CN107783547A - Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method - Google Patents
Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method Download PDFInfo
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- 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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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method, radar altitude sensor, vertical range of the measurement unmanned plane to ground；GPS/ Big Dipper alignment sensors, are positioned in real time, to realize the spot hover of unmanned plane；AHRS modules, gather the flight attitude and sail information of unmanned plane；Millimetre-wave radar sensor, for realizing telemeasurement of the barrier to unmanned plane；Ultrasonic radar sensor, for realizing close-in measurement of the barrier to unmanned plane；Binocular vision sensor, measure the size and shape of barrier；Master controller, analyzed by the data obtained to each sensor, control unmanned plane completes avoidance action.The application can effectively perceive accurate acquisition of the unmanned plane to its flight environment of vehicle and obstacle target, make up the factor such as related data information missing and deficiency existing for single-sensor.
Description
Technical field
The invention belongs to unmanned plane avoidance technical field, more particularly to a kind of Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and
Method.
Background technology
Unmanned air vehicle technique quickly turns into the new focus researched and developed both at home and abroad in recent years, and due to unmanned equipment
Have high maneuverability, operation flexibly, cost is low, image real-time Transmission and the features such as high-resolution so that unmanned plane is applied to
Social every field, such as disaster assistance, electric inspection process, forestry fire prevention, agricultural spray, vegetation protection, photography of taking photo by plane.
At Post disaster relief scene, because traditional means have many limitations, unmanned air vehicle technique has obtained gradual development.
Post disaster relief unmanned plane mainly after Disaster Event generation, for bad environments, can not understand field conditions in time and rescue
Help it is urgent in the case of, rescue site can be intervened from air observation with most fast, most easily means.Unmanned plane passes through high definition
Situation live after calamity is shot and recorded by camera, and then the real-time live collected is taken photo by plane data back.Will
Unmanned plane is applied to Post disaster relief, can not only avoid the personal safety of aircrew, can also be rescue personnel at first
Between view disaster field situation, arrange the work such as treatment after calamity.
Because site environment complexity is unknown after calamity, for unmanned plane in shooting and recording after realizing calamity, may lead
Situations such as causing unmanned plane to collide, causes unmanned plane to damage, and delays the quick understanding of live disaster relief situation, therefore just need
During carrying out Post disaster relief, ensure the flight safety of unmanned plane.
The content of the invention
The invention provides a kind of Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method, is rescued for rotor wing unmanned aerial vehicle after calamity
Help in environment complicated and changeable, can prevent unmanned plane from colliding in real time, so as to ensure the security of unmanned plane itself.
On the one hand, the invention provides a kind of Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system, including：
Radar altitude sensor, vertical range of the measurement unmanned plane to ground；
GPS/ Big Dipper alignment sensors, are positioned in real time, to realize the spot hover of unmanned plane；
AHRS modules, gather the flight attitude and sail information of unmanned plane；
Millimetre-wave radar sensor, for realizing telemeasurement of the barrier to unmanned plane；
Ultrasonic radar sensor, for realizing close-in measurement of the barrier to unmanned plane；
Binocular vision sensor, measure the size and shape of barrier；
Master controller, analyzed by the data obtained to each sensor, control unmanned plane completes avoidance action；
The master controller respectively with radar altitude sensor, GPS/ Big Dippeves alignment sensor, AHRS modules, millimeter wave thunder
It is connected up to sensor, ultrasonic radar sensor with binocular vision sensor.
Preferably, the millimetre-wave radar sensor, ultrasonic radar sensor, binocular vision sensor are four,
It is separately mounted to the face of front, rear, left and right four of unmanned plane.
Preferably, millimetre-wave radar sensor, including：
Anneta module, to all directions area of space transmission signal, and the barrier scatter echo in reception space region
Signal；
RF front-end module, realize the transmitting and reception processing of signal；
Baseband processing module, the relative distance of objects ahead barrier, relative velocity and azimuth are parsed, sent out
Give master controller.
Preferably, the ranging of 0~10 meter of scope of ultrasonic radar sensor progress, millimetre-wave radar sensor progress 3~
Ranging in the range of 50m.
Preferably, AHRS modules, including MEMS three-axis gyroscope, accelerometer and magnetometer, output data are three-dimensional
Acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity.
On the other hand, the invention provides a kind of Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method, including：
S1. millimetre-wave radar sensor carries out the acquisition of obstacle target feature in long distance environment；
S2. binocular vision sensor carries out the acquisition of barrier target sizes and shape in short distance；
S3. ultrasonic sensor carries out the acquisition of closely interior barrier target signature：
S4. radar altitude sensor carries out the measurement of unmanned plane distance perpendicular to the ground；
S5.GPS/ Big Dipper alignment sensors, are positioned in real time, to realize the spot hover of unmanned plane；
S6.AHRS modules gather the flight attitude and sail information of unmanned plane.
S7. master controller is analyzed by the data obtained to each sensor, and control unmanned plane completes avoidance action.
Specifically, it is to complete avoidance as follows in step S7：
P1, the relative distance of unmanned plane and barrier is first determined whether, relative distance is carried out to the division of three parts:It is less than
N1m, N1m to N2m, three distance ranges of N2m to N3m；
P2, after distance has divided, the division of danger classes is carried out according to the relative velocity of unmanned plane and barrier:
When distance is less than N1m, speed is more than M1m/s, and pre-warning time is less than 3s, then belongs to danger classes, and speed is less than
During M1m/s, belong to warning level；
As distance N1m≤R<N2m, when speed is more than M2m/s, in danger classes；As speed M1m/s≤V<During M2m/s,
In warning level, when speed is less than M1m/s, in cue scale；
As distance N2m≤R<During N3m, when speed is more than M3m/s, in danger classes；As speed M2m/s≤V<M3m/
During s, in warning level, as speed M1m/s≤V<During M2m/s, in cue scale, when speed is less than M1m/s, in not
Associated ratings；
P3, the shape and size of barrier are recognized according to binocular vision sensor, distinguish wall, trees, people with
And high-voltage line.
More specifically, also include in above-mentioned steps S7：
P4, for danger classes, it is necessary to carry out step P3 operation；For warning level, it is necessary to be carried out after emergency deceleration
Step P3 operation；For cue scale and uncorrelated grade, without carrying out the judgement of third step, return re-starts inspection
Survey.
More specifically, need to carry out emergent stopping for wall in step P3, turned back after hovering, opposite direction flight；For people
Progress left and right is needed to detour with trees；For high-voltage line detour up and down.
The present invention can obtain following technique effect due to using above technical scheme：Nobody can effectively be perceived
Accurate acquisition of the machine to its flight environment of vehicle and obstacle target, make up existing for single-sensor related data information missing with
And the factor such as deficiency；
By the way that multiple sensors are merged, designed Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system has to nobody
The perception of machine flight environment of vehicle and obstacle target barrier avoiding function.It is Post disaster relief rotor wing unmanned aerial vehicle in environment complicated and changeable
In, it can prevent unmanned plane from colliding in real time, so as to ensure the security of unmanned plane itself.
Brief description of the drawings
, below will be to embodiment or existing for clearer explanation embodiments of the invention or the technical scheme of prior art
There is the required accompanying drawing used in technology description to do one and simply introduce, it should be apparent that, drawings in the following description are only
Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system structural representation；
Fig. 2 is Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method flow chart；
Fig. 3 is millimetre-wave radar sensor construction schematic diagram；
Fig. 4 is main controller controls unmanned plane barrier-avoiding method flow chart in embodiment 3.
Embodiment
To make the purpose, technical scheme and advantage of embodiments of the invention clearer, with reference to the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly completely described：
The targeted unmanned plane of the application, mainly more rotor Post disaster relief rotor wing unmanned aerial vehicles.Multi-rotor unmanned aerial vehicle utilizes
Its main rotor circumgyration incision air produces flying power, compared with fixed-wing, has standing start, hovering, flying speed
Slowly the big, flexibility ratio of, bearing a heavy burden it is high and can hedgehopping the characteristics of.Multi-rotor unmanned aerial vehicle do not need runway can with VTOL,
It can be hovered in the air after taking off, the application after suitable calamity in complex environment.Its manipulating principle is simple, four remote sensing behaviour of control device
Around making corresponding aircraft, up and down and yaw direction motion.
Embodiment 1
A kind of Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system is present embodiments provided, including：
Radar altitude sensor, vertical range of the measurement unmanned plane to ground；
GPS/ Big Dipper alignment sensors, are positioned in real time, to realize the tasks such as the spot hover of unmanned plane；
AHRS modules, gather the flight attitude and sail information of unmanned plane；AHRS modules, include MEMS three axis accelerometer
Instrument, accelerometer and magnetometer, output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity.
Millimetre-wave radar sensor, using the system of linear frequency modulation triangular wave, for realizing barrier to the remote of unmanned plane
Range measurement；The millimetre-wave radar sensor, including：Anneta module, form the transmitting needed for radar detection and receive wave beam；
To all directions area of space transmission signal, and the barrier scatter echo signal in reception space region；RF front-end module,
According to the application scenarios and functional requirement of unmanned plane avoidance millimetre-wave radar, the transmitting and reception processing of signal are realized；At base band
Manage module, control transmitting modulation waveform, signal acquisition and signal transacting work, by the relative distance of objects ahead barrier,
Relative velocity and azimuth are parsed, and are sent to master controller, so as to complete millimetre-wave radar sensor to target disorders
The data acquisition transmission work of thing.Millimetre-wave radar sensor carries out the ranging in the range of 3~50m.
Ultrasonic radar sensor, for realizing close-in measurement of the barrier to unmanned plane, ultrasonic radar sensor
Carry out the ranging of 0~10 meter of scope；
Binocular vision sensor, measure the size and shape of barrier；
Master controller, analyzed by the data obtained to each sensor, control unmanned plane completes avoidance action；
The master controller respectively with radar altitude sensor, GPS/ Big Dippeves alignment sensor, AHRS modules, millimeter wave thunder
It is connected up to sensor, ultrasonic radar sensor with binocular vision sensor.
Preferably, the millimetre-wave radar, ultrasonic radar, binocular vision sensor are four, are separately mounted to nothing
The man-machine face of front, rear, left and right four.Because multi-rotor unmanned aerial vehicle can all around fly, it is necessary to which each face will be carried out
Anticollision designs, so carrying out long range measurements, a ultrasonic wave thunder by a millimetre-wave radar sensor on each face
Close-in measurement is carried out up to sensor, a binocular vision sensor carries out objective attribute target attribute, such as orientation, and size shape is surveyed
Amount, so Post disaster relief rotor wing unmanned aerial vehicle designed by the present invention is for millimetre-wave radar sensor, ultrasonic sensor and double
Mesh vision sensor respectively needs four.
Embodiment 2
A kind of Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method is present embodiments provided, including：
S1. millimetre-wave radar sensor carries out the acquisition of obstacle target feature in long distance environment；Due to millimeter wave thunder
Up to operation wavelength between 1mm~10mm, compared with other detection modes, mainly there are detection performance stabilization, environment to adapt to
Well, size is small, price is low, can rather harsh sleety weather use the advantages that, and the effect of millimetre-wave radar away from
From remote, 50m or farther distance can be reached, be vision sensor, infrared sensor and ultrasonic radar sensor etc.
The distance that avoidance sensor is unable to reach, make quick avoidance for unmanned plane and provide enough avoidance time, and millimeter
Ripple radar can realize the accurate acquisition of risk object characteristic information in the environment of Post disaster relief rotor wing unmanned aerial vehicle flight front, such as hinder
Hinder the features such as relative distance, relative velocity and the relative angle of thing target and unmanned plane.
S2. binocular vision sensor carries out the acquisition of barrier target sizes and shape in short distance；Due to binocular vision
Feel that sensor can obtain the size and shape of target, this is that millimetre-wave radar can not be obtained accurately, and due to double
The characteristic of mesh sensor can realize measurement of target range etc., handled, realized by dynamic of the vision sensor for image
Behavior is more accurately perceived to environment.
S3. ultrasonic sensor carries out the acquisition of closely interior barrier target signature：Due to linear frequency modulation millimeter wave thunder
Obscured up to for closely presence is certain, in order that unmanned plane closely has higher range accuracy, so each
One ultrasonic radar is installed on individual millimetre-wave radar side, carries out the ranging of 0~10 meter of scope, millimetre-wave radar carries out 3~50m
In the range of ranging work.
S4. radar altitude sensor carries out the measurement of unmanned plane distance perpendicular to the ground；If radar altitude sensor main
Realize the measurement of Post disaster relief rotor wing unmanned aerial vehicle distance to the ground so that unmanned plane can enter on the ground of building or complicated landform
Row smooth flight, it is accurately controlled the flying height of unmanned plane.
S5.GPS/ Big Dipper alignment sensors, are positioned in real time, to realize the tasks such as the spot hover of unmanned plane；GPS/
Big Dipper alignment sensor can realize that Post disaster relief rotor wing unmanned aerial vehicle is positioned in real time, to realize that the fixed point of rotor wing unmanned aerial vehicle is hanged
The task such as stop.
S6.AHRS modules gather the flight attitude and sail information of unmanned plane.AHRS is referred to as attitude heading reference system, including base
In MEMS three-axis gyroscope, accelerometer and magnetometer, output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional earth magnetism
Field intensity, course, roll and rollover information can be provided for aircraft by these data, accurately may be used for being provided for aircraft
The posture and sail information leaned on.
S7. master controller is analyzed by the data obtained to each sensor, and control unmanned plane completes avoidance action.
The above method can effectively perceive Post disaster relief rotor wing unmanned aerial vehicle to its flight environment of vehicle and obstacle target
High accuracy and accurately obtain, reduce related data information missing and the factor such as deficiency existing for single-sensor.Control
Device processed is mainly responsible for the collection of each sensing data, the task such as processing and decision-making.Multiple sensors are obtained each
Data acquisition, data prediction, data filtering, data fusion and control and decision-making etc. are carried out from data by controller to appoint
Business.For parts such as data acquisition, data processing, data filtering and data fusions, the present invention is not described in detail, this hair
The bright main control method for providing Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system.
Embodiment 3
The present embodiment is the further supplementary notes to embodiment 2：
Specifically, it is to complete avoidance as follows in step S7：
P1, the relative distance of unmanned plane and barrier is first determined whether, relative distance is carried out to the division of three parts:It is less than
10m, 10m to 20m, three distance ranges of 20m to 50m；
P2, after distance has divided, the division of danger classes is carried out according to the relative velocity of unmanned plane and barrier:
When distance is less than 10m, speed is more than 3m/s, and pre-warning time is less than 3s, then belongs to danger classes, and speed is less than
During 3m/s, belong to warning level；
As distance 10m≤R<20m, when speed is more than 6m/s, in danger classes；As speed 3m/s≤V<During 6m/s, place
In warning level, when speed is less than 3m/s, in cue scale；
As distance 20m≤R<During 50m, when speed is more than 16m/s, in danger classes；As speed 6m/s≤V<16m/s
When, in warning level, as speed 3m/s≤V<During 6m/s, in cue scale, when speed is less than 3m/s, in uncorrelated
Grade；
P3, the shape and size of barrier are recognized according to binocular vision sensor, distinguish wall, trees, people with
And high-voltage line；Need to carry out emergent stopping for wall, turned back after hovering, opposite direction flight；Need to carry out a left side for people and trees
The right side is detoured, and can carry out detouring up and down for high-voltage line.
P4, for danger classes, it is necessary to carry out step P3 operation；For warning level, it is necessary to be carried out after emergency deceleration
Step P3 operation；For cue scale and uncorrelated grade, without carrying out the judgement of third step, return re-starts inspection
Survey.
Data processing and data analysis are carried out by the data for obtaining multisensor, so as to according to each sensor
Data carry out the selection of avoidance decision-making, and control Post disaster relief rotor wing unmanned aerial vehicle completes avoidance action.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (9)
1. Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system, it is characterised in that including：
Radar altitude sensor, vertical range of the measurement unmanned plane to ground；
GPS/ Big Dipper alignment sensors, are positioned in real time, to realize the spot hover of unmanned plane；
AHRS modules, gather the flight attitude and sail information of unmanned plane；
Millimetre-wave radar sensor, for realizing telemeasurement of the barrier to unmanned plane；
Ultrasonic radar sensor, for realizing close-in measurement of the barrier to unmanned plane；
Binocular vision sensor, measure the size and shape of barrier；
Master controller, analyzed by the data obtained to each sensor, control unmanned plane completes avoidance action；
The master controller passes with radar altitude sensor, GPS/ Big Dippeves alignment sensor, AHRS modules, millimetre-wave radar respectively
Sensor, ultrasonic radar sensor are connected with binocular vision sensor.
2. Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system according to claim 1, it is characterised in that the millimetre-wave radar passes
Sensor, ultrasonic radar sensor, binocular vision sensor are four, are separately mounted to the front, rear, left and right four of unmanned plane
Individual face.
3. Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system according to claim 2, it is characterised in that millimetre-wave radar senses
Device, including：
Anneta module, to all directions area of space transmission signal, and the barrier scatter echo signal in reception space region；
RF front-end module, realize the transmitting and reception processing of signal；
Baseband processing module, the relative distance of target obstacle, relative velocity and azimuth are parsed, are sent to master control
Device processed.
4. Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system according to claim 1, it is characterised in that ultrasonic radar sensor
The ranging of 0~10 meter of scope is carried out, millimetre-wave radar sensor carries out the ranging in the range of 3~50m.
5. according to any one of the claim 1-4 Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance systems, it is characterised in that AHRS moulds
Block, including MEMS three-axis gyroscope, accelerometer and magnetometer, output data are three-dimensional acceleration, three-dimensional angular velocity and three
Tie up geomagnetic field intensity.
6. Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method, it is characterised in that including：
S1. millimetre-wave radar sensor carries out the acquisition of obstacle target feature in long distance environment；
S2. binocular vision sensor carries out the acquisition of barrier target sizes and shape in short distance；
S3. ultrasonic sensor carries out the acquisition of closely interior barrier target signature：
S4. radar altitude sensor carries out the measurement of unmanned plane distance perpendicular to the ground；
S5.GPS/ Big Dipper alignment sensors, are positioned in real time, to realize the spot hover of unmanned plane；
S6.AHRS modules gather the flight attitude and sail information of unmanned plane；
S7. master controller is analyzed by the data obtained to each sensor, and control unmanned plane completes avoidance action.
7. Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method according to claim 6, it is characterised in that be by such as in step S7
Lower step completes avoidance：
P1, the relative distance of unmanned plane and barrier is first determined whether, relative distance is carried out to the division of three parts:Less than N1m,
Three distance ranges of N1m to N2m, N2m to N3m；
P2, after the completion of distance division, the division of danger classes is carried out according to the relative velocity of unmanned plane and barrier:
When distance is less than N1m, speed is more than M1m/s, and pre-warning time is less than Qs, then belongs to danger classes, and speed is less than M1m/s
When, belong to warning level；
As distance N1m≤R<N2m, when speed is more than M2m/s, in danger classes；As speed M1m/s≤V<During M2m/s, it is in
Warning level, when speed is less than M1m/s, in cue scale；
As distance N2m≤R<During N3m, when speed is more than M3m/s, in danger classes；As speed M2m/s≤V<During M3m/s,
In warning level, as speed M1m/s≤V<During M2m/s, in cue scale, when speed is less than M1m/s, in uncorrelated
Grade；
P3, the shape and size of barrier are recognized according to binocular vision sensor, distinguish wall, trees, people and height
Line ball.
8. Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method according to claim 7, it is characterised in that also wrapped in above-mentioned steps S7
Include：
P4, for danger classes, it is necessary to carry out step P3 operation；For warning level, it is necessary to carry out step after emergency deceleration
P3 operation；For cue scale and uncorrelated grade, without carrying out the judgement of third step, return re-starts detection.
9. Post disaster relief rotor wing unmanned aerial vehicle barrier-avoiding method according to claim 7, it is characterised in that needed in step P3 for wall
Emergent stopping is carried out, is turned back after hovering, opposite direction flight；Progress left and right is needed to detour for people and trees；For high-voltage line
Detour up and down.
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| CN108803666A (en) * | 2018-09-11 | 2018-11-13 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of line data-logging unmanned plane barrier-avoiding method and system based on millimetre-wave radar |
| CN108873921A (en) * | 2018-06-28 | 2018-11-23 | 朱诺 | A kind of safety control system and method for searching and rescuing unmanned plane |
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| CN111650965A (en) * | 2020-06-17 | 2020-09-11 | 北华航天工业学院 | Unmanned aerial vehicle autonomous return control system and control method thereof |
| CN112437907A (en) * | 2018-07-11 | 2021-03-02 | 都市气象株式会社 | Flight path calculation system, flight path calculation program, and unmanned aircraft path control method |
| WO2021035720A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Power line detection method, millimeter wave radar, system, and storage medium |
| CN113703466A (en) * | 2021-07-14 | 2021-11-26 | 浙江理工大学 | Frequency-adjustable obstacle avoidance method for quad-rotor unmanned aerial vehicle |
| CN113900446A (en) * | 2021-10-15 | 2022-01-07 | 贵州师范学院 | Unmanned aerial vehicle hydrological monitoring autonomous obstacle avoidance system and method based on binocular vision |
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