用超声波测距的四旋翼无人机三维防撞系统设计

Three-dimensional Anti-collision System of Quadrotor Based on Ultrasonic Ranging

针对四旋翼无人机碰撞事故多发的问题,设计了一款基于超声波测距原理的四旋翼无人机三维防撞系统。本系统利用超声波技术实现测距,将无人机与周围障碍间三维空间方向上的距离信息采集到控制系统,控制系统根据距离信息控制悬停信号与遥控信号,实现无人机自主防撞,最后通过试验证明了该系统的正确性与合理性。该系统满足了四旋翼无人机安全防撞要求,且具有重量轻、体积小、精度高、安全可靠等特点。

Aiming at the frequent collisions of the quadrotors,a three-dimensional anti-collision system is proposed,which is based on the ultrasonic ranging. As an indirect range measurement, the ultrasonic ranging system collects three-dimensional ranges between the quadrotor and its surrounding obstacles. Through processing the three-dimensional ranges,the microcontroller controls the hovering signal and the cut-offs of remote signal for autonomous anti-collision of the quadrotor. This system design is validated by the field experiment, which meets the anti-collision requirements. It is light in weight, small in size, high in ranging accuracy, reliable in safety.