CN112256049A - System and method for maintaining safety interval of quad-rotor unmanned aerial vehicle - Google Patents
System and method for maintaining safety interval of quad-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a safety space keeping system of a quad-rotor unmanned aerial vehicle, which comprises a flight controller, a power supply module and a driving module which are mutually connected inside the unmanned aerial vehicle, and an optical flow module, a distance measuring module and a vision module which are respectively connected with the flight controller, wherein the optical flow module is used for detecting flight position information, the distance measuring module is used for detecting flight height information, the vision module is used for acquiring image information and detecting cables according to the image information, the power supply module is used for supplying power to the driving module and the flight controller, and the driving module is used for receiving signals of the flight controller and controlling the action of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control of an electric power system, in particular to a system and a method for maintaining the safety distance of a quad-rotor unmanned aerial vehicle.
Background
With the continuous development of the unmanned aerial vehicle technology, various applications of the unmanned aerial vehicle in the power system are gradually paid attention from various aspects. At present, a great number of scholars and unmanned aerial vehicle enthusiasts at home and abroad develop and research unmanned aerial vehicles and obtain some achievements. However, the research on the unmanned aerial vehicle safety distance keeping technology for the special application background of power line patrol is not enough, and various new distance detection methods and strategies are still to be researched. The key link for realizing automatic safety interval keeping is distance detection of the unmanned aerial vehicle on the power transmission line.
The unmanned aerial vehicle inspection ranging system is a multi-sensor system, collects relevant information through different azimuth sensors, and simultaneously needs to compare and analyze the information collected by each sensor when studying and judging, so that the requirement on the information fusion processing capacity is high, and a multi-sensor information fusion technology is generated. The basic principle of the multi-sensor information fusion technology is that a multi-sensor information fusion system is utilized to carry out cooperative processing on information obtained by each sensor, corresponding rules are formulated, and finally, comprehensive optimization processing is carried out on the multi-sensor information, so that more valuable information subjected to inference analysis is obtained, and the purpose of better describing a controlled object is achieved. When information fusion is performed, there are mainly six methods: the method comprises six types including a weighted average method, an information fusion method based on parameter estimation, D-S evidence reasoning, a production formula rule, fuzzy logic and an artificial neural network.
At present, the research on the unmanned aerial vehicle inspection obstacle avoidance technology mainly takes the research on the large unmanned aerial vehicle inspection power transmission line project established by national power grid companies as a main research. This research project is in order to realize that large-scale unmanned aerial vehicle patrols and examines transmission line in beyond visual range, adopts millimeter wave radar to keep away the barrier technique and establishes unmanned aerial vehicle and patrols and examines and keep away the barrier system, but has how to filter and keep away barrier system equipment with the back wave and more, defect such as weight is big.
For the inspection of the electric multi-rotor unmanned aerial vehicle, the large-load and long-distance airborne detection device cannot be installed due to the limited load capacity of the unmanned aerial vehicle, so that the unmanned aerial vehicle needs to fly and hover for detection along a line in a short distance. Keeping the flight at a safe distance from the power transmission line is one of important safety guarantees of the multi-rotor unmanned aerial vehicle in power patrol, and is also a mandatory requirement of the power multi-rotor unmanned aerial vehicle patrol. But unmanned aerial vehicle electric power is patrolled line and is required the sensor measuring range great, and sensitivity is high, and when the barrier was nearer apart from unmanned aerial vehicle, the sensor receives its influence easily, and unmanned aerial vehicle electric power patrols line in-process environment complicacy changeable, hardly establishes an accurate mathematical model and comes the concrete description.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a system and a method for maintaining the safety distance of a quad-rotor unmanned aerial vehicle, which can accurately acquire the distance between the unmanned aerial vehicle and a power transmission line in real time and ensure the safety operation of the unmanned aerial vehicle through rapid calculation and action control.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a four rotor unmanned aerial vehicle safe interval hold system, includes unmanned aerial vehicle inside interconnect's flight controller, power module and drive module to and light stream module, range finding module and the visual module be connected with flight controller respectively, the light stream module be used for detecting flight position information, range finding module be used for detecting flight height information, the visual module be used for image information to carry out the cable according to image information and detect, power module be used for supplying power for drive module and flight controller, drive module be used for receiving flight controller's signal and control unmanned aerial vehicle's action.
Furthermore, the system also comprises an acousto-optic module connected with the flight controller, the visual module is also connected with the SD card, and in the flight process of the unmanned aerial vehicle, when special images are collected, an acousto-optic alarm is sent out through the acousto-optic module, and the collected image data is stored in the SD card.
Preferably, the optical flow module, the distance measurement module and the vision module are connected with the flight controller through a serial port or an I2C bus.
Further preferably, the vision module includes connecting with the SD card, the OpenMV4 camera that is used for image acquisition to and be connected with flight controller, the STM32F765 singlechip that is used for image data processing, the optical flow module include the optical flow sensor who is connected with flight controller, the range finding module include the laser range finding sensor who is connected with flight controller, flight controller be unmanned aerial vehicle's main control chip.
Furthermore, the OpenMV4 camera faces the cable obliquely downwards, and the OpenMV4 camera is supported by the bracket to shoot obliquely downwards in consideration of the cluttered background behind the cable, so that the OpenMV picture is the ground and the cable, the ground is single in color, and interference can be removed.
A control method for said quad-rotor drone safety clearance maintenance system, comprising the steps of:
s1: the method comprises the following steps of respectively carrying out positioning acquisition and height acquisition on the quad-rotor unmanned aerial vehicle by using an optical flow module and a ranging module to obtain position and height signals;
s2: after filtering fusion and signal processing, the two paths of signals are input into a fuzzy neural network for processing;
s3: the fuzzy neural network outputs a flight control processing command to the flight controller;
s4: the flight controller adjusts the flight attitude of the unmanned aerial vehicle through the driving module, and controls the distance between the unmanned aerial vehicle and the cable to be outside the minimum safety boundary line;
s5: the visual module detects the cable according to the instruction of the flight controller and sends cable detection data to the flight controller;
s6: and the flight controller adjusts the attitude of the unmanned aerial vehicle according to the cable detection data.
Further, the filtering fusion is klaman filtering.
Furthermore, the minimum safe boundary line comprises eight transverse boundary lines and four vertical boundary lines which are connected with each other to form a rectangular safe boundary frame, wherein four of the eight transverse boundary lines are parallel to the cables on the towers respectively and are separated from each other by an obstacle avoidance safe distance, and the other four transverse boundary lines are parallel to the connecting rods between the towers respectively and are separated from each other by an obstacle avoidance safe distance.
Furthermore, the obstacle avoidance safety distance is determined by the voltage value of the power line and the size of the unmanned aerial vehicle.
Further, the posture adjustment specifically comprises the following steps:
s61: acquiring image information, and randomly framing three areas of an image along the transverse direction;
s62: searching a point with the largest area of the black color block in each area, and acquiring coordinates of the point;
s63: calculating the slope of the cable by using the coordinates, and acquiring the size of the inclination angle of the camera relative to the cable;
s64: and adjusting the posture of the unmanned aerial vehicle according to the size of the inclination angle, so that the inclination angle is reduced.
Compared with the prior art, the invention has the following advantages:
1) according to the invention, the flying height and the positioning of the unmanned aerial vehicle are collected through the optical flow module and the distance measuring module which are externally connected with the unmanned aerial vehicle, cables, towers and the like are detected through the vision module, and finally, the unmanned aerial vehicle controller integrates information to form autonomous closed-loop control of the unmanned aerial vehicle, so that an autonomous flying task is achieved, the distance between the unmanned aerial vehicle and a power transmission line can be accurately collected in real time, and the safety of the inspection operation of the unmanned aerial vehicle in a power system is ensured through rapid calculation and action control;
2) according to the multi-sensor fusion method based on the fuzzy neural network, the acquired data is utilized to the unmanned aerial vehicle automatic safety interval keeping based on the fuzzy neural network, the fuzzy logic can control a system which is only controlled by experience and is difficult to accurately establish a mathematical model, the neural network can map any functional relation, the self-learning capability is strong, the defects of the fuzzy logic are made up, the obtained result is accurate, and the reliability is improved;
3) according to the invention, the OpenMV is supported by the support and is shot obliquely downwards, so that the picture of the OpenMV is the ground and the wire, the ground has a single color, the interference can be removed, and the accuracy of image acquisition is improved;
4) according to the invention, the attitude of the unmanned aerial vehicle is adjusted through processing the acquired image, so that the unmanned aerial vehicle can fly in parallel along the cable, and the probability of crossing the minimum safety boundary line is reduced.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the control method of the present invention;
FIG. 3 is a schematic view of a minimum safe boundary line;
FIG. 4 is a schematic diagram of the relative positions of the camera and the cable;
fig. 5 is a schematic diagram illustrating the principle of cable detection attitude adjustment.
The system comprises a flight controller 1, a flight controller 2, an optical flow module 3, a distance measurement module 4, a vision module 5, an acousto-optic module 61, a voltage reduction module 62, a power module 71, an electric regulator 72, a motor 8, an SD card 9, a minimum safety boundary line 10, a cable 11 and a tower.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
As shown in fig. 1, the invention provides a safety spacing maintaining system for a quad-rotor unmanned aerial vehicle, which comprises a flight controller 1, a power supply module and a driving module which are mutually connected inside the unmanned aerial vehicle, and an optical flow module 2, a distance measuring module 3, a visual module 4 and an acousto-optic module 5 which are respectively connected with the flight controller 1 through a serial port or an I2C bus, wherein the flight controller 1 is a main control chip of the unmanned aerial vehicle.
The power module includes interconnect's step-down module 61 and power module 62, drive module includes four electricity accents 71 and four motors 72 of interconnect, step-down module 61 is connected with flight controller 1, for flight controller 1 provides 5V steady voltage power supply, power module 62 is connected with electricity accent 71, for its power supply, flight controller 1 is connected with four electricity accents 71 respectively, output four ways PWM ripples passes through electricity accent 71 control motor 72 action, four motors 72 received signal and control unmanned aerial vehicle's position.
The optical flow module 2 is used for detecting flight position information and includes an optical flow sensor connected to the flight controller 1.
The distance measuring module 3 is used for detecting flight altitude information and comprises a laser distance measuring sensor connected with the flight controller 1
Visual module 4 is used for image information collection, and carry out the cable detection according to image information, include and be connected with the SD card, an OpenMV4 camera for image acquisition, and be connected with flight controller 1, an STM32F765 singlechip for image data processing, as shown in FIG. 4, the slant of OpenMV4 camera is down just to the cable, SD card 8 is the Micro SD card, in unmanned aerial vehicle flight in-process, when gathering special image, send acousto-optic warning through acousto-optic module 5, and to the picture data storage who gathers in SD card 8.
The system utilizes an optical flow sensor to perform real-time positioning, utilizes a laser ranging sensor to acquire ground height data in real time, sends the peripheral modules to a main control chip through a serial port or an I2C bus to be processed, mainly uses an OpenMV4 camera of a vision module 4 to acquire image information, analyzes and processes the image information through an STM32F765 singlechip and sends the image information to the flight controller 1, and adjusts the rotating speed of a motor 72 according to a program instruction so as to meet task requirements. In the flight process, sound and light alarm appears when some special images are captured, data are stored in the SD card, and the whole system can realize the functions of fixed-height flight, line patrol detection, fault identification and the like.
As shown in fig. 2, the invention further provides a control method for a safety interval maintaining system of a quad-rotor unmanned aerial vehicle, which uses a multi-sensor fusion method of klaman filtering and a fuzzy neural network, and simultaneously utilizes a vision module 4 to identify, obtains an instruction from a flight controller 1, and judges what starts to patrol a line and a pole, so as to realize real-time and accurate obstacle avoidance of multi-rotor unmanned aerial vehicle patrol, and comprises the following steps:
s1: the optical flow module 2 and the ranging module 3 are used for respectively carrying out positioning acquisition and height acquisition on the quad-rotor unmanned aerial vehicle to obtain position and height signals;
s2: after being subjected to klaman filtering fusion and signal processing, the two paths of signals are input into a fuzzy neural network for processing, namely a multi-sensor fusion method of the klaman filtering and the fuzzy neural network is used;
s3: the fuzzy neural network outputs a flight control processing command to the flight controller 1;
s4: the flight controller 1 adjusts the flight attitude of the unmanned aerial vehicle through the driving module, and controls the distance between the unmanned aerial vehicle and the cable to be outside the minimum safety boundary line 9;
s5: the vision module 4 carries out cable detection according to the instruction of the flight controller 1, and sends cable detection data to the flight controller 1, and specifically includes: judging what starts to patrol the line and the pole, and sending data of the line patrol and the pole patrol to the flight controller 1;
s6: the flight controller 1 performs attitude adjustment on the unmanned aerial vehicle according to the cable detection data.
Compared with the traditional safety spacing keeping system, the method can accurately acquire the distance between the unmanned aerial vehicle and the power transmission line in real time, and realizes the safety spacing keeping of the unmanned aerial vehicle and the power transmission line through rapid calculation and action control.
As shown in fig. 3, when the power transmission line and the tower unmanned aerial vehicle perform power line patrol operation, the cables 10 and the towers 11 have complex structures, so that the minimum safety boundary line 9 needs to be simplified when being determined, wherein the four towers 11 are respectively marked as i, ii, iii and iv, and the unmanned aerial vehicle performs power line patrol operation among the towers i, ii, iii and iv. The four end points at the tops of the four towers 11 are marked as A, B, C, D to form a rectangle, and then the rectangle is used as a boundary, the safe obstacle avoidance distance is translated outwards, and the obtained obstacle avoidance boundary line is marked as P1-P8. The safe obstacle avoidance distance here must be determined according to the specific voltage value of the power line and the size of the unmanned aerial vehicle. Namely, the minimum safe boundary line 9 includes eight transverse boundary lines and four vertical boundary lines which are connected with each other to form a rectangular safe boundary frame, four of the eight transverse boundary lines are respectively parallel to the cables 10 on the towers 11 and have a distance from the obstacle avoidance safe distance, and the other four transverse boundary lines are respectively parallel to the connecting rods between the towers 11 and have a distance from the obstacle avoidance safe distance.
The basis for realizing the safety distance maintenance is to establish a minimum safety boundary line 9, and only if the minimum safety boundary line is correctly established, the minimum safety space model can be accurately established.
As shown in fig. 5, the posture adjustment specifically includes the following steps:
s61: acquiring image information, and randomly framing three areas of an image along the transverse direction;
s62: searching a point with the largest area of the black color block in each area, and acquiring coordinates of the point;
s63: calculating the slope of the cable by using the coordinates, and acquiring the size of the inclination angle of the camera relative to the cable;
s64: and adjusting the posture of the unmanned aerial vehicle according to the size of the inclination angle, so that the inclination angle is reduced.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a four rotor unmanned aerial vehicle safe interval holding system, its characterized in that, including flight controller (1), power module and the drive module of inside interconnect of unmanned aerial vehicle to and light stream module (2), range module (3) and visual module (4) be connected with flight controller (1) respectively, light stream module (2) be used for detecting flight position information, range module (3) be used for detecting flight height information, visual module (4) be used for image information to gather to carry out the cable according to image information and detect, power module be used for supplying power for drive module and flight controller (1), drive module be used for receiving the signal of flight controller (1) and control unmanned aerial vehicle's action.
2. The system for maintaining the safety distance between the quadrotor unmanned aerial vehicles according to claim 1, further comprising an acousto-optic module (5) connected with the flight controller (1), wherein the visual module is further connected with the SD card (8), and during the flight of the unmanned aerial vehicles, when special images are collected, an acousto-optic alarm is given through the acousto-optic module (5), and the collected image data is stored in the SD card (8).
3. The system for maintaining the safety distance between the quadrotors and the unmanned aerial vehicles according to claim 1, wherein the optical flow module (2), the distance measuring module (3) and the vision module (4) are respectively connected with the flight controller (1) through a serial port or an I2C bus.
4. The system for maintaining the safety distance between the quadrotor unmanned aerial vehicles according to claim 2, wherein the vision module (4) comprises an OpenMV4 camera connected with an SD card for image acquisition and an STM32F765 singlechip connected with the flight controller (1) for image data processing, the optical flow module (2) comprises an optical flow sensor connected with the flight controller (1), the distance measuring module (3) comprises a laser distance measuring sensor connected with the flight controller (1), and the flight controller (1) is a main control chip of the unmanned aerial vehicle.
5. The system of claim 4, wherein the OpenMV4 camera is directed diagonally downward toward the cable.
6. A control method for a quad-rotor drone safety clearance maintenance system according to any one of claims 1 to 5, characterized by comprising the following steps:
s1: the four-rotor unmanned aerial vehicle is respectively subjected to positioning acquisition and height acquisition by using the optical flow module (2) and the ranging module (3) to obtain position and height signals;
s2: after filtering fusion and signal processing, the two paths of signals are input into a fuzzy neural network for processing;
s3: the fuzzy neural network outputs a flight control processing command to the flight controller (1);
s4: the flight controller (1) adjusts the flight attitude of the unmanned aerial vehicle through the driving module, and controls the distance between the unmanned aerial vehicle and the cable to be outside the minimum safety boundary line (9);
s5: the vision module (4) detects the cable according to the instruction of the flight controller (1) and sends cable detection data to the flight controller (1);
s6: the flight controller (1) adjusts the attitude of the unmanned aerial vehicle according to the cable detection data.
7. The method of claim 6, wherein the filtering is fused to klaman filtering.
8. The control method of the safety distance maintaining system of the quad-rotor unmanned aerial vehicle according to claim 6, wherein the minimum safety boundary line (9) comprises eight transverse boundary lines and four vertical boundary lines which are connected with each other to form a rectangular safety boundary frame, four of the eight transverse boundary lines are respectively parallel to the cables (10) on the towers (11) and are separated by the obstacle avoidance safety distance, and the other four transverse boundary lines are respectively parallel to the connecting rods between the towers (11) and are separated by the obstacle avoidance safety distance.
9. The method as claimed in claim 8, wherein the obstacle avoidance distance is determined by the voltage value of the power line and the size of the drone.
10. The method according to claim 6, wherein the attitude adjustment specifically comprises the following steps:
s61: acquiring image information, and randomly framing three areas of an image along the transverse direction;
s62: searching a point with the largest area of the black color block in each area, and acquiring coordinates of the point;
s63: calculating the slope of the cable by using the coordinates, and acquiring the size of the inclination angle of the camera relative to the cable;
s64: and adjusting the posture of the unmanned aerial vehicle according to the size of the inclination angle, so that the inclination angle is reduced.
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Application publication date: 20210122 |