wherein one end of the resistor R9 is connected to the controller U2 pin 62; the resistor The other end of R9 is connected to one end of capacitor C19, one end of resistor R10 and one end of resistor R8 respectively; the other end of capacitor C19 is connected to ground GND; the other end of resistor R10 is connected to pin 581 of controller U2; the other end of resistor R8 One end is connected to one end of the capacitor C18; the other end of the capacitor C18 is connected to one end of the receiver L1; the other end of the receiver L1 is connected to the ground wire GND;
  • the alarm module includes a resistor R7, a transistor Q5, and an alarm LS2, wherein one end of the resistor R7 is connected to the pin 50 of the controller U2; the other end of the resistor R7 is connected to the base terminal of the transistor Q5; The collector terminal of the transistor Q5 is connected to one end of the alarm LS1; the other end of the alarm LS1 is connected to the input power +12V; the emitter terminal of the transistor Q5 is connected to the ground wire GND.
  • the sensor measurement module includes an operation processing module, a driving module, an A/D conversion module, and an ultrasonic transmitting unit
  • the operation processing module includes an inductor L1, a capacitor C9, an inductor L2, a diode D2, a diode D1, inductor L3, capacitor C8, and processor U3, wherein one end of the inductor L1 is respectively connected to one end of the capacitor C9, one end of the inductor L2, and the ground wire GND; the other end of the inductor L1 is connected to the pin 9 of the processor U3; the The other end of the capacitor C9 is connected to the processor U3 pin 10; the other end of the inductance L2 is connected to the processor U3 pin 11; the processor U3 pins 23 and 18 are both connected to the ground wire GND; the processor U3 The pin 20 is connected to the positive terminal of the capacitor C8; the negative terminal of the capacitor C8 is connected to the ground wire GND; the pin 1 of the processor U3 is
  • the driving module includes a driver U4, a capacitor C10, a diode D5, a capacitor C12, a capacitor C13, and a capacitor C11, wherein the pin 16 of the driver U4 is connected to the pin 42 of the controller U2; the driver U4 pin 13 is respectively connected to one end of capacitor C12, the positive end of diode D5, the negative end of diode D1, the pin 2 and pin 4 of driver U4, and one end of capacitor C10; the other end of the capacitor C10 is connected to the ground wire GND; the capacitor The other end of C12 is respectively connected to one end of capacitor C13, the pin 11 and pin 9 of the driver U4, and the ground wire GND; one end of the capacitor C11 is connected to the pin 12 of the driver U4; the other end of the capacitor C11 is connected to the pin 8 of the starter U4 connect.
  • the pin 16 of the driver U4 is connected to the pin 42 of the controller U2
  • the driver U4 pin 13 is respectively connected to one end of capacitor C12, the positive end of
  • the A/D conversion module includes a capacitor C17, a converter U5, an inductor L4, a diode D6, a resistor R6, an inductor L5, a capacitor C15, and a capacitor C16, wherein the converter U5 pin 6 and Pin 3 is respectively connected with one end of capacitor C17, one end of inductor L4, and pin 24 of processor U3; described converter U5 pin 2 is respectively connected with the other end of inductor L4 and the positive end of diode D6; described converter U5 pin 5 Connect to one end of resistor R6, one end of inductor L5 and one end of capacitor C15 respectively; the pin 4 of the converter U5 is respectively connected to the other end of capacitor C17, the other end of resistor R6, one end of capacitor C16, and the ground wire GND; the other end of capacitor C16 Connect to the other end of capacitor C15, the other end of inductor L5, pin 55 of controller U2, and the negative end of diode D6.
  • the ultrasonic emitting unit includes a transistor Q4, a diode D3, a resistor R5, a diode D4, a resistor R5, a transistor Q3, a capacitor C14, a transistor Q2, a resistor R4, and a transmitter L2, wherein the transistor Q4 collects
  • the electrode terminal is connected to the processor U3 pin 23; the base terminal of the transistor Q4 is connected to the negative terminal of the diode D3; the emitter terminal of the transistor Q4 is respectively connected to the positive terminal of the diode D4, the emitter terminal of the transistor Q3, the emitter terminal of the transistor Q2, and the emitter L2
  • One end is connected; the positive end of the diode D3 is respectively connected with one end of the resistor R5, the collector end of the transistor Q3, the negative end of the diode D4, one end of the capacitor C14, one end of the resistor R4, the collector end of the transistor Q2, and the negative end of the diode D5; the resistor R5 The other end
  • the capacitor C4, the capacitor C5, the capacitor C6, the capacitor C7, and the capacitor C8 are electrolytic capacitors; the diode D1, the diode D2, the diode D5
  • the models are all Zener diodes;
  • the transistor Q1 model is PNP;
  • the transistor Q2, the transistor Q3, the transistor Q4, and the transistor Q5 are all NPN models;
  • the power supply U1 model is MIC5219;
  • the model of the processor U3 is MPU6050;
  • the model of the controller U2 is STM32;
  • the model of the driver U4 is HMC5883L.
  • a vision-based obstacle avoidance method for a plant protection UAV obstacle avoidance system is characterized by the following steps:
  • Step 1 The operation processing module first measures its own attitude information through the processor U3, and then converts the measured three-axis angular velocity and acceleration attitude information into digital signals through the A/D conversion module, and then transmits the digital signals to the control module for processing. deal with;
  • Step 2 The drive module controls the heading and orientation of the UAV through the change of the ultrasonic ranging sensor, and the driver U4 uses the anisotropic magnetoresistance technology to measure the direction and size of the earth's magnetic field, and the driver U4 pin is connected to the capacitor C11, The function of the capacitor C11 is to filter, thereby improving the response of the driving operation.
  • the capacitor C13 is used as a storage device to provide the driver U4 with a startup power supply, thereby reducing the voltage shock caused by the instantaneous startup.
  • a vision-based obstacle avoidance method for a plant protection UAV obstacle avoidance system is characterized in that, the steps 1 and 2 further obtain, the flight attitude angle and the Kalman filter algorithm;
  • the flight attitude angle includes roll angle, pitch angle and yaw angle
  • the roll angle is the angle between the longitudinal symmetry plane of the body and the longitudinal vertical plane.
  • the pitch angle is the angle between the longitudinal axis of the body and the longitudinal horizontal axis, expressed by ⁇
  • the yaw angle is the angle between the projection of the longitudinal axis of the body on the horizontal plane xoy and the prime meridian in the geographic coordinate system, denoted by ⁇ Therefore, the conversion from the earth coordinate system to the body coordinate system can be realized by three rotations, and the conversion formula is as follows:
  • Q 0 is a predetermined initial quaternion
  • ⁇ x, ⁇ y, ⁇ z are x, y, z-axis output angular velocity, and thus can obtain the current quaternion Q i in accordance with step 1-4, the step of substituting Q i 1-3 can then obtain the flight attitude angle information at the current moment;
  • Step 2-1 According to the Kalman filter algorithm, set the current sampling time as k, the last moment as k-1, and the optimal state as Then according to the Kalman filter algorithm, the following steps are obtained:
  • Step 2-2 according to Predict the current state of the obstacle avoidance system, and the predicted value is recorded. Which leads to the following way:
  • A represents a state transition matrix matrix
  • u k represents the current time input
  • system matrix B denotes the control matrix avoidance, It consists of two parts, one part is the product between the optimal state at the previous moment and matrix A, and the other part is the product between the input quantity at the current moment and matrix B;
  • Step 2-3 using the covariance matrix equation, and setting the current state matrix as P k , the following methods can be obtained:
  • P k-1 is the optimal solution estimated by the covariance matrix at the previous moment, and Q is the inherent noise matrix of the prediction model;
  • Step 2-3 set the current observation value as z k , the current observation matrix as H, and the covariance matrix of the observation noise as R, the following methods can be obtained:
  • K is called the Kalman coefficient matrix
  • K is expressed as:
  • the value of K directly affects the proportion of the observed value and the predicted value.
  • I is the identity matrix
  • the present invention designs a vision-based plant protection UAV obstacle avoidance system and its obstacle avoidance method, which utilizes the processor U3 for the ultrasonic transmitting unit and the driver U4 for acceleration and angular velocity acquisition, and the control unit can be combined with the receiving processor U3. It transmits information with the driver U4, so as to obtain acceleration, angular velocity and azimuth attitude information and perform data fusion processing.
  • the control chip is easily interfered by external noise and other factors, resulting in low accuracy of the collected data, and then the output
  • the attitude angle of the UAV is converted into a quaternion, and then the Kalman filter algorithm is used to statically correct the data collected by the control. Finally, after filtering and fusion, the attitude angle can reach the operating accuracy.
  • the UAV autonomous obstacle avoidance system has a simple structure and can fly out of control.
  • the risk is greatly reduced, and the flight attitude angle and Kalman filter algorithm are used to reduce the load of the embedded obstacle avoidance system, which enhances the maneuverability and execution of the UAV, and enables the UAV to better avoid obstacles in advance. , adjust the flight direction independently.
  • Fig. 1 is a structural block diagram of the present invention.
  • FIG. 2 is a distribution diagram of the UAV obstacle avoidance system of the present invention.
  • FIG. 3 is a circuit diagram of a power module of the present invention.
  • FIG. 4 is a circuit diagram of a clock reset module of the present invention.
  • FIG. 5 is a circuit diagram of an A/D conversion module of the present invention.
  • FIG. 6 is a circuit diagram of the ultrasonic transmitting unit of the present invention.
  • FIG. 7 is a circuit diagram of the ultrasonic receiving unit of the present invention.
  • FIG. 8 is a circuit diagram of an alarm module of the present invention.
  • FIG. 9 is a schematic diagram of the flight attitude angle of the present invention.
  • a vision-based obstacle avoidance system for plant protection UAVs includes:
  • a power supply module for transmitting the adjusted output power to the control module and the sensor measurement module, thereby providing a power source for the UAV obstacle avoidance system module;
  • a control module for receiving the detection signal fed back by the sensor measurement module, so as to control the acquired detection signal, and then convey different control instructions;
  • a sensor measurement module for judging and estimating the obstacles and the distances between the obstacles and the obstacles during the flight of the UAV according to the speed of the ultrasonic waves and the time interval of ultrasonic transmission and reception through the ultrasonic ranging method.
  • the power module includes a capacitor C2, a capacitor C1, a power supply U1, a capacitor C4, a capacitor C3, and a capacitor C5.
  • one end of the capacitor C2 in the power module is respectively connected to one end of the capacitor C1, the input power supply 12V, the pin 1 and pin 3 of the power supply U1; the other end of the capacitor C2 is respectively connected to the capacitor C1
  • the other end is connected to the U1 pin 2 of the power supply;
  • the U1 pin 5 of the power supply is respectively connected to one end of the capacitor C3 and the positive end of the capacitor C5;
  • the other end of the capacitor C3 is connected to the negative end of the capacitor C5 and the ground wire GND respectively;
  • the pin 4 of the power supply U1 is connected to the negative terminal of the capacitor C4; the positive terminal of the capacitor C4 is connected to the ground wire GND.
  • the clock reset module includes a button S1, a capacitor C6, a resistor R1, a transistor Q1, a resistor R2, a resistor R3, and a capacitor C7.
  • one end of the button S1 in the clock reset module is respectively connected to one end of the resistor R1 and the positive end of the capacitor C6; the other end of the button S1 is respectively connected to the negative end of the capacitor C6, one end of the resistor R3 and the capacitor C7
  • the negative terminal and the ground wire GND are connected; the other end of the resistor R1 is connected to the base terminal of the transistor Q1; the emitter terminal of the transistor Q1 is respectively connected to one end of the capacitor C2, one end of the capacitor C1, the input power supply 12V, and the pin 1 and pin of the power supply U1.
  • 3 is connected; the collector terminal of the transistor Q1 is connected to one end of the resistor R2; the other end of the resistor R2 is respectively connected to the other end of the resistor R3 and the positive terminal of the capacitor C7.
  • the control unit includes a controller U2, and the pin 60 of the controller U2 is respectively connected to the other end of the resistor R2, the other end of the resistor R3, and the positive end of the capacitor C7; the The pin 5 of the controller U2 and the pin 5 of the power supply U1 are respectively connected with one end of the capacitor C3 and the positive end of the capacitor C5; the pin 7 of the controller U2 is respectively connected with one end of the button S1, one end of the resistor R1 and the positive end of the capacitor C6;
  • the ultrasonic receiving unit includes a resistor R9, a capacitor C19, a resistor R10, a resistor R8, a capacitor C18, and a receiver L1.
  • one end of the resistor R9 in the ultrasonic receiving unit is connected to the pin 62 of the controller U2; the other end of the resistor R9 is respectively connected to one end of the capacitor C19, one end of the resistor R10, and one end of the resistor R8; the The other end of the capacitor C19 is connected to the ground wire GND; the other end of the resistor R10 is connected to the controller U2 pin 581; the other end of the resistor R8 is connected to one end of the capacitor C18; the other end of the capacitor C18 is connected to one end of the receiver L1; The other end of the receiver L1 is connected to the ground wire GND.
  • the alarm module includes a resistor R7, a transistor Q5, and an alarm LS2.
  • one end of the resistor R7 in the alarm module is connected to the pin 50 of the controller U2; the other end of the resistor R7 is connected to the base end of the transistor Q5; the collector end of the transistor Q5 is connected to the alarm device One end of LS1 is connected; the other end of the alarm device LS1 is connected to the input power +12V; the emitter end of the transistor Q5 is connected to the ground wire GND.
  • the operation processing module includes an inductor L1 , a capacitor C9 , an inductor L2 , a diode D2 , a diode D1 , an inductor L3 , a capacitor C8 , and a processor U3 .
  • one end of the inductor L1 in the operation processing module is respectively connected to one end of the capacitor C9, one end of the inductor L2, and the ground wire GND; the other end of the inductor L1 is connected to the pin 9 of the processor U3; The other end of the capacitor C9 is connected with the processor U3 pin 10; the other end of the inductance L2 is connected with the processor U3 pin 11, and the processor U3 pins 23 and 18 are both connected with the ground GND; the processor The U3 pin 20 is connected to the positive terminal of the capacitor C8; the negative terminal of the capacitor C8 is connected to the ground wire GND; the processor U3 pin 1 is connected to one end of the inductor L3; the other end of the inductor L3 is connected to the ground wire GND; The processor U3 pin 4 is respectively connected with the controller U2 pin 7, one end of the button S1, one end of the resistor R1, and the positive end of the capacitor C6; the processor U3 pin 8 is connected with the negative end of the
  • the driving module includes a driver U4, a capacitor C10, a diode D5, a capacitor C12, a capacitor C13, and a capacitor C11.
  • the driver U4 pin 16 in the driver module is connected to the controller U2 pin 42; the driver U4 pin 13 is respectively connected to one end of the capacitor C12, the positive end of the diode D5, and the negative end of the diode D1.
  • the extreme, the driver U4 pin 2 and pin 4, and one end of the capacitor C10 are connected; the other end of the capacitor C10 is connected to the ground wire GND; the other end of the capacitor C12 is respectively connected with one end of the capacitor C13, the driver U4 pin 11 and pin 9 , the ground wire is connected to GND; one end of the capacitor C11 is connected to the pin 12 of the driver U4; the other end of the capacitor C11 is connected to the pin 8 of the starter U4.
  • the A/D conversion module includes a capacitor C17 , a converter U5 , an inductor L4 , a diode D6 , a resistor R6 , an inductor L5 , a capacitor C15 , and a capacitor C16 .
  • the converter U5 pin 6 and pin 3 in the A/D conversion module are respectively connected to one end of the capacitor C17, one end of the inductor L4, and the processor U3 pin 24;
  • the converter U5 pin 2 is respectively connected with the other end of the inductor L4 and the positive end of the diode D6;
  • the converter U5 pin 5 is respectively connected with one end of the resistor R6, one end of the inductor L5 and one end of the capacitor C15;
  • the converter U5 pin 4 is respectively connected with The other end of the capacitor C17, the other end of the resistor R6, one end of the capacitor C16, and the ground wire GND are connected;
  • the other end of the capacitor C16 is connected to the other end of the capacitor C15, the other end of the inductor L5, the controller U2 pin 55, and the negative end of the diode D6.
  • the ultrasonic emitting unit includes a transistor Q4, a diode D3, a resistor R5, a diode D4, a resistor R5, a transistor Q3, a capacitor C14, a transistor Q2, a resistor R4, and a transmitter L2.
  • the collector terminal of the transistor Q4 in the ultrasonic transmitting unit is connected to the pin 23 of the processor U3; the base terminal of the transistor Q4 is connected to the negative terminal of the diode D3; the emitter terminal of the transistor Q4 is respectively Connect with the positive terminal of diode D4, the emitter terminal of transistor Q3, the emitter terminal of transistor Q2, and one end of transmitter L2; the positive terminal of diode D3 is respectively connected to one end of resistor R5, the collector terminal of transistor Q3, the negative terminal of diode D4, one terminal of capacitor C14, and one terminal of resistor R5.
  • R4 is connected to the collector end of the transistor Q2 and the negative end of the diode D5; the other end of the resistor R5 is connected to the base end of the transistor Q3 and the other end of the capacitor C14 respectively; the other end of the resistor R4 is respectively connected to the base end of the transistor Q2 and the transmitter L2 Connect the other end.
  • the capacitor C4, the capacitor C5, the capacitor C6, the capacitor C7, and the capacitor C8 are electrolytic capacitors; the diode D1, the diode D2, and the diode D5
  • the models are all Zener diodes; the transistor Q1 model is PNP; the transistor Q2, the transistor Q3, the transistor Q4, and the transistor Q5 are all NPN models; the power supply U1 model is MIC5219; the The model of the processor U3 is MPU6050; the model of the controller U2 is STM32; the model of the driver U4 is HMC5883L.
  • a vision-based obstacle avoidance method for a plant protection UAV obstacle avoidance system is characterized by the following steps:
  • Step 1 The operation processing module first measures its own attitude information through the processor U3, and then converts the measured three-axis angular velocity and acceleration attitude information into digital signals through the A/D conversion module, and then transmits the digital signals to the control module for processing. deal with;
  • Step 2 The drive module controls the heading and orientation of the UAV through the change of the ultrasonic ranging sensor, and the driver U4 uses the anisotropic magnetoresistance technology to measure the direction and size of the earth's magnetic field, and the driver U4 pin is connected to the capacitor C11, The function of the capacitor C11 is to filter, thereby improving the response of the driving operation.
  • the capacitor C13 is used as a storage device to provide the driver U4 with a startup power supply, thereby reducing the voltage shock caused by the instantaneous startup.
  • a vision-based obstacle avoidance method for a plant protection UAV obstacle avoidance system is characterized in that the steps 1 and 2 further obtain that the flight attitude angle and Kalman filter algorithm;
  • the flight attitude angle includes roll angle, pitch angle and yaw angle
  • the roll angle is the angle between the longitudinal symmetry plane of the body and the longitudinal vertical plane.
  • the pitch angle is the angle between the longitudinal axis of the body and the longitudinal horizontal axis, expressed by ⁇
  • the yaw angle is the angle between the projection of the longitudinal axis of the body on the horizontal plane xoy and the prime meridian in the geographic coordinate system, denoted by ⁇ Therefore, the conversion from the earth coordinate system to the body coordinate system can be realized by three rotations, and the conversion formula is as follows:
  • Q 0 is a predetermined initial quaternion
  • ⁇ x, ⁇ y, ⁇ z are x, y, z-axis output angular velocity, and thus can obtain the current quaternion Q i in accordance with step 1-4, the step of substituting Q i 1-3 can then obtain the flight attitude angle information at the current moment;
  • Step 2-1 According to the Kalman filter algorithm, set the current sampling time as k, the last moment as k-1, and the optimal state as Then according to the Kalman filter algorithm, the following steps are obtained:
  • Step 2-2 according to Predict the current state of the obstacle avoidance system, and the predicted value is recorded. Which leads to the following way:
  • A represents a state transition matrix matrix
  • u k represents the current time input
  • system matrix B denotes the control matrix avoidance, It consists of two parts, one part is the product between the optimal state at the previous moment and matrix A, and the other part is the product between the input quantity at the current moment and matrix B;
  • Step 2-3 using the covariance matrix equation, and setting the current state matrix as P k , the following methods can be obtained:
  • P k-1 is the optimal solution estimated by the covariance matrix at the previous moment, and Q is the inherent noise matrix of the prediction model;
  • Step 2-3 set the current observation value as z k , the current observation matrix as H, and the covariance matrix of the observation noise as R, the following methods can be obtained:
  • K is called the Kalman coefficient matrix
  • K is expressed as:
  • the value of K directly affects the proportion of the observed value and the predicted value.
  • I is the identity matrix
  • the present invention has the following advantages: the capacitor C1 and the pins 1 and 3 of the power supply unit U1 provide a low-impedance path, and the capacitor C2 stores the obtained electric energy, thereby maintaining the stability of the operation of the power supply unit U1, and the output of the power supply unit U1
  • the terminal uses capacitor C4 and capacitor C3 to ground to filter out the interference band of the output terminal
  • the clock module uses the frequency stability of the crystal oscillator to generate a series of stable frequency signals through the inverter and the oscillator circuit, and then adjusts the frequency signal as the system clock.
  • the reset circuit uses the resistor R1 and the capacitor C6 to charge and discharge, while the capacitor C8 in the operation processing module is grounded to filter the interference signal during the operation of the processor U3, while the inductor L1 and the inductor L2 are used to filter the transmission signal, thereby improving the detection signal.
  • Diode D5, diode D2 and diode D1 are used for unidirectional transmission of voltage to prevent reverse transmission of voltage when the device is powered off; while the ultrasonic transmitting unit and receiving unit use ultrasonic ranging according to the speed of sound and ultrasonic transmission,
  • the received time interval judges and estimates the obstacles and the distance between the obstacles and the obstacles during the flight of the drone, and then accurately judges, and then makes adjustments through the alarm prompt, and then automatically adjusts the flight trajectory to complete the specified flight task.

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  • Aviation & Aerospace Engineering (AREA)
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  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Système d'évitement d'obstacle pour véhicule aérien sans pilote à protection de récolte basée sur la vision et procédé d'évitement d'obstacle associé, le système d'évitement d'obstacle comprenant : un module d'alimentation électrique, un module de commande et un module de mesure de capteur ; le module d'alimentation électrique transmet une puissance de sortie réglée au module de commande et au module de mesure de capteur de façon à fournir une source d'alimentation pour le module de système, et la fréquence d'un oscillateur à quartz est utilisée pour stabiliser un signal de fréquence ; le module de commande reçoit un signal de détection renvoyé par le module de mesure de capteur afin de commander un signal de détection obtenu, entraînant ainsi le fonctionnement du module suivant ; à l'aide d'un procédé de télémétrie par ultrasons, le module de mesure de capteur détermine et estime, en fonction de la vitesse des ondes sonores et de l'intervalle de temps de transmission et de réception à ultrasons, un obstacle et la distance entre l'obstacle et le véhicule aérien sans pilote pendant son vol, et réalise ainsi une détermination précise, et règle automatiquement la trajectoire de vol pour achever une tâche de vol spécifiée.
PCT/CN2020/104940 2020-07-22 2020-07-27 Système d'évitement d'obstacle pour véhicule aérien sans pilote à protection de récolte basée sur la vision et procédé d'évitement d'obstacle associé WO2022016562A1 (fr)

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