CN114993261A - Unmanned autonomous obstacle avoidance space detection system and method - Google Patents
Unmanned autonomous obstacle avoidance space detection system and method Download PDFInfo
- Publication number
- CN114993261A CN114993261A CN202110223031.3A CN202110223031A CN114993261A CN 114993261 A CN114993261 A CN 114993261A CN 202110223031 A CN202110223031 A CN 202110223031A CN 114993261 A CN114993261 A CN 114993261A
- Authority
- CN
- China
- Prior art keywords
- unmanned
- aerial vehicle
- unmanned aerial
- vehicle
- obstacle avoidance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned autonomous obstacle avoidance space cooperative detection system and method. The detection system comprises: the unmanned vehicle and the unmanned aerial vehicle are respectively used for three-dimensional space detection at a low angle and a certain height on the ground, so that complete three-dimensional space detection is realized in a matching manner, and the unmanned vehicle and the unmanned aerial vehicle can autonomously move and avoid obstacles; and the autonomous obstacle avoidance function module, the charging and communication function module, the task cooperation function module, the unmanned aerial vehicle landing function module and the like are matched with the unmanned aerial vehicle and the unmanned vehicle. The unmanned autonomous obstacle avoidance space detection system provided by the invention can enable the unmanned vehicle and the unmanned aerial vehicle to be well matched, the limit of detecting the three-dimensional vacancy of the unmanned vehicle is expanded, the detection range of the three-dimensional space is expanded, the active guide equipment provides a higher-precision and more reliable autonomous landing mode, and the unmanned autonomous obstacle avoidance space detection system can be applied to the detection of narrow and complicated terrain spaces such as mine tunnels, underground tracks and the like.
Description
Technical Field
The invention relates to a space detection device, in particular to an unmanned autonomous obstacle avoidance space detection system and method, and belongs to the technical field of space environment perception.
Background
In recent years, there has been interest in exploring three-dimensional spatial scenes with unmanned devices. Because the unmanned vehicle is generally shorter, only low-angle three-dimensional space data can be detected, and complete detection of the whole three-dimensional scene cannot be formed; the unmanned aerial vehicle can complete three-dimensional data acquisition of a high-angle space, but cannot cover low-angle scenes such as the ground and the like, and the endurance mileage is limited. The detection range of the unmanned aerial vehicle can be enlarged through the cooperative work of the unmanned aerial vehicle and the charging device, but the cooperative work of the unmanned aerial vehicle and the charging device is limited only in communication, charging and other modes, and the cooperative work capability of the unmanned aerial vehicle and the charging device is not brought into full play. Besides, the unmanned aerial vehicle is landed on the unmanned vehicle by adopting visual positioning, the interference of complex external light information cannot be eliminated, and the landing precision is low.
Disclosure of Invention
The invention mainly aims to provide an unmanned autonomous obstacle avoidance space detection system and method to overcome the defects in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
one aspect of the embodiments of the present invention provides an unmanned autonomous obstacle avoidance space detection system, which includes:
the unmanned vehicle and the unmanned aerial vehicle are matched with each other, the unmanned vehicle and the unmanned aerial vehicle are respectively used for detecting a ground low-angle three-dimensional space and a three-dimensional space above a set height, and three-dimensional space data detected by the unmanned vehicle and the unmanned aerial vehicle can be fused, so that complete three-dimensional space detection is realized;
the autonomous obstacle avoidance function module is used for autonomous movement and obstacle avoidance of the unmanned vehicle and the unmanned aircraft;
the charging and communication functional module is at least used for realizing communication between the unmanned vehicle and the unmanned aerial vehicle so as to enable the unmanned vehicle and the unmanned aerial vehicle to work cooperatively and charge the unmanned aerial vehicle;
the task coordination function module is used for enabling the unmanned vehicle and the unmanned aerial vehicle to cooperatively execute set tasks; and the number of the first and second groups,
and the unmanned aerial vehicle landing function module is used for actively guiding the unmanned aerial vehicle to land on the unmanned vehicle when the unmanned aerial vehicle is in a flight state and the power supply voltage of the unmanned aerial vehicle is close to a return limit or a task is completed.
In some embodiments, independently keep away a plurality of obstacle-avoiding equipment on barrier function module including installation and unmanned vehicle and unmanned vehicles, charge and communication function module including set up communication module on unmanned vehicle, unmanned vehicles respectively and install the module of charging on unmanned vehicles, charge the module include with unmanned vehicles complex charge the interface and with the power that the interface electricity is connected charges, unmanned vehicles descends function module including distributing landing location mark on unmanned vehicles and loading the visual feature capture module on unmanned vehicles, visual feature capture module can discern by the unmanned vehicles landing guide signal that landing location mark provided, independently keep away barrier function module, charge and communication function module, unmanned vehicles descend function module still respectively with load on unmanned vehicles, And connecting corresponding computing modules on the unmanned aerial vehicle.
In some embodiments, be equipped with the platform of taking off that charges on the unmanned aerial vehicle, it is equipped with on the platform of taking off to charge interface and landing location mark, the interface that charges is including setting up the magnetism charging contact strip on the platform of taking off that charges, and works as unmanned aerial vehicle accurately descends when landing location mark department, unmanned aerial vehicle can charge through the fixed butt joint of electromagnetism adsorption mode and charge with the magnetism contact strip that charges.
In some embodiments, the landing location indicia comprises an array of infrared lights disposed on a charging take-off platform.
In some embodiments, the computing modules include a first computing module and a second computing module respectively loaded on the unmanned vehicle and the unmanned aerial vehicle, the first computing module and the second computing module can realize information interaction through the communication module, the unmanned vehicle and the unmanned aerial vehicle are further respectively loaded with a first three-dimensional space detection device and a second three-dimensional space detection device, and the first three-dimensional space detection device and the second three-dimensional space detection device are respectively connected with the first computing module and the second computing module.
In some embodiments, the obstacle avoidance apparatus includes a distance obstacle avoidance sensor including an ultrasonic obstacle avoidance module, and is not limited thereto.
In some embodiments, a cliff detection device is also mounted at the unmanned vehicle head.
In some embodiments, the power source includes a high capacity lithium battery carried by an unmanned vehicle, and is not limited thereto.
In some embodiments, the first three-dimensional space detection device includes any one or a combination of a camera and a laser radar, and is not limited thereto.
In some embodiments, the second three-dimensional space detecting device includes any one or a combination of depth camera, pan-tilt camera, and lidar, and is not limited thereto.
In some embodiments, the visual feature capture module comprises a camera, and is not limited thereto.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting system further comprises a ground control station, and the unmanned vehicle and the unmanned aerial vehicle are further connected with the ground control station respectively.
The embodiment of the invention also provides an unmanned autonomous obstacle avoidance space detection method, which comprises the following steps:
providing the unmanned autonomous obstacle avoidance space detection system;
collecting ground low-angle three-dimensional space information in the surrounding environment of the unmanned vehicle by first three-dimensional space detection equipment, and processing the information by a first computing module loaded on the unmanned vehicle;
when the unmanned aerial vehicle does not take off, acquiring information of a three-dimensional space above a set height in the surrounding environment of the unmanned aerial vehicle by using second three-dimensional space detection equipment, processing the information by using a second calculation module loaded on the unmanned aerial vehicle, and transmitting the information to the first calculation module;
when the unmanned aerial vehicle flies, the second three-dimensional space detection device is used for collecting information of the surrounding environment of the unmanned aerial vehicle, the information is processed by the second calculation module, and then the information is transmitted to the first calculation module when the unmanned aerial vehicle lands on the unmanned vehicle;
fusing information acquired by the first three-dimensional space detection equipment and the second three-dimensional space detection equipment by using a first calculation module or a calculation platform connected with the first calculation module to obtain complete three-dimensional space information;
and when the unmanned vehicle and the unmanned aerial vehicle travel, the unmanned vehicle and the unmanned aerial vehicle can autonomously move and avoid the obstacle by using the autonomous obstacle avoiding functional module.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting method further includes: when an interested target is found or an area which cannot be reached by the unmanned vehicle is found, the unmanned aircraft is taken off and the interested target or the area which cannot be reached by the unmanned vehicle is observed, wherein the observation comprises any one or more of three-dimensional mapping, target approaching observation and high-definition image capture, and the method is not limited to the above.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting method further includes:
when the unmanned aerial vehicle returns to the navigation, a set place is designated according to the position of the unmanned vehicle, the position of the unmanned aerial vehicle and the observation information of the unmanned aerial vehicle on the ground;
enabling the unmanned vehicle to run to the gathering place according to the obstacle avoidance path planned by the unmanned aerial vehicle; and
after the unmanned vehicles arrive at the gathering place, the unmanned aerial vehicles fly to the positions where the unmanned vehicles are located, and the unmanned aerial vehicles are guided to land on the unmanned vehicles through the unmanned aerial vehicle landing function modules.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting method further includes: when unmanned vehicles fly, still send the relevant information of unmanned vehicles for first calculation module or the calculation platform who is connected with first calculation module, unmanned vehicles relevant information includes the combination of one or more in electric quantity information, positional information, the task completion degree of unmanned vehicles to when unmanned vehicles is in flight state and unmanned vehicles's mains voltage is close to the limit of returning a journey or the task is accomplished, independently descend to unmanned vehicles with unmanned vehicles landing function module initiative guide unmanned vehicles.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting method further includes: the first calculation module is used for comprehensively analyzing and processing scene data acquired by the first three-dimensional space detection device in real time to form three-dimensional perception of the whole space environment, and a route is dynamically planned through obstacle perception, so that the unmanned vehicle autonomously avoids obstacles.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting method further includes: the scene data acquired by the second three-dimensional space detection device in real time is comprehensively analyzed and processed by the second computing module to form three-dimensional perception of the whole space environment, and a route is dynamically planned through obstacle perception, so that the unmanned aerial vehicle can autonomously avoid obstacles;
in some embodiments, the unmanned autonomous obstacle avoidance space detecting method further includes: the method comprises the steps of detecting obstacles in the forward process of the unmanned vehicle and the unmanned aerial vehicle by utilizing first three-dimensional space detection equipment and second three-dimensional space detection equipment, and adjusting a yaw angle according to a preset minimum safe distance and a threshold dynamic planning path, so that the safe distance is kept between the unmanned vehicle and the unmanned aerial vehicle and the obstacles.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting method specifically includes:
capturing selected visual features in the surrounding environment by a visual feature capturing module loaded on the unmanned aerial vehicle, judging whether the occurrence frequency of the selected visual features is matched with a preset frequency, and if so, judging that the position of the selected visual features is a current landing point, wherein the selected visual features and the preset frequency are respectively a luminous point set feature and a luminous frequency of landing positioning marks distributed on the unmanned aerial vehicle;
and determining the position of the current landing point by the unmanned aerial vehicle through calculation, enabling the unmanned aerial vehicle to approach the current landing point, extracting characteristic points of a light-emitting point set of the landing positioning mark and processing the characteristic points to obtain a homography matrix H when the current landing point and the current landing point are close enough, obtaining the rotation and translation relation between the unmanned aerial vehicle and the current landing point through matrix decomposition H ═ A [ R, T ], and controlling the flight path and the attitude of the unmanned aerial vehicle according to the matrix decomposition result to enable the unmanned aerial vehicle to land on the unmanned aerial vehicle accurately.
Compared with the prior art, the technical scheme provided by the embodiment of the invention at least has the following advantages:
(1) the unmanned autonomous obstacle avoidance space detection system combines the advantages of the unmanned vehicle and the unmanned aircraft, and can fully play the advantages of long-term endurance of the unmanned vehicle, full-terrain operation of the unmanned aircraft and the like, so that the detection range is greatly expanded, efficient and comprehensive detection perception of a detection space can be realized, and the unmanned autonomous obstacle avoidance space detection system can be applied to detection of narrow and complex terrain spaces such as mine tunnels and underground tracks;
(2) the unmanned autonomous obstacle avoidance space detection system and the method can enable the unmanned vehicle and the unmanned aerial vehicle to be well connected and coupled, the equipment autonomy is high, the integrated data acquisition of the three-dimensional space is realized through the fusion processing of the data acquisition of the unmanned vehicle and the unmanned aerial vehicle, the data acquisition range is wider, the simultaneous acquisition of the ground and the air is realized, and the efficiency is high;
(3) the modulated infrared guiding technology is adopted, various modulation frequencies can be dynamically set, the interference of an external light source can be effectively eliminated through the debugging signal identification technology, and the airplane is guided to accurately land on the platform;
(4) the communication positioning gathering point between the unmanned vehicle and the unmanned aerial vehicle can reduce the range required by the unmanned aerial vehicle to land at the appointed point, and improve the range and the detection range of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned autonomous obstacle avoidance space detecting system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the unmanned aerial vehicle in the unmanned autonomous obstacle avoidance space detection system shown in FIG. 1 during takeoff and landing;
FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the invention;
FIG. 4 is a schematic view of an unmanned vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an algorithm for autonomous landing of an UAV in accordance with an embodiment of the present invention;
FIG. 6 is a flowchart illustrating an algorithm for autonomous obstacle avoidance for an unmanned vehicle or an unmanned aerial vehicle according to an embodiment of the present invention;
description of the reference numerals: unmanned vehicles 1, laser radar 11, light filling lamp 12, depth camera 13, cloud platform camera 14, airborne computer 15, unmanned vehicles 2, vision guide mark 21, unmanned aerial vehicle charge interface 22, laser radar 23, ultrasonic wave obstacle avoidance module 24, cliff detection module 25.
Detailed Description
As described above, in view of the defects of the prior art, the present inventors have long studied and developed the technical solution of the present invention, and as described in detail below with reference to the drawings in the embodiments of the present invention, it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element. Meanwhile, in the description of the present specification, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Some embodiments of the present invention provide an unmanned autonomous obstacle avoidance space detecting system, including:
unmanned vehicles capable of moving on the ground and unmanned aerial vehicles capable of flying autonomously (hereinafter referred to as unmanned aerial vehicles);
the autonomous obstacle avoidance function module is used for autonomous movement and obstacle avoidance of the unmanned vehicle and the unmanned aircraft;
the charging and communication functional module is at least used for realizing communication between the unmanned vehicle and the unmanned aerial vehicle so as to enable the unmanned vehicle and the unmanned aerial vehicle to work cooperatively and charge the unmanned aerial vehicle; and (c) a second step of,
and the unmanned aerial vehicle landing function module is used for actively guiding the unmanned aerial vehicle to land on the unmanned vehicle when the unmanned aerial vehicle is in a flight state and the power supply voltage of the unmanned aerial vehicle is close to a return limit or a task is completed.
The unmanned vehicle and the unmanned aerial vehicle are respectively used for detecting a ground low-angle three-dimensional space and a three-dimensional space above a set height, and the three-dimensional space data detected by the unmanned vehicle and the unmanned aerial vehicle can be fused, so that complete three-dimensional space detection is realized.
In some embodiments, the unmanned aerial vehicle and the unmanned aerial vehicle can be fixed at least in an electromagnetic adsorption mode, a charging interface matched with the unmanned aerial vehicle is further arranged on the unmanned aerial vehicle, and the unmanned aerial vehicle can be at least in an interconnected communication in a wireless mode; the unmanned vehicle is provided with a first computing module and a first three-dimensional space detection device, and the unmanned aerial vehicle is provided with a second computing module and a second three-dimensional space detection device, so that the unmanned vehicle and the unmanned aerial vehicle can acquire an environmental state by acquiring and analyzing sensing data and image information, the obstacle detection is completed, and the autonomous movement and obstacle avoidance of the unmanned vehicle and the unmanned aerial vehicle are further realized.
In some embodiments, the unmanned aerial vehicle is capable of autonomous flight in at least a gps-free environment.
In some embodiments, the unmanned vehicle has an omni-directional rotating platform, i.e., the unmanned vehicle is an omni-directional mobile unmanned vehicle.
In some embodiments, the unmanned vehicle and the drone may be secured by electromagnetic attraction to form a unitary body.
In some embodiments, the unmanned vehicle and the unmanned aerial vehicle are capable of communicating over at least a WIFI interconnection.
In some embodiments, the unmanned autonomous obstacle avoidance space detection system further comprises a ground control station, and the unmanned vehicle and the unmanned aerial vehicle are further connected with the ground control station respectively.
In some embodiments, the drone is capable of docking charging with an unmanned vehicle through visual positioning and electromagnetic adsorption techniques.
In some embodiments, the first three-dimensional space detection device includes any one or a combination of a camera and a laser radar, and is not limited thereto.
In some embodiments, the second three-dimensional space detection device includes any one or combination of depth camera, pan-tilt camera, and lidar, without limitation.
In some embodiments, the first computing module comprises an on-board computer.
In some embodiments, the second computing module comprises an on-board computer.
In some embodiments, the autonomous obstacle avoidance function module includes a plurality of obstacle avoidance devices mounted on the unmanned vehicle and the unmanned aerial vehicle.
In some cases, the space detection device mounted on the unmanned vehicle or unmanned aerial vehicle also serves as a component of a corresponding autonomous obstacle avoidance function module.
In some embodiments, the charging and communication function module comprises a communication module respectively arranged on the unmanned vehicle and the unmanned aerial vehicle, and a charging module arranged on the unmanned vehicle, wherein the charging module comprises a charging interface matched with the unmanned aerial vehicle and a power supply electrically connected with the charging interface.
The communication module may include a wired or wireless communication module, preferably a wireless communication module, such as a wifi communication module.
In some embodiments, the UAV landing function module comprises landing location markers distributed on the UAV and a visual feature capture module loaded on the UAV, wherein the visual feature capture module is capable of recognizing UAV landing guidance signals provided by the landing location markers.
The autonomous obstacle avoidance function module, the charging and communication function module and the unmanned aerial vehicle landing function module are further connected with corresponding computing modules loaded on the unmanned vehicle and the unmanned aerial vehicle respectively.
In some embodiments, the unmanned vehicle and the unmanned aerial vehicle may further be equipped with a data storage module, and a task cooperation function module may be preset in the data storage module, so that the unmanned vehicle and the unmanned aerial vehicle cooperate to execute a set task.
In some embodiments, at least one of the unmanned aerial vehicle and unmanned vehicle further carries a positioning system. In particular, the unmanned aerial vehicle carries a positioning system.
In some embodiments, the unmanned vehicle may carry multiple types of detectors (including sensing devices such as vision, laser, distance, and the like), and may also carry multiple types of devices such as a distance detection device, an optical device, a radar, and the like (i.e., the aforementioned first three-dimensional space detection device), and the vehicle-mounted computing terminal (i.e., the aforementioned first computing module) collects such data for environmental perception and autonomous movement obstacle avoidance, and collects data of the aforementioned detection device for comprehensive analysis and summarization.
In some embodiments, the unmanned aerial vehicle carries detection devices such as a laser radar device and a solid-state radar, and meanwhile, the unmanned aerial vehicle is provided with a distance sensor (i.e., the second three-dimensional space detection device), a positioning system and an airborne computing device (i.e., the second computing module), the airborne computing device performs comprehensive analysis and summary on data collected by the detection devices, and the autonomous obstacle avoidance and path planning are realized by intelligently analyzing the data of the distance sensor and the positioning system.
In some embodiments, the unmanned vehicle is provided with a magnetic adsorption charging interface and a landing positioning mark, and the unmanned vehicle can be in butt joint charging with the magnetic adsorption charging interface when accurately landing at the landing positioning mark.
Furthermore, a charging take-off platform matched with the unmanned aerial vehicle is arranged on the unmanned aerial vehicle, and the charging take-off platform is provided with the magnetic adsorption charging interface and a landing positioning mark.
Furthermore, the magnetic adsorption charging interface comprises a charging contact sheet arranged on the charging take-off platform, and the charging contact sheet is electrically connected with a power supply carried by the unmanned vehicle.
Further, the landing positioning mark comprises an infrared lamp array arranged on the charging take-off platform.
In some embodiments, the head of the unmanned vehicle is mounted with a cliff detection device.
In some embodiments, the unmanned vehicle also carries a high capacity lithium battery.
In some embodiments, the unmanned vehicle is equipped with omnidirectional lighting and distance obstacle avoidance sensors around the unmanned vehicle. The distance obstacle avoidance sensor includes an ultrasonic obstacle avoidance module and the like, and is not limited thereto.
Some embodiments of the present invention further provide a method for detecting an unmanned autonomous obstacle avoidance space, which includes:
acquiring ground low-angle three-dimensional space information in the surrounding environment of the unmanned vehicle by first three-dimensional space detection equipment, and processing the information by a first computing module loaded on the unmanned vehicle;
when the unmanned aerial vehicle does not take off, acquiring information of a three-dimensional space above a set height in the surrounding environment of the unmanned aerial vehicle by using second three-dimensional space detection equipment, processing the information by using a second calculation module loaded on the unmanned aerial vehicle, and then transmitting the information to the first calculation module;
when the unmanned aerial vehicle flies, the second three-dimensional space detection equipment is used for collecting information of the surrounding environment of the unmanned aerial vehicle, the information is processed by the second calculation module, and then the information is transmitted to the first calculation module when the unmanned aerial vehicle lands on the unmanned vehicle;
fusing information acquired by the first three-dimensional space detection equipment and the second three-dimensional space detection equipment by using a first calculation module or a calculation platform connected with the first calculation module to obtain complete three-dimensional space information;
and when the unmanned vehicle and the unmanned aerial vehicle travel, the unmanned vehicle and the unmanned aerial vehicle can autonomously move and avoid the obstacle by using the autonomous obstacle avoiding functional module.
Further, when the unmanned aerial vehicle flies, the second three-dimensional space detection device is used for collecting information of the surrounding environment of the unmanned aerial vehicle, and the second calculation module is used for processing the information, so that the unmanned aerial vehicle can realize autonomous obstacle avoidance and path planning.
Further, the unmanned autonomous obstacle avoidance space detection method further includes: when an interested target is found or an area which cannot be reached by the unmanned vehicle is found, the unmanned aircraft takes off and observes the interested target or the area which cannot be reached by the unmanned vehicle, and the observation comprises any one or more of combination of three-dimensional mapping, target approaching observation and high-definition image capture.
Further, the unmanned autonomous obstacle avoidance space detection method further includes: when the unmanned aerial vehicle flies, the first three-dimensional space detection device and the second three-dimensional space detection device simultaneously acquire the information of the surrounding environment of the unmanned vehicle and the information of the surrounding environment of the unmanned vehicle, and data acquired by the first three-dimensional space detection device and the data acquired by the second three-dimensional space detection device are fused.
Further, the unmanned autonomous obstacle avoidance space detection method further includes:
when the unmanned aerial vehicle returns to the navigation, a set place is designated according to the position of the unmanned vehicle, the position of the unmanned aerial vehicle and the observation information of the unmanned aerial vehicle on the ground;
enabling the unmanned vehicle to run to the gathering place according to the obstacle avoidance path planned by the unmanned aerial vehicle; and
after the unmanned vehicles arrive at the gathering place, the unmanned aerial vehicles fly to the positions where the unmanned vehicles are located, and the unmanned aerial vehicles are guided to land on the unmanned vehicles through the unmanned aerial vehicle landing function modules.
Further, the unmanned autonomous obstacle avoidance space detection method further includes: when the unmanned aerial vehicle flies, the related information of the unmanned aerial vehicle is sent to the first computing module or the computing platform connected with the first computing module, the related information of the unmanned aerial vehicle comprises but is not limited to one or more combinations of electric quantity information, position information and task completion degree of the unmanned aerial vehicle, and when the unmanned aerial vehicle is in a flying state and the power supply voltage of the unmanned aerial vehicle is close to a return flight limit or the task is completed, the unmanned aerial vehicle is actively guided to autonomously land on the unmanned vehicle by the unmanned aerial vehicle landing function module.
That is, when the unmanned aerial vehicle and the unmanned vehicle interact, the unmanned aerial vehicle does not take off, and only simple instructions (such as electric quantity information, position information, task completion degree and the like) are taken off. After the unmanned aerial vehicle collects data, the unmanned aerial vehicle returns to the unmanned vehicle, the data collected by the unmanned aerial vehicle is transmitted to the unmanned vehicle, and the unmanned vehicle is further processed by a computing platform. At the moment, the calculation platform carried by the unmanned vehicle fuses the low-angle three-dimensional information acquired by the unmanned vehicle and the high-angle three-dimensional information acquired by the unmanned vehicle to form multi-angle three-dimensional data acquisition and fusion completion of a three-dimensional space.
Further, the unmanned autonomous obstacle avoidance space detection method further includes: when the electric quantity of the unmanned aerial vehicle is equal to or lower than a set threshold value, the unmanned aerial vehicle is made to land on the unmanned vehicle and is in butt joint with a charging interface on the unmanned vehicle for charging.
Furthermore, the unmanned vehicle and the unmanned aerial vehicle realize autonomous obstacle avoidance based on an autonomous obstacle avoidance technology of the unmanned detection equipment.
Further, the unmanned autonomous obstacle avoidance space detection method further includes: the first calculation module performs comprehensive analysis and processing according to scene data acquired by the first three-dimensional space detection device and the second three-dimensional space detection device in real time to form three-dimensional perception of the whole space environment, and dynamically plans a route through obstacle perception, so that the unmanned vehicle autonomously avoids obstacles.
Further, the unmanned autonomous obstacle avoidance space detection method further includes: the second calculation module forms three-dimensional perception of the whole space environment after comprehensive analysis and processing according to scene data acquired by the second three-dimensional space detection device in real time, and a route is dynamically planned through obstacle perception, so that the unmanned aerial vehicle can autonomously avoid obstacles.
Further, the unmanned autonomous obstacle avoidance space detection method further includes: the first three-dimensional space detection device and the second three-dimensional space detection device are used for detecting obstacles in the forward movement of the unmanned vehicle and the unmanned vehicle, and the yaw angle is adjusted according to the preset minimum safe distance and the threshold dynamic planning path, so that the safe distance is kept between the unmanned vehicle and the obstacle.
In some embodiments, the unmanned autonomous obstacle avoidance space detecting method further includes:
capturing selected visual features in the surrounding environment by a visual feature capturing module loaded on the unmanned aerial vehicle, judging whether the occurrence frequency of the selected visual features is matched with a preset frequency, and if so, judging that the position of the selected visual features is a current landing point, wherein the selected visual features and the preset frequency are respectively a luminous point set feature and a luminous frequency of a landing positioning mark distributed on the unmanned aerial vehicle;
the unmanned aerial vehicle is enabled to determine the position of the current landing point through calculation, the unmanned aerial vehicle is enabled to approach the current landing point, when the unmanned aerial vehicle and the current landing point are close enough, the characteristic points of the light-emitting point set of the landing positioning mark are extracted and processed to obtain a homography matrix H, the rotation and translation relation between the unmanned aerial vehicle and the current landing point is obtained through matrix decomposition H ═ A [ R, T ], the flight path and the attitude of the unmanned aerial vehicle are controlled according to the matrix decomposition result, and the unmanned aerial vehicle is enabled to land on the unmanned aerial vehicle accurately.
For example, can unmanned aerial vehicle carry the camera as visual characteristic capture module to and, set up infrared lamp array as aforementioned descending location mark on unmanned vehicle's the platform that charges. The infrared lamp array can adopt an infrared LED array, can have certain shape distribution, and can emit light according to set frequency. So, can adopt infrared vision guide's technique, utilize the camera to gather image analysis visual characteristic and navigate and descend, wherein the earth's surface characteristic adopts infrared lamp array to guide the mode, unmanned vehicles detects after confirming the frequency through multiframe, the adjustment aircraft nose flies to infrared lamp array direction, after being close to the earth's surface, can clearly obtain the earth's surface picture and obtain more characteristic detail, utilize the characteristic matching to solve the homography matrix and decompose it, become the result during flight control of flight path instruction input at last, realize that unmanned vehicles accurately descends to the interface top that charges of unmanned vehicles, realize the butt joint that charges of unmanned vehicles and unmanned vehicles.
More specifically, the camera on the unmanned aerial vehicle may be rotated to find the bright spots with the infrared intensity, and then, whether the frequency is the frequency set on the unmanned aerial vehicle (i.e., the light emitting frequency of the infrared lamp array) is determined according to the frequency of the bright spots, and when the frequencies are matched, the current frequency is considered as the falling point. The unmanned aerial vehicle determines the position of the luminous point through calculation, and the unmanned aerial vehicle is controlled to approach the luminous point. When the distance between the unmanned aerial vehicle and the landing point is close enough, the characteristic points of the luminous point set are extracted and processed to obtain a homography matrix H, the rotation and translation relation between the current unmanned aerial vehicle and the landing point is obtained through matrix decomposition, and the unmanned aerial vehicle controls the flight path and the attitude according to the matrix decomposition result and accurately lands on the unmanned aerial vehicle platform.
Referring to fig. 1 to 4, in a more specific embodiment of the present invention, an unmanned autonomous obstacle avoidance space detection system is provided, which includes an omnidirectional mobile unmanned vehicle capable of moving on the ground, and an unmanned aerial vehicle capable of autonomously flying under GPS positioning. And the WIFI communication of wireless remote high-intensity signals is adopted between the unmanned aerial vehicle and the unmanned vehicle.
Referring to fig. 3, the unmanned aerial vehicle may carry detection equipment (such as a depth camera, a pan-tilt camera, a laser radar, etc.), and also carry a distance sensor, a positioning system, airborne computing equipment, etc., and other auxiliary equipment (such as a fill-in light, etc.). The airborne computing equipment comprehensively analyzes and summarizes the data collected by each detection device, and the autonomous obstacle avoidance and path planning are realized by intelligently analyzing the data of the distance sensor, the positioning system and the like.
Further, unmanned aerial vehicle lectotype can adopt the multiaxis frame, and overall dimension is not less than 600 millimeters, does benefit to the narrow and small region of business turn over, and the material adopts full carbon fiber combined material, provides high strength when reducing frame weight and supports. The power system adopts a high-efficiency motor, and is matched with the light blades with excellent aerodynamic airfoil shapes, so that the single-shaft propeller efficiency and the lift force are improved. And a high-rate battery is used for supplying power to the unmanned aerial vehicle, and battery capacity with proper capacity is selected and matched according to the working duration. All electromagnetic signals are shielded, and the work of the unmanned aerial vehicle is not interfered.
As shown in fig. 4, the unmanned vehicle may carry multiple types of detectors (including sensing devices such as vision, laser, and distance), and also carry multiple types of devices such as distance detection devices (e.g., ultrasonic obstacle avoidance modules), optical devices (e.g., cameras), and radars, and a vehicle-mounted computing device, where the vehicle-mounted computing device collects such data for environment sensing and autonomous movement obstacle avoidance, and collects data of the detection devices for comprehensive analysis and summarization. The unmanned vehicle can also carry a large-capacity lithium battery and the like.
Furthermore, the unmanned vehicle adopts an omnidirectional rotating platform and can be controlled through instructions. The top is installed magnetism and is adsorbed interface and unmanned aerial vehicle descending location mark point that charges, can dock when unmanned aerial vehicle accuracy lands the setpoint and charge. The periphery of the unmanned vehicle is provided with omnidirectional lighting equipment and distance obstacle avoidance sensors, and the vehicle head is provided with cliff detection equipment to prevent the unmanned vehicle from driving into a place with large relief.
Further, a charging take-off platform (see fig. 2) for the unmanned aerial vehicle to take off and land autonomously is arranged on the roof of the unmanned aerial vehicle. The charging take-off platform is provided with the magnetic adsorption charging interface and a landing positioning mark so as to help the unmanned aerial vehicle to land in a positioning manner. When the unmanned aerial vehicle accurately lands at the landing positioning mark, the unmanned aerial vehicle and the unmanned vehicle are mutually fixed through the action of electromagnetic force, and are charged in a contact-type wired mode through the charging interface.
Before the unmanned aerial vehicle takes off, the data obtained by the detection equipment is processed by the onboard computing equipment and then is sent to the vehicle-mounted computing equipment.
The unmanned aerial vehicle and the unmanned vehicle are respectively provided with the corresponding computing module and the corresponding sensor equipment, and the environment state is obtained by analyzing the sensing data and the image information, so that the obstacle detection is completed, and the autonomous movement and obstacle avoidance of the vehicle and the vehicle are realized. After an interested target is found or in a specific area where the unmanned vehicle cannot move, the unmanned aerial vehicle can take off to continue three-dimensional surveying and mapping, target approaching observation, high-definition image capture and the like. Through the combined work of the unmanned vehicle and the unmanned aircraft, the detection area is greatly expanded, and the working limit of single equipment is broken through.
The unmanned autonomous obstacle avoidance space detection system mainly achieves autonomous obstacle avoidance based on an unmanned detection device autonomous obstacle avoidance technology, specifically, referring to fig. 6, vehicle-mounted computing equipment and/or vehicle-mounted computing equipment form three-dimensional perception of the whole space environment after comprehensive analysis and processing according to real-time collected scene data, and a route is dynamically planned through obstacle perception to avoid obstacles. And detecting the obstacle in the forward movement of the equipment by using sensors such as depth vision, distance and the like, and dynamically planning a path according to a set minimum safe distance and a threshold value to adjust a yaw angle so as to keep a certain safe distance between the detection equipment and the obstacle.
Further, please refer to fig. 2 and 5, when the unmanned aerial vehicle performs the completion operation or the electric quantity is insufficient to maintain the operation, the unmanned aerial vehicle returns to the starting point (the charging takeoff platform) to perform the charging waiting for the next task.
In this embodiment, an infrared visual guidance technology is mainly adopted, images are collected by using a camera and the like carried by the unmanned aerial vehicle, and the visual characteristics are analyzed to perform navigation landing. The infrared LED array guiding mode is adopted for ground surface features distributed on the charging takeoff platform, in order to eliminate interference of other infrared light sources such as sunlight, the flicker frequency of the infrared LED is set to be 60Hz or other specific frequencies, after the unmanned aerial vehicle determines the frequency through multi-frame detection, the aircraft head is adjusted to fly towards the infrared LED array direction, when the unmanned aerial vehicle approaches the ground surface (the charging takeoff platform), ground surface pictures can be clearly obtained to obtain more feature details, the homography matrix is resolved through feature matching, and finally the result is changed into a flight path instruction to be input into a flight control system (flying control for short) of the unmanned aerial vehicle, accurate landing is achieved above a charging interface on the charging takeoff platform, and charging butt joint is achieved.
It should be understood that the foregoing is only illustrative of the present invention and that numerous changes and modifications may be made by those skilled in the art without departing from the principles of the invention and these are to be considered within the scope of the invention.
Claims (10)
1. An unmanned autonomous obstacle avoidance space detection system is characterized by comprising:
the unmanned vehicle and the unmanned aerial vehicle are matched with each other, the unmanned vehicle and the unmanned aerial vehicle are respectively used for detecting a ground low-angle three-dimensional space and a three-dimensional space above a set height, and three-dimensional space data detected by the unmanned vehicle and the unmanned aerial vehicle can be fused, so that complete three-dimensional space detection is realized;
the autonomous obstacle avoidance function module is used for autonomous movement and obstacle avoidance of the unmanned vehicle and the unmanned aircraft;
the charging and communication functional module is at least used for realizing communication between the unmanned vehicle and the unmanned aerial vehicle so as to enable the unmanned vehicle and the unmanned aerial vehicle to work cooperatively and charge the unmanned aerial vehicle;
the task coordination function module is used for enabling the unmanned vehicle and the unmanned aerial vehicle to cooperatively execute set tasks; and the number of the first and second groups,
and the unmanned aerial vehicle landing function module is used for actively guiding the unmanned aerial vehicle to land on the unmanned vehicle when the unmanned aerial vehicle is in a flying state and the power supply voltage of the unmanned aerial vehicle is close to a return limit or the task is completed.
2. The unmanned autonomous obstacle avoidance space detecting system according to claim 1, characterized in that: the autonomous obstacle avoidance function module comprises a plurality of obstacle avoidance devices arranged on the unmanned vehicle and the unmanned aerial vehicle, the charging and communication functional module comprises a communication module respectively arranged on the unmanned vehicle and the unmanned aerial vehicle and a charging module arranged on the unmanned vehicle, the charging module comprises a charging interface matched with the unmanned aerial vehicle and a power supply electrically connected with the charging interface, the unmanned aerial vehicle landing function module comprises landing positioning marks distributed on the unmanned vehicle and a visual feature capturing module loaded on the unmanned aerial vehicle, the visual feature capture module is capable of identifying an UAV landing guidance signal provided by the landing location markers, the autonomous obstacle avoidance function module, the charging and communication function module and the unmanned aerial vehicle landing function module are further connected with corresponding computing modules loaded on the unmanned vehicle and the unmanned aerial vehicle respectively.
3. The unmanned autonomous obstacle avoidance space detection system according to claim 2, characterized in that: be equipped with the platform of taking off that charges on the unmanned aerial vehicle, it is equipped with on the platform of taking off to charge interface and landing positioning mark, the interface that charges is including setting up the magnetism contact strip that charges on the platform of taking off that charges, and works as unmanned aerial vehicle accuracy is descended during landing positioning mark department, unmanned aerial vehicle can charge the fixed butt joint of contact strip through electromagnetism adsorption mode and charge with magnetism.
4. The unmanned autonomous obstacle avoidance space detecting system according to claim 2, characterized in that: the calculation module comprises a first calculation module and a second calculation module which are respectively loaded on the unmanned vehicle and the unmanned aerial vehicle, the first calculation module and the second calculation module can realize information interaction through the communication module, the unmanned vehicle and the unmanned aerial vehicle are also respectively loaded with a first three-dimensional space detection device and a second three-dimensional space detection device, and the first three-dimensional space detection device and the second three-dimensional space detection device are respectively connected with the first calculation module and the second calculation module.
5. The unmanned autonomous obstacle avoidance space detecting system according to claim 4, characterized in that: the obstacle avoidance device comprises a distance obstacle avoidance sensor, and the distance obstacle avoidance sensor comprises an ultrasonic obstacle avoidance module; and/or cliff detection equipment is further mounted at the head of the unmanned vehicle; and/or the power supply comprises a high-capacity lithium battery carried by the unmanned vehicle; and/or the first three-dimensional space detection equipment comprises any one or combination of a camera and a laser radar; and/or the second three-dimensional space detection equipment comprises any one or combination of a depth camera, a pan-tilt camera and a laser radar; and/or the visual feature capture module comprises a camera; and/or the unmanned autonomous obstacle avoidance space detection system further comprises a ground control station, and the unmanned vehicle and the unmanned aerial vehicle are further connected with the ground control station respectively.
6. An unmanned autonomous obstacle avoidance space detection method is characterized by comprising the following steps:
providing an unmanned autonomous obstacle avoidance space detection system of any of claims 1-5;
collecting ground low-angle three-dimensional space information in the surrounding environment of the unmanned vehicle by first three-dimensional space detection equipment, and processing the information by a first computing module loaded on the unmanned vehicle;
when the unmanned aerial vehicle does not take off, acquiring information of a three-dimensional space above a set height in the surrounding environment of the unmanned aerial vehicle by using second three-dimensional space detection equipment, processing the information by using a second calculation module loaded on the unmanned aerial vehicle, and then transmitting the information to the first calculation module;
when the unmanned aerial vehicle flies, the second three-dimensional space detection device is used for collecting information of the surrounding environment of the unmanned aerial vehicle, the information is processed by the second calculation module, and then the information is transmitted to the first calculation module when the unmanned aerial vehicle lands on the unmanned vehicle;
fusing information acquired by the first three-dimensional space detection equipment and the second three-dimensional space detection equipment by using a first calculation module or a calculation platform connected with the first calculation module to obtain complete three-dimensional space information;
and when the unmanned vehicle and the unmanned aerial vehicle travel, the unmanned vehicle and the unmanned aerial vehicle can autonomously move and avoid the obstacle by using the autonomous obstacle avoiding functional module.
7. The unmanned autonomous obstacle avoidance space detection method according to claim 6, further comprising: when an interested target is found or an area which cannot be reached by the unmanned vehicle is found, the unmanned aircraft takes off and observes the interested target or the area which cannot be reached by the unmanned vehicle, and the observation comprises any one or more of combination of three-dimensional mapping, target approaching observation and high-definition image capture.
8. The unmanned autonomous obstacle avoidance space detecting method according to claim 6, further comprising:
when the unmanned aerial vehicle returns to the navigation, a set place is designated according to the position of the unmanned vehicle, the position of the unmanned aerial vehicle and the observation information of the unmanned aerial vehicle on the ground;
enabling the unmanned vehicle to run to the gathering place according to the obstacle avoidance path planned by the unmanned aerial vehicle; and
after the unmanned vehicle arrives at the gathering place, the unmanned aerial vehicle flies to the position where the unmanned vehicle is located, and the unmanned aerial vehicle is guided to land on the unmanned vehicle by the unmanned aerial vehicle landing function module;
and/or, when the unmanned aerial vehicle flies, the related information of the unmanned aerial vehicle is sent to the first computing module or the computing platform connected with the first computing module, the related information of the unmanned aerial vehicle comprises one or more combinations of electric quantity information, position information and task completion degree of the unmanned aerial vehicle, and when the unmanned aerial vehicle is in a flying state and the power supply voltage of the unmanned aerial vehicle is close to a return limit or the task is completed, the unmanned aerial vehicle is actively guided to land on the unmanned aerial vehicle by the unmanned aerial vehicle landing function module.
9. The unmanned autonomous obstacle avoidance space detecting method according to claim 6, further comprising:
the method comprises the steps that scene data acquired by first three-dimensional space detection equipment in real time are comprehensively analyzed and processed through a first computing module to form three-dimensional perception of the whole space environment, and a route is dynamically planned through obstacle perception, so that an unmanned vehicle autonomously avoids obstacles;
and/or a second calculation module is used for comprehensively analyzing and processing scene data acquired by second three-dimensional space detection equipment in real time to form three-dimensional perception of the whole space environment, and a route is dynamically planned through obstacle perception, so that the unmanned aerial vehicle autonomously avoids obstacles;
and/or detecting the obstacles in the forward movement of the unmanned vehicle and the unmanned aerial vehicle by utilizing the first three-dimensional space detection device and the second three-dimensional space detection device, and dynamically planning a path according to a preset minimum safe distance and a threshold value to adjust a yaw angle so as to keep the safe distance between the unmanned vehicle and the unmanned aerial vehicle and the obstacles.
10. The unmanned autonomous obstacle avoidance space detecting method according to claim 6 or 8, characterized by specifically comprising:
capturing a selected visual feature in the surrounding environment by using a visual feature capturing module loaded on the unmanned aerial vehicle, judging whether the occurrence frequency of the selected visual feature is matched with a preset frequency, and if so, judging that the position of the selected visual feature is a current landing point, wherein the selected visual feature and the preset frequency are respectively a light-emitting point set feature and a light-emitting frequency of a landing positioning mark distributed on the unmanned aerial vehicle;
and determining the position of the current landing point by the unmanned aerial vehicle through calculation, enabling the unmanned aerial vehicle to approach the current landing point, extracting characteristic points of a light-emitting point set of the landing positioning mark and processing the characteristic points to obtain a homography matrix H when the characteristic points are close enough, obtaining the rotation and translation relation between the unmanned aerial vehicle and the current landing point through matrix decomposition H (A [ R, T ]), and controlling the flight path and the attitude of the unmanned aerial vehicle according to the matrix decomposition result to enable the unmanned aerial vehicle to land on the unmanned vehicle accurately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110223031.3A CN114993261A (en) | 2021-02-26 | 2021-02-26 | Unmanned autonomous obstacle avoidance space detection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110223031.3A CN114993261A (en) | 2021-02-26 | 2021-02-26 | Unmanned autonomous obstacle avoidance space detection system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114993261A true CN114993261A (en) | 2022-09-02 |
Family
ID=83018730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110223031.3A Pending CN114993261A (en) | 2021-02-26 | 2021-02-26 | Unmanned autonomous obstacle avoidance space detection system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114993261A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901580A (en) * | 2019-03-13 | 2019-06-18 | 华南理工大学 | A kind of unmanned plane cooperates with unmanned ground robot follows diameter obstacle avoidance system and its method |
| CN111300372A (en) * | 2020-04-02 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN111338383A (en) * | 2020-04-24 | 2020-06-26 | 北京泛化智能科技有限公司 | Autonomous flight method and system based on GAAS and storage medium |
-
2021
- 2021-02-26 CN CN202110223031.3A patent/CN114993261A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109901580A (en) * | 2019-03-13 | 2019-06-18 | 华南理工大学 | A kind of unmanned plane cooperates with unmanned ground robot follows diameter obstacle avoidance system and its method |
| CN111300372A (en) * | 2020-04-02 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN111338383A (en) * | 2020-04-24 | 2020-06-26 | 北京泛化智能科技有限公司 | Autonomous flight method and system based on GAAS and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11332033B2 (en) | Systems and methods for UAV battery exchange | |
| US10611252B2 (en) | Systems and methods for UAV battery power backup | |
| CN113597591B (en) | Geographic benchmarking for unmanned aerial vehicle navigation | |
| Luo et al. | A survey of intelligent transmission line inspection based on unmanned aerial vehicle | |
| US8880241B2 (en) | Vertical takeoff and landing (VTOL) small unmanned aerial system for monitoring oil and gas pipelines | |
| EP3045393B1 (en) | Apparatus for charging and housing unmanned vertical takeoff and landing aircraft and method for same | |
| CN101807080B (en) | Robot airship control system for overhead line inspection and control method thereof | |
| CN107196410B (en) | ground transformer substation inspection system and method | |
| CN105157708A (en) | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar | |
| US20200012296A1 (en) | Unmanned aerial vehicle landing area detection | |
| CN104881042A (en) | Multi-dimension aviation remote sensing test platform | |
| JP6791561B2 (en) | Methods and devices for supplying energy to UAVs | |
| CN106970649A (en) | A kind of unmanned plane wireless charging automatic control platform and control method | |
| CN110879617A (en) | Infrared-guided unmanned aerial vehicle landing method and device | |
| US20220019243A1 (en) | Guidance system for landing a drone | |
| EP3867150B1 (en) | Ruggedized autonomous helicopter platform | |
| CN110647170A (en) | Navigation mark inspection device and method based on unmanned aerial vehicle | |
| CN111319502A (en) | Unmanned aerial vehicle laser charging method based on binocular vision positioning | |
| CN210835732U (en) | Beacon inspection device based on unmanned aerial vehicle | |
| CN113568427B (en) | Unmanned aerial vehicle autonomous landing mobile platform method and system | |
| CN114993261A (en) | Unmanned autonomous obstacle avoidance space detection system and method | |
| CN210310919U (en) | Unmanned aerial vehicle system with parachute safety arrangement | |
| Ollero et al. | AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures | |
| CN216526895U (en) | Indoor unmanned aerial vehicle becomes high flight system | |
| Cui et al. | Route optimization method of UAV autonomous transmission line detection based on BeiDou positioning service |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |