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UWB-array-based automatic obstacle avoidance system and method for drone

A UAV and array technology, applied in the field of aviation science, can solve the problems that UAVs cannot avoid obstacles, UAVs are easily threatened by multi-directional obstacles, and cannot realize all-round obstacle avoidance, etc., so as to prevent body damage Effect

Pending Publication Date: 2017-02-22
国网四川省电力公司电力应急中心 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that the unmanned aerial vehicle in the prior art can only realize autonomous obstacle avoidance in the forward direction, and when flying in a narrow area, the unmanned aerial vehicle is easily threatened by multi-directional obstacles, and the purpose is to provide a The UWB array-based UAV autonomous obstacle avoidance system and its method solve the problem that the UAV in the prior art cannot avoid obstacles in a narrow scene and cannot realize all-round obstacle avoidance

Method used

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  • UWB-array-based automatic obstacle avoidance system and method for drone

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Embodiment 1

[0044] Such as figure 1 As shown, a UWB array-based UAV autonomous obstacle avoidance system of the present invention includes a body, and also includes an acquisition unit, a receiving unit, a judging unit, a control unit, and an actuator, and the acquisition unit includes a UWB ranging sensor array , the UWB range-finding sensor arrays are respectively arranged on the top, bottom, left, right, front, and rear sides of the body, and each direction is provided with four UWB range-finding sensor arrays, and the UWB range-finding sensor array includes Two UWB sensors, the UWB sensors are arranged in an array in the form of divergent measurement direction axes; the UWB ranging sensor array also includes ranging sensors of different ranges. Among them: acquisition unit: collect the distance data between the obstacles around the body and the body, and transmit the collected distance data to the receiving unit; receiving unit: receive the distance data transmitted by the acquisition...

Embodiment 2

[0047] On the basis of embodiment 1, a UWB array-based UAV autonomous obstacle avoidance method comprises the following steps:

[0048] A: Turn on the UWB ranging sensor arrays in the acquisition unit. The UWB ranging sensor arrays located on the top, bottom, left, right, front, and rear sides of the body all measure the distance data between the obstacle and the body. Collect and transmit the collected distance data to the receiving unit;

[0049] B: The receiving unit receives the distance data transmitted by the UWB ranging sensor array, and transmits the distance data to the judgment unit;

[0050] C: The judging unit calculates the distance data transmitted by the receiving unit into multiple distances, and simulates the size and shape of obstacles at different distances, and compares the minimum distance with the preset distance. When the distance is less than the preset distance , change its own heading to the preset heading, and adjust the flight altitude and flight a...

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Abstract

The invention discloses a UWB-array-based automatic obstacle avoidance system and method for a drone. The system comprises a collecting unit, a receiving unit, a judging unit, a control unit and an actuator. UWB range sensor arrays assembled in the collecting unit in multiple directions collect the distance data between an obstacle and a drone body, the receiving unit receives the sensing data transmitted by the collecting unit, the judging unit resolves the distance data transmitted by the UWB sensors into distance, the course of the drone is changed into preset course when the distance is smaller than preset distance, and flying height and flying attitude are regulated to avoid the obstacle. The system has the advantages that the problems that the drone cannot avoid the obstacle under a narrow scene and cannot achieve comprehensive obstacle avoidance in the prior art are solved, the system is reliable, real-time, accurate and capable of effectively preventing drone body damage and preventing the drone from destroying other objects during flight, and the like.

Description

technical field [0001] The invention relates to the field of aviation science and technology, in particular to a UWB array-based UAV autonomous obstacle avoidance system and a method thereof. Background technique [0002] Unmanned UAV, referred to as UAV, is an unmanned UAV controlled by remote control method and self-contained program control device. In order to maintain the balance of the body and complete work tasks, more and more sensors can be installed on the body of the drone. With the development of microelectronics technology, the integration of high-precision sensors on small drones has become a reality. At present, UAVs can achieve more and more functions, and have been widely used in aerial reconnaissance, surveillance, communication, anti-submarine, electronic jamming, etc. [0003] At present, UAV flight obstacle avoidance still relies on remote control by the operator with a remote control device. Most of the proposed obstacle avoidance strategies are impleme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10G01S13/08G01S17/08G01S13/93G01S17/93
CPCG05D1/0808G05D1/101G01S13/08G01S17/08G01S17/933G01S13/933
Inventor 邓创王圣伟薛智航
Owner 国网四川省电力公司电力应急中心
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