Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a vertical take-off and landing unmanned aerial vehicle applied to logistics. The unmanned aerial vehicle comprises a vehicle body with a rotor. Cameras which point to the lower front of the unmanned aerial vehicle are respectively arranged at the front left part and the front right part of the vehicle body. The spacing between two cameras is a constant value, and the light axes are parallel. Strong light sources of light signals which can be modulated and are provided for the cameras and a consignee are matched. A photoelectric sensor is arranged in front of the vehicle body. Distance sensors are arranged above, below and around the vehicle body. The unmanned aerial vehicle and a server carry out wireless communication through a mobile communication network. According to the invention, a precise positioning and obstacle avoidance method of the unmanned aerial vehicle is provided, is especially suitable for the vertical take-off and landing unmanned aerial vehicle, can carry out autonomous obstacle avoidance, and has the advantage of accurate and safe operation.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, in particular to a vertical take-off and landing unmanned aerial vehicle used for logistics and its precise positioning and obstacle avoidance methods. Background technique [0002] In some remote areas, the revenue brought by the express mail is difficult to cover the funds consumed in the construction and maintenance of outlets, which is the current consensus in the logistics industry. The use of "drones" for delivery can effectively improve distribution efficiency and reduce manpower and transportation costs. Especially vertical take-off and landing (VTOL, Vertical Take-Off and Landing) unmanned aerial vehicles can meet the express delivery business and The actual needs of the logistics business for small express delivery distribution points. Therefore, the application of vertical take-off and landing drones to logistics distribution is a good development direction of the log...

AI Technical Summary

Problems solved by technology

The satellite positioning accuracy usually cannot meet this requirement: the use of differential positioning system will cause the cost of the terminal to increase hundreds of times, and due to the reflection of positioning signals, the positioning effect cannot be guaranteed in cities with many tall buildings; the use of conventional satellite positioning will lead to positioning Insufficient accuracy (the ideal state is usually 2m accuracy), and in places with many tall buildings, the positioning accuracy will further decrease due to the reflection of satellite signals by tall buildings

Limited by the above circumstances, in order to ensure the safety of the UAV logistics business, the delivery location of its goods can only be an open area, and the sign-in operation cannot be performed, which cannot solve the "last ten meters" problem of UAV logistics. Increased the difficulty of receiving goods, which greatly reduced the practicability of logistics drones

In addition, since the location of the consignee is not fixed and the environment is different, it is necessary to accurately locate the consignee and avoid nearby obstacles during the complete logistics process, which cannot be achieved by using satellite positioning. meet the requirement

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