CN207882763U - A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device - Google Patents
A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device Download PDFInfo
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- CN207882763U CN207882763U CN201820200392.XU CN201820200392U CN207882763U CN 207882763 U CN207882763 U CN 207882763U CN 201820200392 U CN201820200392 U CN 201820200392U CN 207882763 U CN207882763 U CN 207882763U
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Abstract
The utility model discloses a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding devices, including holder, holder is rotatably connected to body upper end, cantilever tip is connected with horizontal gird, multiple obstacle detection sensors are disposed on horizontal gird, pedestal lower end is connected with driving motor, and body is connected with power plant by aircraft rack.The utility model uses revolving multiple obstacle detection sensors, holder rotation is driven by driving motor, it can realize that multiple obstacle detection sensors are rotated according to the direction that unmanned plane moves, multiple obstacle detection sensors are consistent with body movement direction, only need one group of sensor that can meet avoidance demand, the cost for reducing equipment, simplifies interface, improves the precision of control.
Description
Technical field
The utility model is related to a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding devices, belong to unmanned plane automatic obstacle avoiding technology neck
Domain.
Background technology
Western China transmission line of electricity many places have inconvenient traffic in mountain area, geographical environment and weather inclement condition, lead to people
Patrol inefficiency.With the development of science and technology and the application practice of power department, unmanned plane inspection have developed into a kind of efficient, low
The inspection technology of operating cost.So that unmanned plane is completed patrol task under complicated rugged environment, must just allow unmanned equipment
The ability of standby automatic obstacle avoiding.Automatic obstacle avoiding system is the important leverage that unmanned plane safely and efficiently completes avoidance task.
Application No. is 201610348926.9 Chinese patent application disclose it is a kind of based on the autonomous of Multi-sensor Fusion
Avoidance UAV system and control method are measured in real time the environment of surrounding by Multi-sensor Fusion, by what is detected
After information is calculated by environment and barrier Data Analysis Services module, power is driven by flight control system by avoidance decision-making module
Module realizes unmanned plane effectively hiding to peripheral obstacle.But it is respectively arranged with binocular machine in the body surrounding of unmanned plane
Vision system and ultrasonic unit, lead to that its complex interfaces, data volume are big, processor efficiency requirements are high, of high cost.Application number
It is disclosed for the multiple avoidance obstacle method of the unmanned plane of power-line patrolling, the party for 201310036235.1 Chinese patent application
Merged double barrier-avoiding method in method, but need to download in embedded flight controller transmission line of electricity magnetic distribution model with
It is complex to calculate implementation process for electric transmission line three-dimensional model data.
In conclusion there are the following problems for existing technology：
1）Existing method is respectively arranged with binocular machine vision system and ultrasonic unit in the body surrounding of unmanned plane, connects
Mouth is complicated, and data volume is big, of high cost；
2）Existing method sensor degrees of fusion is relatively low, and the failure of some sensor can lead to avoidance navigation system failure, whole
Body system robustness is poor；
3）Existing method does not consider that compatible mainstream flies control interface, cannot achieve the compatibility to multi-model；
4）Existing method does not have barrier intelligent memory functional, cannot remember to the barrier in arrived region, so as to
Inspection avoidance again.
Invention content
The technical problems to be solved in the utility model is：A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device is provided, it is main to solve
The problems such as inconvenient prompt, short time consumption is long when certainly holder or gondola are mounted on unmanned plane, and changed meeting a machine multi-load
On the basis of filling function, accomplish that simple in structure, light-weight, mission payload changes the outfit simple operation and steady reliable.
The technical solution that the utility model is taken is：A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, including holder, holder
It is rotatably connected to body upper end, cantilever tip is connected with horizontal gird, multiple obstacle detections are disposed on horizontal gird
Sensor, pedestal lower end are connected with driving motor, and body is connected with power plant by aircraft rack.
Multiple obstacle detection sensors include binocular vision, laser radar, ultrasonic sensor and millimetre-wave radar, are in
"-" type is arranged on horizontal gird.
Multiple obstacle detection sensors are connected to dsp processor, and dsp processor is connected to ARM controller, ARM controls
Device is connected to driving motor and unmanned aerial vehicle (UAV) control device, and unmanned aerial vehicle (UAV) control device is connected to power plant and inertial navigation sensors.
Advantageous effect：Compared with prior art, the effect of the utility model is as follows：
（1）The utility model uses revolving multiple obstacle detection sensors, and holder rotation is driven by driving motor
Turn, can realize that multiple obstacle detection sensors are rotated according to the direction that unmanned plane moves, multiple obstacle detections pass
Sensor is consistent with body movement direction, is only needed one group of sensor that can meet avoidance demand, is reduced the cost of equipment, letter
Change interface, improves the precision of control；
（2）The utility model has merged binocular vision, the data of laser radar, ultrasonic sensor, millimetre-wave radar, meter
Unmanned plane is calculated at a distance from barrier and carries out avoidance, when certain sensor because of environment reason or because failure failure
When, obstacle avoidance system can calculate at a distance from barrier according to other sensors and carry out avoidance, enhance the robustness of system.
Description of the drawings
Fig. 1 is the multisensor module connection figure of the utility model；
Fig. 2 is the structural schematic diagram of the utility model；
Fig. 3 is the holder connection horizontal gird structural schematic diagram of the utility model；
Fig. 4 is control flow schematic diagram.
Specific implementation mode
Below in conjunction with the accompanying drawings and the utility model is described further in specific embodiment.
Embodiment：As Figure 1-Figure 4, a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, including holder 1, holder 1 can revolve
It is connected to 2 upper end of body with turning, 1 top of holder is connected with horizontal gird 3, multiple obstacle detections are disposed on horizontal gird 3
Sensor, 1 lower end of holder are connected with driving motor 4, and body 2 is connected with power plant 6 by aircraft rack 5.
Multiple obstacle detection sensors include binocular vision 7, laser radar 8, ultrasonic sensor 9 and millimetre-wave radar
10, it is arranged on horizontal gird 3 in "-" type, each characteristic sensor such as the following table 1 can cover detection using multiple sensors
All situations of barrier, detection is more accurate, and avoidance is more acurrate.
Multiple obstacle detection sensors are connected to dsp processor, and dsp processor is connected to ARM controller, ARM controls
Device is connected to driving motor and unmanned aerial vehicle (UAV) control device, and unmanned aerial vehicle (UAV) control device is connected to power plant and inertial navigation sensors, ARM
By IIC interfaces, either UART interface is connected to unmanned aerial vehicle (UAV) control device ARM controller and passes through UART IIC interfaces controller
It is communicated with unmanned aerial vehicle (UAV) control device, transmits obstacle information and control information, this equipment interface flies control interface compatibility, DSP with mainstream
Processor and ARM controller constitute avoidance and path planning module, carry out disparity map calculating using DSP, obtain depth information.It adopts
With the data of DSP fusions binocular vision sensor, laser radar, ultrasonic sensor and millimetre-wave radar, barrier is obtained
Information.The obstacle information calculated is transmitted to ARM controller and carries out control operation.It is watched simultaneously using ARM controller control
Taking motor keeps the direction of sensor consistent with the direction that unmanned plane advances always.ARM controller is logical to be communicated with unmanned aerial vehicle (UAV) control device,
Transmit obstacle information and control information.
Binocular vision, the data of laser radar, ultrasonic sensor, millimetre-wave radar are merged, the position of barrier is calculated
Confidence ceases, and path planning is carried out using improved Artificial Potential Field Method, generates control instruction, it is unmanned plane that control instruction, which provides form,
The direction of motion and move distance.Obstacle avoidance module is continuously generated control instruction, and unmanned plane can according to the control instruction movement of generation
With safely avoiding obstacles, improves transmission line of electricity machine and patrol job safety, reduce and lost caused by flight failure.
The characteristic point of body surface in environment is received using the camera in binocular vision system, and is obtained by Stereo matching
To anaglyph, so as to calculate true depth information, binocular vision sensor requires light condition good and stablizes；
When light condition is bad using laser radar and ultrasonic sensor detection at a distance from barrier, the movement shape of laser radar
State estimation is that the point cloud matching by successive frame calculates the distance of front obstacle to calculate relative motion variation.In the least
The detection range bigger of metre wave radar, can find barrier in advance.
Intelligent memory module is provided in ARM controller, intelligent memory module has intelligent memory functional, and unmanned plane encounters
The information such as the latitude and longitude information of barrier and the shape of barrier, size all can be kept records of when barrier.In this way
Unmanned plane can be made to find barrier, effective avoidance and efficiency operation early.
Embodiment 2：A kind of barrier-avoiding method of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, this approach includes the following steps：
Step 1: ARM controller reads pitch angle, roll angle and the yaw angle of unmanned plane from unmanned aerial vehicle (UAV) control device；
Step 2: ARM controller determines the side that unmanned plane advances according to the pitch angle, roll angle and yaw angle of unmanned plane
To；
Step 3: ARM controller control driving motor rotation, makes the direction of advance of the vertical unmanned plane of horizontal gird；
Step 4: obtaining unmanned plane by binocular vision 7, laser radar 8, ultrasonic sensor 9 and millimetre-wave radar 10
The environmental information of direction of advance, and transmit information to dsp processor；
Step 5: after dsp processor receives sensor information, binocular vision depth survey algorithm is run, is successively carried out
Camera calibration, distortion processing, three-dimensional correction, Stereo matching and depth recovery.Wherein, Stereo Matching Algorithm uses local matching
With the algorithm that global registration is combined, local matching provides real time data for unmanned plane avoidance, and global registration seeks fine match
As a result, providing amendment data for unmanned plane, depth image is determined later；
Step 6: the data of binocular vision, laser radar, ultrasonic sensor, millimetre-wave radar are merged, calculate
Go out the location information of barrier, and the location information of barrier is transferred to ARM controller；
Step 7: ARM controller carries out unmanned plane navigation path planning using improved Artificial Potential Field Method, unmanned plane is considered
Relative position between target and relative speed relationship, using situation monitoring and speed regulation, ARM controller generates control and refers to
It enables, the direction and distance that output unmanned plane moves in next step；
Step 8: unmanned aerial vehicle (UAV) control device, which receives control instruction, carries out safe avoidance.
Above description is only a specific implementation of the present invention, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replace, it should be covered within the scope of the utility model, therefore, the scope of protection of the utility model should be with the power
Subject to the protection domain that profit requires.
Claims (3)
1. a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device, it is characterised in that：Including holder（1）, holder（1）It is rotatably attached
In body（2）Upper end, holder（1）Top is connected with horizontal gird（3）, horizontal gird（3）On be disposed with multiple obstacle detections
Sensor, holder（1）Lower end is connected with driving motor（4）, body（2）Pass through aircraft rack（5）It is connected with power plant（6）.
2. a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device according to claim 1, it is characterised in that：Multiple obstacle physical prospectings
It includes binocular vision to survey sensor（7）, laser radar（8）, ultrasonic sensor（9）And millimetre-wave radar（10）, it is in "-" type
It is arranged in horizontal gird（3）On.
3. a kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device according to claim 1, it is characterised in that：Multiple obstacle physical prospectings
It surveys sensor and is connected to dsp processor, dsp processor is connected to ARM controller, and ARM controller is connected to driving motor and nothing
Human-machine Control device, unmanned aerial vehicle (UAV) control device are connected to power plant and inertial navigation sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820200392.XU CN207882763U (en) | 2018-02-06 | 2018-02-06 | A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820200392.XU CN207882763U (en) | 2018-02-06 | 2018-02-06 | A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207882763U true CN207882763U (en) | 2018-09-18 |
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| CN201820200392.XU Active CN207882763U (en) | 2018-02-06 | 2018-02-06 | A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device |
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| CN (1) | CN207882763U (en) |
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2018
- 2018-02-06 CN CN201820200392.XU patent/CN207882763U/en active Active
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