大功率轻量化无人机激光清障系统设计

Design of Laser Clearing System for High Power Lightweight UAV

为保证无人机在不同环境下对障碍物的识别以及清障效果,以大功率轻量化无人机为例,设计无人机激光清障系统。该系统的感知层接收用户层发送的清障任务指令后,利用采集核心控制器控制传感设备以及摄像头获取障碍物以及作业环境的信息,通过网络层将该信息传送至逻辑控制层,逻辑控制层接收和存储信息后,采用改进蚁群算法规划清障作业最佳路径,并按照该路径检测障碍物;同时该层采用ARM处理器控制无人机的飞行,并且该层依据存储的信息计算障碍物的详细参数,设定判别函数完成障碍物识别后清除障碍物;同时将清障结果呈现至用户服务层。测试结果表明,该系统检测障碍物的覆盖率高于96.5%以上,能够准确识别线路中的障碍物,完成清障处理。

In order to ensure UAV’s obstacle recognition and obstacle removal effect in different environments,taking high-power lightweight UAV as an example,UAV laser obstacle removal system is designed.Perception layer receives the user of the system sent after the rescue mission,by using the core controller to collect control sensors and cameras for obstructions,and work environment information,through the network layer to transfer the information to the logic control,logic control layer after receive and store information,planning and rescue operation with the improved ant colony algorithm is the best path,and according to the path to detect obstacles.At the same time,the ARM processor is used to control the flight of UAV in this layer,and the detailed parameters of obstacles are calculated according to the stored information,and the discriminant function is set to remove obstacles after obstacle identification.At the same time,the cleanup results are presented to the user service layer.The test results show that the coverage rate of obstacle detection system is higher than 96.5%,and the system can accurately identify the obstacles in the line and complete the obstacle removal process.