CN112486208A - Ultrasonic infrared obstacle avoidance system for unmanned aerial vehicle - Google Patents
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Abstract
The invention discloses an ultrasonic infrared obstacle avoidance system of an unmanned aerial vehicle, which comprises an infrared transmitting module, an infrared receiving module, an obstacle avoidance data module, a height acquisition module, a data receiving module, a data processing module, a master control module and an unmanned aerial vehicle body, wherein the infrared transmitting module is connected with the infrared receiving module; the number of the infrared transmitting modules and the number of the infrared receiving modules are six, and the infrared transmitting modules and the infrared receiving modules are respectively installed at the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle; the infrared transmitting module is used for emitting infrared light, the infrared receiving module is used for receiving reflected light of the infrared light emitted by the infrared transmitting module and generating obstacle data, the height acquiring module is used for acquiring height information of the unmanned aerial vehicle, and the data position receiving module is used for receiving the obstacle data and the height information and sending the received obstacle data and the height information to the data processing module. The unmanned aerial vehicle obstacle avoidance system can better provide obstacle avoidance service for the unmanned aerial vehicle, and effectively reduces the occurrence of the condition that the unmanned aerial vehicle is damaged due to the fact that the unmanned aerial vehicle collides with an obstacle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an ultrasonic infrared obstacle avoidance system of an unmanned aerial vehicle.
Background
Unmanned aircraft, abbreviated "drone" and abbreviated "UAV", is an unmanned aircraft that is operated by a radio remote control device and self-contained programmed control means, or autonomously by an onboard computer, either completely or intermittently, and is often more suited to tasks that are too "fool, dirty, or dangerous" than a manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present in the application in fields such as aerial photography, agriculture, plant protection, miniature autodyne, express delivery transportation, disaster relief, observe wild animal, control infectious disease, survey and drawing, news report, electric power is patrolled and examined, relief of disaster, movie & TV is shot, make romantic, great expansion the usage of unmanned aerial vehicle itself, developed country is also in the application of positive extension trade and development unmanned aerial vehicle technique, unmanned aerial vehicle need keep away the barrier in carrying out the flight process, prevent that unmanned aerial vehicle from striking the barrier and damaging, can use the system of keeping away the barrier this moment promptly.
The current obstacle avoidance system, the direction of the obstacle data of gathering promptly is comparatively single, leads to unmanned aerial vehicle to strike the damage easily at the flight in-process to the consumption is great, has influenced unmanned aerial vehicle's flight greatly and has long, has brought certain influence for the use of keeping away the obstacle system, consequently, provides an unmanned aerial vehicle supersound infrared obstacle avoidance system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve current obstacle avoidance system, the direction of the barrier data of gathering promptly is comparatively single, leads to unmanned aerial vehicle to strike the damage easily at the flight in-process to the consumption is great, has influenced unmanned aerial vehicle's flight greatly and has long, has brought the problem of certain influence for the use of avoiding the obstacle system, provides an unmanned aerial vehicle supersound infrared obstacle avoidance system.
The invention solves the technical problems through the following technical scheme, and the unmanned aerial vehicle comprises an infrared transmitting module, an infrared receiving module, an obstacle avoidance data module, a height obtaining module, a data receiving module, a data processing module, a master control module and an unmanned aerial vehicle body;
the number of the infrared transmitting modules and the number of the infrared receiving modules are six, and the infrared transmitting modules and the infrared receiving modules are respectively installed at the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle;
the system comprises an infrared transmitting module, an infrared receiving module, a height acquiring module, a data position receiving module, a data processing module and a data processing module, wherein the infrared transmitting module is used for transmitting infrared rays, the infrared receiving module is used for receiving reflected light of the infrared rays transmitted by the infrared transmitting module and generating obstacle data, the height acquiring module is used for acquiring height information of the unmanned aerial vehicle, the data position receiving module is used for receiving the obstacle data and the height information and transmitting the received obstacle data and the height information to the data processing module, and the data processing module is used for processing the obstacle data into unmanned aerial vehicle control information and processing the height information;
unmanned aerial vehicle control information and keep away barrier operation information and all be sent to total control module, unmanned aerial vehicle control information is turned into unmanned aerial vehicle control command and is sent the unmanned aerial vehicle body, keep away barrier operation information and be sent infrared emission module control infrared emission module operation transmission infrared light.
Preferably, the altitude information is flight altitude information of the unmanned aerial vehicle, and the data processing module processes the flight altitude information to obtain obstacle avoidance operation information.
Preferably, the specific process of the data processing module for processing the flight height information is as follows: marking the flight height information of the unmanned aerial vehicle as G, and setting a starting height value GPreparation ofCalculating the flight altitude information G and the starting altitude value GPreparation ofThe difference between them is GDifference (D)When G isDifference (D)And generating obstacle avoidance operation information when the obstacle avoidance operation information is larger than 0.
Preferably, the obstacle avoidance operation information includes first obstacle avoidance operation information, second obstacle avoidance operation information, third obstacle avoidance operation information, fourth obstacle avoidance operation information, fifth obstacle avoidance operation information, and sixth obstacle avoidance operation information.
Preferably, the first obstacle avoidance operation information, the second obstacle avoidance operation information, the third obstacle avoidance operation information, the fourth obstacle avoidance operation information, the fifth obstacle avoidance operation information and the sixth obstacle avoidance operation information correspond to the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle respectively.
Preferably, the specific processing procedure of the first obstacle avoidance operation information is as follows:
the method comprises the following steps: extracting the time point of the infrared ray emitted by the infrared emission module, and marking the time point as T1 point;
step two: then extracting the time point when the infrared receiving module receives the reflected light of the infrared ray emitted by the infrared emitting module, and marking the time point as T2 point;
step three: calculating the time difference T between the receiving time point T2 and the sending time point T1Difference (D)；
Step four: acquiring laser emission speed, and marking the laser emission speed as Mz;
step five: by the formula TDifference (D)The obstacle distance Tm is obtained by Mz ═ Tm, infrared light is also contained in other light rays such as sunlight, a correction coefficient Qz is set, and the final obstacle distance Qz, that is, the first obstacle avoidance operation information, is obtained by Mz ═ Qz ═ Mq through a formula.
Preferably, the first obstacle avoidance operation information, the second obstacle avoidance operation information, the third obstacle avoidance operation information, the fourth obstacle avoidance operation information, the fifth obstacle avoidance operation information and the sixth obstacle avoidance operation information are obtained through the processes from the first step to the fifth step.
Preferably, when the unmanned aerial vehicle receives the first obstacle avoidance operation information, the unmanned aerial vehicle runs upwards to carry out the place ahead and keeps away the obstacle, when the unmanned aerial vehicle receives the second obstacle avoidance operation information, the unmanned aerial vehicle runs upwards to carry out the rear and keeps away the obstacle, when the unmanned aerial vehicle receives the third obstacle avoidance operation information, the unmanned aerial vehicle runs to the right side to carry out the left side and keeps away the obstacle, when the unmanned aerial vehicle receives the fourth obstacle avoidance operation information, the unmanned aerial vehicle runs to the left side to carry out the right side and keeps away the obstacle, when the unmanned aerial vehicle receives the fifth obstacle avoidance operation information, the unmanned aerial vehicle runs to the lower side to carry out the top and keeps away the obstacle, and when the unmanned aerial vehicle receives the.
Compared with the prior art, the invention has the following advantages: this barrier system is kept away to unmanned aerial vehicle supersound infrared, barrier information through unmanned a plurality of different directions of real-time supervision, realize keeping away the barrier to unmanned aerial vehicle through the analysis to the barrier distance and controlling, thereby make the unmanned aerial vehicle that uses this system can be safer fly, the unmanned aerial vehicle damage that unmanned aerial vehicle hit the barrier and caused has been avoided, and this system just can move after unmanned flight to predetermineeing the height, make unmanned aerial vehicle keep away the barrier system and do not move when the within range that control personnel can observe, the effectual operation duration that has reduced this system, the energy consumption of this system has been reduced promptly, make unmanned aerial vehicle can more lasting flight, thereby make this system be worth using widely more.
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Fig. 1 is an overall structural view of the present invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1, the present embodiment provides a technical solution: an ultrasonic infrared obstacle avoidance system of an unmanned aerial vehicle comprises an infrared transmitting module, an infrared receiving module, an obstacle avoidance data module, a height acquiring module, a data receiving module, a data processing module, a master control module and an unmanned aerial vehicle body;
the number of the infrared transmitting modules and the number of the infrared receiving modules are six, and the infrared transmitting modules and the infrared receiving modules are respectively installed at the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle;
the system comprises an infrared transmitting module, an infrared receiving module, a height acquiring module, a data position receiving module, a data processing module and a data processing module, wherein the infrared transmitting module is used for transmitting infrared rays, the infrared receiving module is used for receiving reflected light of the infrared rays transmitted by the infrared transmitting module and generating obstacle data, the height acquiring module is used for acquiring height information of the unmanned aerial vehicle, the data position receiving module is used for receiving the obstacle data and the height information and transmitting the received obstacle data and the height information to the data processing module, and the data processing module is used for processing the obstacle data into unmanned aerial vehicle control information and processing the height information;
unmanned aerial vehicle control information and keep away barrier operation information and all be sent to total control module, unmanned aerial vehicle control information is turned into unmanned aerial vehicle control command and is sent the unmanned aerial vehicle body, keep away barrier operation information and be sent infrared emission module control infrared emission module operation transmission infrared light.
The altitude information is flight altitude information of the unmanned aerial vehicle, and the data processing module processes the flight altitude information to obtain obstacle avoidance operation information.
The specific process of the data processing module for processing the flight height information is as follows: marking the flight height information of the unmanned aerial vehicle as G, and setting a starting height value GPreparation ofCalculating the flight altitude information G and the starting altitude value GPreparation ofThe difference between them is GDifference (D)When G isDifference (D)And generating obstacle avoidance operation information when the obstacle avoidance operation information is larger than 0.
The obstacle avoidance operation information comprises first obstacle avoidance operation information, second obstacle avoidance operation information, third obstacle avoidance operation information, fourth obstacle avoidance operation information, fifth obstacle avoidance operation information and sixth obstacle avoidance operation information.
The first obstacle avoidance operation information, the second obstacle avoidance operation information, the third obstacle avoidance operation information, the fourth obstacle avoidance operation information, the fifth obstacle avoidance operation information and the sixth obstacle avoidance operation information correspond to the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle respectively.
The specific processing process of the first obstacle avoidance operation information is as follows:
the method comprises the following steps: extracting the time point of the infrared ray emitted by the infrared emission module, and marking the time point as T1 point;
step two: then extracting the time point when the infrared receiving module receives the reflected light of the infrared ray emitted by the infrared emitting module, and marking the time point as T2 point;
step three: calculating the time difference T between the receiving time point T2 and the sending time point T1Difference (D)；
Step four: acquiring laser emission speed, and marking the laser emission speed as Mz;
step five: by the formula TDifference (D)The barrier distance Tm is obtained from Mz ═ Tm, and is also contained in other light rays such as sunlightAnd setting a correction coefficient Qz for the infrared light, obtaining Mz & ltQz & gt & ltMq & gt through a formula, and obtaining a final obstacle distance Qz, namely first obstacle avoidance operation information.
And the first obstacle avoidance operation information, the second obstacle avoidance operation information, the third obstacle avoidance operation information, the fourth obstacle avoidance operation information, the fifth obstacle avoidance operation information and the sixth obstacle avoidance operation information are obtained through the processes from the first step to the fifth step.
When the unmanned aerial vehicle receives the first obstacle avoidance operation information operation, the unmanned aerial vehicle operates upwards to carry out the place ahead and keeps away the obstacle, when the unmanned aerial vehicle receives the second obstacle avoidance operation information operation, the unmanned aerial vehicle operates upwards to carry out the rear and keeps away the obstacle, when the unmanned aerial vehicle receives the third obstacle avoidance operation information operation, the unmanned aerial vehicle operates to the right side to carry out the left side and keeps away the obstacle, when the unmanned aerial vehicle receives the fourth obstacle avoidance operation information operation, the unmanned aerial vehicle operates to the left side to carry out the right side and keeps away the obstacle, when the unmanned aerial vehicle receives the fifth obstacle avoidance operation information operation, the unmanned aerial vehicle operates to the lower side to carry out the top and keeps away the obstacle, when the.
In conclusion, when the unmanned aerial vehicle is used, the infrared transmitting module and the infrared receiving module are respectively arranged at the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle, the infrared transmitting module is used for emitting infrared rays, the infrared receiving module is used for receiving reflected light of the infrared rays emitted by the infrared transmitting module, and generating obstacle data, a height acquisition module for acquiring height information of the unmanned aerial vehicle, a data receiving module for receiving the obstacle data and the height information, and will receive obstacle data and height information and send data processing module, data processing module is used for handling obstacle data for unmanned aerial vehicle control information, handle height information for keeping away barrier operation information, unmanned aerial vehicle control information all is sent to total control module with keeping away barrier operation information, unmanned aerial vehicle control information is turned into unmanned aerial vehicle control command and is sent the unmanned aerial vehicle body, keep away barrier operation information and is sent infrared emission module control infrared emission module operation transmission infrared light.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. An ultrasonic infrared obstacle avoidance system of an unmanned aerial vehicle is characterized by comprising an infrared transmitting module, an infrared receiving module, an obstacle avoidance data module, a height acquisition module, a data receiving module, a data processing module, a master control module and an unmanned aerial vehicle body;
the number of the infrared transmitting modules and the number of the infrared receiving modules are six, and the infrared transmitting modules and the infrared receiving modules are respectively installed at the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle;
the system comprises an infrared transmitting module, an infrared receiving module, a height acquiring module, a data position receiving module, a data processing module and a data processing module, wherein the infrared transmitting module is used for transmitting infrared rays, the infrared receiving module is used for receiving reflected light of the infrared rays transmitted by the infrared transmitting module and generating obstacle data, the height acquiring module is used for acquiring height information of the unmanned aerial vehicle, the data position receiving module is used for receiving the obstacle data and the height information and transmitting the received obstacle data and the height information to the data processing module, and the data processing module is used for processing the obstacle data into unmanned aerial vehicle control information and processing the height information;
unmanned aerial vehicle control information and keep away barrier operation information and all be sent to total control module, unmanned aerial vehicle control information is turned into unmanned aerial vehicle control command and is sent the unmanned aerial vehicle body, keep away barrier operation information and be sent infrared emission module control infrared emission module operation transmission infrared light.
2. The ultrasonic infrared obstacle avoidance system for the unmanned aerial vehicle as claimed in claim 1, wherein: the altitude information is flight altitude information of the unmanned aerial vehicle, and the data processing module processes the flight altitude information to obtain obstacle avoidance operation information.
3. The ultrasonic infrared obstacle avoidance system for the unmanned aerial vehicle as claimed in claim 2, wherein: the specific process of the data processing module for processing the flight height information is as follows: marking the flight height information of the unmanned aerial vehicle as G, and setting a starting height value GPreparation ofCalculating the flight altitude information G and the starting altitude value GPreparation ofThe difference between them is GDifference (D)When G isDifference (D)And generating obstacle avoidance operation information when the obstacle avoidance operation information is larger than 0.
4. The ultrasonic infrared obstacle avoidance system for the unmanned aerial vehicle as claimed in claim 1, wherein: the obstacle avoidance operation information comprises first obstacle avoidance operation information, second obstacle avoidance operation information, third obstacle avoidance operation information, fourth obstacle avoidance operation information, fifth obstacle avoidance operation information and sixth obstacle avoidance operation information.
5. The ultrasonic infrared obstacle avoidance system for the unmanned aerial vehicle as claimed in claim 4, wherein: the first obstacle avoidance operation information, the second obstacle avoidance operation information, the third obstacle avoidance operation information, the fourth obstacle avoidance operation information, the fifth obstacle avoidance operation information and the sixth obstacle avoidance operation information correspond to the front end, the rear end, the left side, the right side, the upper end and the lower end of the unmanned aerial vehicle respectively.
6. The ultrasonic infrared obstacle avoidance system for the unmanned aerial vehicle as claimed in claim 4, wherein: the specific processing process of the first obstacle avoidance operation information is as follows:
the method comprises the following steps: extracting the time point of the infrared ray emitted by the infrared emission module, and marking the time point as T1 point;
step two: then extracting the time point when the infrared receiving module receives the reflected light of the infrared ray emitted by the infrared emitting module, and marking the time point as T2 point;
step three: calculating the time difference T between the receiving time point T2 and the sending time point T1Difference (D)；
Step four: acquiring laser emission speed, and marking the laser emission speed as Mz;
step five: by the formula TDifference (D)The obstacle distance Tm is obtained by Mz ═ Tm, infrared light is also contained in other light rays such as sunlight, a correction coefficient Qz is set, and the final obstacle distance Qz, that is, the first obstacle avoidance operation information, is obtained by Mz ═ Qz ═ Mq through a formula.
7. The ultrasonic infrared obstacle avoidance system for the unmanned aerial vehicle as claimed in claims 4 and 6, wherein: and the first obstacle avoidance operation information, the second obstacle avoidance operation information, the third obstacle avoidance operation information, the fourth obstacle avoidance operation information, the fifth obstacle avoidance operation information and the sixth obstacle avoidance operation information are obtained through the processes from the first step to the fifth step.
8. The ultrasonic infrared obstacle avoidance system for the unmanned aerial vehicle as claimed in claim 4, wherein: when the unmanned aerial vehicle receives the first obstacle avoidance operation information operation, the unmanned aerial vehicle operates upwards to carry out the place ahead and keeps away the obstacle, when the unmanned aerial vehicle receives the second obstacle avoidance operation information operation, the unmanned aerial vehicle operates upwards to carry out the rear and keeps away the obstacle, when the unmanned aerial vehicle receives the third obstacle avoidance operation information operation, the unmanned aerial vehicle operates to the right side to carry out the left side and keeps away the obstacle, when the unmanned aerial vehicle receives the fourth obstacle avoidance operation information operation, the unmanned aerial vehicle operates to the left side to carry out the right side and keeps away the obstacle, when the unmanned aerial vehicle receives the fifth obstacle avoidance operation information operation, the unmanned aerial vehicle operates to the lower side to carry out the top and keeps away the obstacle, when the.
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Application publication date: 20210312 |