CN104267738A - Anti-collision system for unmanned aerial vehicle - Google Patents
Anti-collision system for unmanned aerial vehicle Download PDFInfo
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- CN104267738A CN104267738A CN201410499163.9A CN201410499163A CN104267738A CN 104267738 A CN104267738 A CN 104267738A CN 201410499163 A CN201410499163 A CN 201410499163A CN 104267738 A CN104267738 A CN 104267738A
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Abstract
The invention provides an anti-collision system for an unmanned aerial vehicle. The anti-collision system comprises a measuring sensor, a movement control device, a measurement controller and a flight controller. The measuring sensor tracks and predicts flight tracks and measures all flight positions about to be reached; the flight controller sends data of flight control to the measuring sensor; the measuring sensor predicts the flight track positions where an airplane is about to reach according to the flight data, and calculates angles and directions, corresponding to a coordinate system of the airplane, of these position points; the measuring sensor generates a control instruction according to information of the angles and directions and sends the control instruction to the movement control device, and the movement control device generates corresponding movements. According to the anti-collision system for the unmanned aerial vehicle, the flight control instruction prepared in advance is utilized for predicting the flight tracks about to be reached, all the spatial positions in the flight tracks can be predicted, and therefore the phenomenon that when suddenly turned, the airplane collides with unknown barriers.
Description
Technical field
The present invention relates to police unmanned air vehicle technique field, particularly a kind of unmanned plane anticollision technology.
Background technology
Police unmanned plane, be a kind of specially with for the department such as public security, fire-fighting extraordinary depopulated helicopter technology.Police unmanned plane, especially in particular for city flying overhead police UAS, need to fly at the avenue low-to-medium altitude of complexity, be easy to build with building etc. collide.Range measurement system on tradition unmanned plane is certain characteristic direction of fixation measuring, such as prow direction, in flight course, just cannot measure the obstacle of aircraft side, and the barrier that when aircraft turns to, range measurement system cannot measure aircraft side easily collides.Especially change hard-wired greatly range measurement system in helicopter flight direction is substantially inoperative.The urban architectures such as building are collided when still not having reliable technological means to prevent unmanned plane aircraft from flying in avenue at present.
Current various ranging technologies, such as laser ranging, infrared distance measurement, millimetre-wave radar, supersonic sounding, etc. technology because range of observation is little, all cannot meet the requirement of the unmanned plane collision prevention on a large scale of high maneuverability.
Summary of the invention
The invention provides a kind of unmanned plane collision avoidance system, it comprises a survey sensor, controlled motion device, Mersure Controler, flight controller;
Described survey sensor is connected with flight controller, each flight position that will arrive of survey sensor tracking prediction flight path measurement, measure in prediction flight path and whether there is barrier, if there is barrier in the flight path of prediction, send alarm command to flight controller;
Described Mersure Controler is connected with flight controller, the data that flight controls are sent to described survey sensor by described flight controller, the flight path position that described Mersure Controler will arrive according to flying quality prediction aircraft, and the angle and the orientation that calculate that these location points correspond to aircraft axes;
Described Mersure Controler is connected with controlled motion device, and described Mersure Controler generates steering order according to described angle and azimuth information and is sent to described controlled motion device, and described controlled motion device produces corresponding actions.
Preferably, described survey sensor is laser range sensor.
Preferably, described flight controller receives alarm command and then stops current aerial mission at once, starts emergent flight prediction scheme, control hang and send warning to operator.
The present invention has following beneficial effect:
Unmanned plane anti-collision new method of the present invention, utilize pre-prepd flight steering order, predict by the flight path arrived, look-ahead amount can be carried out to each locus in prediction flight path, thus avoid because collide unknown barrier when aircraft turns suddenly; The hard-wired various sensor measurement scope on current unmanned plane that overcomes is little, cannot adapt to maneuvering flight on a large scale.
Certainly, implement arbitrary product of the present invention might not need to reach above-described all advantages simultaneously.
Accompanying drawing explanation
The unmanned plane collision avoidance system composition schematic diagram that Fig. 1 provides for the embodiment of the present invention.
Embodiment
Embodiments provide a kind of unmanned plane collision avoidance system, it comprises a survey sensor 1, controlled motion device 2, Mersure Controler 3, flight controller 4;
Survey sensor 1 is connected with flight controller 4, each flight position that will arrive of survey sensor 1 tracking prediction flight path measurement, measure in prediction flight path and whether there is barrier, if there is barrier in the flight path of prediction, send alarm command to flight controller 4;
Mersure Controler 3 is connected with flight controller 4, the data that flight controls are sent to survey sensor 3 by flight controller 4, the flight path position that Mersure Controler 3 will arrive according to flying quality prediction aircraft, and the angle and the orientation that calculate that these location points correspond to aircraft axes;
Mersure Controler 3 is connected with controlled motion device 2, and Mersure Controler 3 generates steering order according to described angle and azimuth information and is sent to controlled motion device 2, and controlled motion device 2 produces corresponding actions.
In the present embodiment, survey sensor 1 is laser range sensor; According to UAV Flight Control feature, the water course survey device getting up to form to have automatic tracking capability by sharp survey sensor 1 and Mersure Controler 3, controlled motion device 2 triplicity.Mersure Controler 3 and flight controller 4 couple together, and the data that flight controls are sent to Mersure Controler 3 by flight controller 4, the flight path that Mersure Controler 3 will arrive according to flying quality prediction aircraft.
The track data of prediction is converted into each flight position that will arrive of control data controlled motion controller 2 rotation measuring sensor 3 tracking prediction flight path measurement by Mersure Controler 3, measure in prediction flight path and whether there is barrier, if there is barrier in the flight path of prediction, send alarm command to flight controller 4, " flight controller " receives alarm command and then stops current aerial mission at once, starts emergent flight prediction scheme, control hang and send warning to operator, is determined next step flight planning by operator.
Flight controller 4, be connected with Mersure Controler 3, steering order stream in 3 seconds futures being generated according to aerial mission by flight controller 4 sends to Mersure Controler 3.Mersure Controler 3 calculates according to the steering order flowmeter in 3 seconds futures received the track position that in following 3 seconds, unmanned plane will fly, and calculates angle and orientation that these location points correspond to aircraft axes.Mersure Controler 3 generates steering order according to these angles and orientation, control controlled motion device 2 produces action, the laser range sensor 1 in portion mounted thereto is aimed at prediction locus position measures.Can ignore because measuring speed is far longer than the air maneuver velocity survey time, therefore whole measuring process is continuous print, can measure continuously.
The disclosed preferred embodiment of the present invention just sets forth the present invention for helping above.Preferred embodiment does not have all details of detailed descriptionthe, does not limit the embodiment that this invention is only described yet.Obviously, according to the content of this instructions, can make many modifications and variations.This instructions is chosen and is specifically described these embodiments, is to explain principle of the present invention and practical application better, thus makes art technician understand well and to utilize the present invention.The present invention is only subject to the restriction of claims and four corner and equivalent.
Claims (3)
1. a unmanned plane collision avoidance system, is characterized in that, comprises a survey sensor, controlled motion device, Mersure Controler, flight controller;
Described survey sensor is connected with flight controller, each flight position that will arrive of survey sensor tracking prediction flight path measurement, measure in prediction flight path and whether there is barrier, if there is barrier in the flight path of prediction, send alarm command to flight controller;
Described Mersure Controler is connected with flight controller, the data that flight controls are sent to described survey sensor by described flight controller, the flight path position that described Mersure Controler will arrive according to flying quality prediction aircraft, and the angle and the orientation that calculate that these location points correspond to aircraft axes;
Described Mersure Controler is connected with controlled motion device, and described Mersure Controler generates steering order according to described angle and azimuth information and is sent to described controlled motion device, and described controlled motion device produces corresponding actions.
2. unmanned plane collision avoidance system as claimed in claim 1, it is characterized in that, described survey sensor is laser range sensor.
3. unmanned plane collision avoidance system as claimed in claim 1, is characterized in that, described flight controller receives alarm command and then stops current aerial mission at once, starts emergent flight prediction scheme, control hang and send warning to operator.
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| CN201410499163.9A CN104267738A (en) | 2014-09-25 | 2014-09-25 | Anti-collision system for unmanned aerial vehicle |
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| CN201410499163.9A CN104267738A (en) | 2014-09-25 | 2014-09-25 | Anti-collision system for unmanned aerial vehicle |
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| CN104865856A (en) * | 2015-03-30 | 2015-08-26 | 成都好飞机器人科技有限公司 | Voice control method for unmanned aerial vehicle |
| CN105083573A (en) * | 2015-09-22 | 2015-11-25 | 西华大学 | Unmanned aerial vehicle anti-collision system and anti-collision method thereof |
| CN105425814A (en) * | 2015-11-24 | 2016-03-23 | 木牛（青岛）科技有限公司 | Control system and control method for unmanned plane |
| CN105549014A (en) * | 2016-01-18 | 2016-05-04 | 无锡觅睿恪科技有限公司 | Laser obstacle-avoidance system for unmanned plane |
| CN106292675A (en) * | 2016-10-14 | 2017-01-04 | 郑宏伟 | A kind of water surface unmanned aircraft collision avoidance system |
| WO2018010164A1 (en) * | 2016-07-15 | 2018-01-18 | 深圳飞豹航天航空科技有限公司 | Obstacle-avoidance detection method, moving apparatus, and unmanned aerial vehicle |
| CN108205327A (en) * | 2016-12-20 | 2018-06-26 | 昊翔电能运动科技(昆山)有限公司 | For the auxiliary operation method and system of unmanned plane |
| CN109116867A (en) * | 2018-09-28 | 2019-01-01 | 拓攻（南京）机器人有限公司 | A kind of unmanned plane during flying barrier-avoiding method, device, electronic equipment and storage medium |
| CN110226141A (en) * | 2016-11-11 | 2019-09-10 | 威罗门飞行公司 | The security system of operation for unmanned vehicle |
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| CN109116867A (en) * | 2018-09-28 | 2019-01-01 | 拓攻（南京）机器人有限公司 | A kind of unmanned plane during flying barrier-avoiding method, device, electronic equipment and storage medium |
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