CN206057974U - A kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle - Google Patents
A kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle Download PDFInfo
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- CN206057974U CN206057974U CN201620941085.8U CN201620941085U CN206057974U CN 206057974 U CN206057974 U CN 206057974U CN 201620941085 U CN201620941085 U CN 201620941085U CN 206057974 U CN206057974 U CN 206057974U
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Abstract
A kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle, including radar altitude sensor, measure vertical dimension of the unmanned plane to ground；GPS/ Big Dipper alignment sensors, carry out real-time positioning, 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 barrier to the telemeasurement of unmanned plane；Ultrasonic radar sensor, for realizing barrier to the close-in measurement of unmanned plane；Binocular vision sensor, measures the size and shape of barrier；Master controller, by being analyzed to the data that each sensor is obtained, 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 factors such as the related data information disappearance and deficiency of single-sensor presence.
Description
Technical field
This utility model belongs to unmanned plane avoidance technical field, more particularly to a kind of avoidance applied on rotor wing unmanned aerial vehicle
System.
Background technology
Unmanned air vehicle technique has quickly become a new focus of domestic and international research and development in recent years, and due to unmanned equipment
The features such as having high maneuverability, flexible operation, low cost, image real-time Transmission and 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 etc. of taking photo by plane.
At Post disaster relief scene, as traditional means have many limitation, unmanned air vehicle technique has obtained gradually developing.
Post disaster relief unmanned plane mainly after Disaster Event occurs, for bad environments, cannot 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
The situation at scene after calamity is shot and is recorded by photographic head, and then the real-time live for collecting is taken photo by plane data back.Will
Unmanned plane is applied to Post disaster relief, not only can avoid the personal safety of aircrew, can also for rescue personnel at first
Between view disaster field situation, arrange the work such as treatment after calamity.
As after calamity, site environment complexity is unknown, during unmanned plane after calamity is realized is shot and recorded, may lead
Situations such as causing unmanned plane to collide, causes unmanned plane to damage, delays the quick understanding of live disaster relief situation, therefore be accomplished by
During carrying out Post disaster relief, it is ensured that the flight safety of unmanned plane.
Utility model content
This utility model provides a kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle, is that rotor wing unmanned aerial vehicle is rescued after calamity
Help in environment complicated and changeable, can prevent unmanned plane from colliding in real time, so as to ensure the safety of unmanned plane itself.
This utility model provides a kind of Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system, including：
Radar altitude sensor, measures vertical dimension of the unmanned plane to ground；
GPS/ Big Dipper alignment sensors, carry out real-time positioning, 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 barrier to the telemeasurement of unmanned plane；
Ultrasonic radar sensor, for realizing barrier to the close-in measurement of unmanned plane；
Binocular vision sensor, measures the attribute of barrier；
Master controller, when judging that the data that each sensor is obtained exceed threshold value, control unmanned plane up and down, left and right fly
OK, and then avoiding barrier；
The master controller respectively with radar altitude sensor, GPS/ Big Dipper alignment sensors, 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, realizes the transmitting and reception processing of signal；
Baseband processing module, the relative distance of objects ahead barrier, relative velocity and azimuth are parsed, and are sent out
Give master controller.
Preferably, ultrasonic radar sensor carries out the range finding of 0～10 meter of scope, and millimetre-wave radar sensor carries out 3～
Range finding in the range of 50m.
Preferably, AHRS modules, including the three-axis gyroscope of MEMS, accelerometer and gaussmeter, output data are three-dimensional
Acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field intensity.
This utility model is due to using above technical scheme, obtaining following technique effect：Effectively can perceive
Accurate acquisition of the unmanned plane to its flight environment of vehicle and obstacle target, the related data information for making up single-sensor presence lack
The factor such as mistake and deficiency；
By multiple sensors are merged, designed Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system is with 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, can prevent unmanned plane from colliding in real time, so as to ensure the safety of unmanned plane itself.
Description of the drawings
For clearer explanation embodiment of the present utility model or the technical scheme of prior art, below will be to embodiment
Or accompanying drawing to be used needed for description of the prior art does one and simply introduces, it should be apparent that, drawings in the following description are only
Only it is some embodiments of the present utility model, for those of ordinary skill in the art, before creative work is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
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.
Specific embodiment
It is to make purpose, technical scheme and the advantage of embodiment of the present utility model clearer, new with reference to this practicality
Accompanying drawing in type embodiment, carries out clearly complete description to the technical scheme in this utility model embodiment：
The targeted unmanned plane of the application, mainly many rotor Post disaster relief rotor wing unmanned aerial vehicles.Multi-rotor unmanned aerial vehicle is utilized
Its main rotor circumgyration incision air produces flying power, compared with fixed-wing, with standing start, hovering, flight speed
Slowly big, flexibility ratio of, bearing a heavy burden it is high and can super low altitude flight the characteristics of.Multi-rotor unmanned aerial vehicle do not need runway just can with VTOL,
Can hover 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 correspondence 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, measures vertical dimension of the unmanned plane to ground；
GPS/ Big Dipper alignment sensors, carry out real-time positioning, 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, including the three axis accelerometer of MEMS
Instrument, accelerometer and gaussmeter, 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, forms the transmitting needed for radar detection and receives 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
Reason module, control transmitting modulation waveform, signals collecting and signal processing 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 range finding in the range of 3～50m.
Ultrasonic radar sensor, for realizing barrier to the close-in measurement of unmanned plane, ultrasonic radar sensor
Carry out the range finding of 0～10 meter of scope；
Binocular vision sensor, measures the size and shape of barrier；
Master controller, by being analyzed to the data that each sensor is obtained, control unmanned plane completes avoidance action；
The master controller respectively with radar altitude sensor, GPS/ Big Dipper alignment sensors, 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.As multi-rotor unmanned aerial vehicle all around can be flown, need each face carry out
Anticollision is designed, so carrying out long range measurements, a ultrasound 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 the Post disaster relief rotor wing unmanned aerial vehicle designed by this utility model is for millimetre-wave radar sensor, ultrasonic sensor
Four are needed respectively with binocular vision sensor.
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 have that detection performance is stable, environment is adapted to
Well, size is little, price is low, can the advantages of the sleety weather of rather harsh is used, and the effect of millimetre-wave radar away from
Away from, 50m or farther distance can be reached, be vision sensor, infrared sensor and ultrasonic radar sensor etc.
The be beyond one's reach distance of avoidance sensor, makes quick avoidance for unmanned plane and provides 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 is be unable to accurately obtains, and due to double
The characteristic of mesh sensor can realize measurement of target range etc., by vision sensor for the dynamic of image is processed, realize
Behavior is more accurately perceived to environment.
S3. ultrasonic sensor carries out the acquisition of closely interior barrier target characteristic：Due to linear frequency modulation millimeter wave thunder
Up to certain fuzzy for closely existing, in order that unmanned plane closely has higher range accuracy, so each
One ultrasonic radar is installed on individual millimetre-wave radar side, the range finding of 0～10 meter of scope is carried out, millimetre-wave radar carries out 3～50m
In the range of range finding 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, is accurately controlled the flying height of unmanned plane.
S5.GPS/ Big Dipper alignment sensors, carry out real-time positioning, 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 carries out real-time positioning, to realize that the fixed point of rotor wing unmanned aerial vehicle is hanged
The task such as stop.
The flight attitude and sail information of S6.AHRS modules collection unmanned plane.AHRS is referred to as attitude heading reference system, including base
In the three-axis gyroscope of MEMS, accelerometer and gaussmeter, output data is three-dimensional acceleration, three-dimensional angular velocity and three-dimensional earth magnetism
Field intensity, can provide course, roll and rollover information for aircraft by these data, accurately may be used for providing for aircraft
The attitude leaned on and sail information.
S7. by being analyzed to the data that each sensor is obtained, control unmanned plane completes avoidance action to master controller.
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, first determines whether the relative distance of unmanned plane and barrier, and relative distance is carried out the division of three parts:It is less than
Three distance ranges of 10m, 10m to 20m, 20m to 50m；
When distance is less than 10m, then in danger classes；
When apart from 10m≤R<20m, then in warning level；
When apart from 20m≤R<50m, then in cue scale；
As distance >=50m, then in uncorrelated grade；
P2, recognizes to the shape and size of barrier according to binocular vision sensor, distinguish wall, trees, people with
And high-voltage line；For wall needs to carry out emergent stopping, turn back after hovering, opposite direction flight；For people and trees need to carry out a left side
The right side is detoured, for high-voltage line can be detoured up and down.
P3, for danger classes, needs to carry out the operation of step P2；For warning level, carry out after needing emergency deceleration
The operation of step P3；For cue scale and uncorrelated grade, without the judgement for carrying out third step, return re-starts inspection
Survey.
The above, only this utility model preferably specific embodiment, but protection domain of the present utility model is not
Be confined to this, any those familiar with the art in the technical scope that this utility model is disclosed, according to this practicality
New technical scheme and its utility model design in addition equivalent or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (6)
1. a kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle, it is characterised in that include：
Radar altitude sensor, measures vertical dimension of the unmanned plane to ground；
GPS/ Big Dipper alignment sensors, carry out real-time positioning, 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 barrier to the telemeasurement of unmanned plane；
Ultrasonic radar sensor, for realizing barrier to the close-in measurement of unmanned plane；
Binocular vision sensor, measures the attribute of barrier；
Master controller, when judging that the data that each sensor is obtained exceed threshold value, control unmanned plane up and down, left and right flight,
And then avoiding barrier；
The master controller is passed with radar altitude sensor, GPS/ Big Dipper alignment sensors, AHRS modules, millimetre-wave radar respectively
Sensor, ultrasonic radar sensor are connected with binocular vision sensor.
2. a kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that the millimeter wave
Radar sensor, ultrasonic radar sensor, binocular vision sensor are four, be separately mounted to unmanned plane it is forward and backward,
Left and right four faces.
3. a kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle according to claim 2, it is characterised in that millimetre-wave radar
Sensor, 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, realizes the transmitting and reception processing of signal；
Baseband processing module, the relative distance of target obstacle, relative velocity and azimuth are parsed, master control is sent to
Device processed.
4. a kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that ultrasonic radar
Sensor carries out the range finding of 0～10 meter of scope, and millimetre-wave radar sensor carries out the range finding in the range of 3～50m.
5. a kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle according to any one of claim 1-4, it is characterised in that
AHRS modules, including the three-axis gyroscope of MEMS, accelerometer and gaussmeter, output data are three-dimensional acceleration, three dimensional angular speed
Degree and three-dimensional geomagnetic field intensity.
6. a kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle according to claim 5, it is characterised in that the category of barrier
Property for barrier form and dimension.
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| CN107168361A (en) * | 2017-05-26 | 2017-09-15 | 南京航空航天大学 | Four rotor wing unmanned aerial vehicle avoidance flight instrumentses and method based on double-deck sonar sensor |
| CN107270876A (en) * | 2017-08-03 | 2017-10-20 | 陕西省西安植物园 | The measure device and its assay method of a kind of Canopy densities |
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| CN106959702A (en) * | 2017-05-23 | 2017-07-18 | 广东容祺智能科技有限公司 | A kind of autonomous preventing collision method of unmanned plane and system |
| CN107168361B (en) * | 2017-05-26 | 2019-12-03 | 南京航空航天大学 | Quadrotor drone avoidance flight instruments and method based on the double-deck sonar sensor |
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| CN107831777A (en) * | 2017-09-26 | 2018-03-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of aircraft automatic obstacle avoiding system, method and aircraft |
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| CN107728618B (en) * | 2017-09-28 | 2020-11-27 | 南通大学 | Obstacle avoidance method of unmanned ship |
| CN107562061A (en) * | 2017-10-18 | 2018-01-09 | 长沙冰眼电子科技有限公司 | Counterreconnaissance unmanned vehicle |
| CN108227738B (en) * | 2017-12-28 | 2019-07-19 | 湖北电鹰科技有限公司 | A kind of unmanned plane barrier-avoiding method and system |
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| CN109094310A (en) * | 2018-09-11 | 2018-12-28 | 中国人民解放军陆军军事交通学院镇江校区 | The empty amphibious three-body unmanned boat of water |
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