WO2018090181A1

WO2018090181A1 - Method and device for ultra-wideband ranging, obstacle avoidance method, and obstacle avoidance device

Info

Publication number: WO2018090181A1
Application number: PCT/CN2016/105875
Authority: WO
Inventors: 方文钊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-11-15
Filing date: 2016-11-15
Publication date: 2018-05-24
Also published as: CN107076826A; CN107076826B

Abstract

An ultra-wideband ranging method applicable in a movable object, comprising: broadcasting an ultra-wideband ranging request signal (S101); receiving an ultra-wideband ranging response signal broadcasted by a movable target, the ultra-wideband ranging response signal comprising a first time difference between the transmission of the ultra-wideband ranging response signal by the mobile target and the reception of the ultra-wideband ranging request signal (S102); determining a second time difference between the reception of the ultra-wideband ranging response signal and the broadcasting of the ultra-wideband ranging request signal (S103); and determining the distance from the moveable object to the movable target on the basis of the first time difference and of the second time difference (S104). Also provided are an ultra-wideband ranging-based obstacle avoidance method, an ultra-wideband ranging device applicable in a mobile object, an ultra-wideband ranging-based obstacle avoidance device (91), and an unmanned aerial vehicle (51) system (9). The precision in ranging among multiple movable objects is increased; also, obstacle avoidance performance among the movable objects is increased.

Description

Ultra-wideband ranging method and device, obstacle avoidance method and obstacle avoidance device

Technical field

Embodiments of the present invention generally relate to the field of measurement and control, and in particular, to an ultra-wideband ranging method and an ultra-wideband ranging device applied in a movable object, an ultra-wideband ranging method and a super-applicable method in a movable target. Broadband ranging equipment, obstacle avoidance methods based on ultra-wideband ranging and obstacle avoidance equipment, and unmanned aerial vehicle systems.

Background technique

With the development of technology, it is increasingly important to measure two movable objects to achieve control of movable objects. For example, determining the relative distance between two UAVs in the air to determine if the two UAVs will collide; determining the relative distance between the two cars on the ground to determine if the two cars will occur Rubbing; determine the relative distance between the two ships on the surface of the water to determine whether the two ships will collide; determine the relative distance between the two subways underground to determine whether the two subways will be rear-end.

In the prior art, the two movable objects are generally equipped with a Global Positioning System (GPS) on two movable objects to acquire GPS signals of the two movable objects, and according to two The latitude and longitude coordinate information in the GPS signal calculates the linear distance between the two movable objects. However, the GPS signal is easily affected by the weather and the surrounding environment, and the signal loss is easy to occur, and the accuracy of the GPS signal itself is low. The general positioning accuracy is several meters to several tens of meters, which is difficult to meet the accuracy of the existing application scenarios. Claim.

Summary of the invention

In order to solve the above or other potential problems existing in the prior art, the present invention provides an ultra-wideband ranging method and an ultra-wideband ranging device applied in a movable object, and an ultra-wideband ranging method applied in a movable target And ultra-wideband ranging equipment, obstacle avoidance methods based on ultra-wideband ranging and obstacle avoidance equipment, and unmanned aerial vehicle systems.

According to some embodiments of the present invention, there is provided an ultra-wideband ranging method for use in a movable object, comprising: broadcasting an ultra-wideband ranging request signal; receiving an ultra-wideband ranging response signal broadcast by a movable target, The ultra-wideband ranging response signal includes a first time difference between the movable target broadcasting the ultra-wideband ranging response signal and receiving the ultra-wideband ranging request signal; determining that the ultra-wideband ranging response signal is received And broadcasting a second time difference between the ultra-wideband ranging request signal; determining a distance of the movable object to the movable target according to the first time difference and the second time difference.

According to some embodiments of the present invention, there is provided an ultra-wideband ranging method applied in a movable target, comprising: receiving an ultra-wideband ranging request signal broadcasted by a movable object; determining a broadcast ultra-wideband ranging response signal and receiving a first time difference between the ultra-wideband ranging request signals; a broadcast ultra-wideband ranging response signal, the ultra-wideband ranging response signal including the first time difference.

According to some embodiments of the present invention, an ultra-wideband ranging device for use in a movable object is provided, comprising: an ultra-wideband signal transmitter for broadcasting an ultra-wideband ranging request signal; and an ultra-wideband signal receiver for Receiving an ultra-wideband ranging response signal broadcast by the movable target, the ultra-wideband ranging response signal including the movable target broadcasting the ultra wideband ranging response signal and receiving the ultra wideband ranging request signal a first time difference; the at least one processor, individually or collectively, operative to: determine a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal; A time difference and the second time difference determine a distance of the movable object to the movable target.

According to some embodiments of the present invention, an ultra-wideband ranging device for use in a movable object is provided, comprising: an ultra-wideband signal receiver for receiving an ultra-wideband ranging request broadcasted by a movable object a signal; at least one processor, used alone or collectively, to: determine a first time difference between a broadcast ultra-wideband ranging response signal and the received ultra-wideband ranging request signal; an ultra-wideband signal transmitter for broadcasting An ultra-wideband ranging response signal, the ultra-wideband ranging response signal including the first time difference.

According to some embodiments of the present invention, there is provided an obstacle avoidance method based on ultra-wideband ranging, comprising: broadcasting an ultra-wideband ranging request signal; receiving an ultra-wideband ranging response signal broadcasted by a movable obstacle, the ultra-wideband The ranging response signal includes a first time difference between the movable obstacle broadcasting the ultra wideband ranging response signal and receiving the ultra wideband ranging request signal; determining that the super is received a second time difference between the broadband ranging response signal and the broadcast of the ultra-wideband ranging request signal; determining a distance of the movable object to the movable obstacle according to the first time difference and the second time difference; The movable object is instructed to perform an obstacle avoidance operation in response to the distance.

According to some embodiments of the present invention, an obstacle avoidance device based on ultra-wideband ranging includes: an ultra-wideband signal transmitter for broadcasting an ultra-wideband ranging request signal; and an ultra-wideband signal receiver for receiving An ultra-wideband ranging response signal of the mobile target broadcast, the ultra-wideband ranging response signal including a first between the movable target broadcasting the ultra-wideband ranging response signal and receiving the ultra-wideband ranging request signal Time difference; at least one processor, used alone or collectively, to: determine a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal; and according to the first time difference sum The second time difference determines a distance of the movable object to the movable target; and the movable object is instructed to perform an obstacle avoidance operation according to the distance.

According to some embodiments of the present invention, there is provided an unmanned aerial vehicle system comprising: the above-described obstacle avoidance device for indicating an obstacle avoidance operation; and a power device for driving the unmanned aerial vehicle to perform obstacle avoidance according to the indication.

According to the technical solution of the embodiment of the present invention, by using an ultra-wideband signal to perform ranging between a movable object and a movable object, the accuracy of ranging and the obstacle avoidance performance between movable objects are improved.

DRAWINGS

The above and other objects, features and advantages of the embodiments of the present invention will become more <RTIgt; In the drawings, various embodiments of the invention are described by way of illustrative and non

1 is a schematic flow chart of an ultra-wideband ranging method applied to a movable object according to an embodiment of the present invention;

2 is a schematic structural diagram of an ultra-wideband ranging device applied to a movable object according to an embodiment of the present invention;

3 is a schematic flowchart of an ultra-wideband ranging method applied to a movable target according to another embodiment of the present invention;

FIG. 4 is a schematic diagram of an ultra-wideband ranging device applied to a movable target according to another embodiment of the present invention; Schematic diagram of the structure;

FIG. 5 is a schematic diagram of interaction between a movable object and a movable target for ultra-wideband ranging according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic flowchart diagram of an obstacle avoidance method based on ultra-wideband ranging according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an unmanned aerial vehicle interacting with an alarm signal on the ground according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic structural diagram of an obstacle avoidance device based on ultra-wideband ranging according to an embodiment of the present invention; and FIG.

FIG. 9 is a schematic structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.

detailed description

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

It should be understood that the following embodiments do not limit the order of execution of the steps of the method protected by the present invention. The various steps of the method of the invention can be performed in any possible order and in a cyclical manner.

First, it should be noted that in the following embodiments, the movable object may be an object that can be moved relative to a reference point in any prior art such as an unmanned aerial vehicle, a car, a ship, a subway, or a train. Similarly, the movable target can also be an object that can be moved relative to a reference point in any prior art such as an unmanned aerial vehicle, a car, a ship, a subway, or a train. Of course, in the following embodiments, the movable object and the movable target may be the same kind of objects, such as an unmanned aerial vehicle or a car; at the same time, the movable object and the movable target may also be different kinds of objects, for example, The moving object is a car, and the movable target is a train.

In addition, Ultra Wide Band (UWB) technology is a new type of wireless communication technology that directly modulates impulse pulses with very steep rise and fall times to make signals on the order of 3.1-10.6 GHz. The bandwidth and the data transfer speed is very high.

Example 1

The embodiment provides an ultra-wideband ranging method applied to a movable object for determining The distance between the movable object and the movable target to provide a basis for subsequent operations.

FIG. 1 is a schematic flowchart diagram of an ultra-wideband ranging method applied to a movable object according to an embodiment of the present invention.

As shown in FIG. 1 , the ultra-wideband ranging method provided in this embodiment includes:

S101. Broadcast ultra-wideband ranging request signal.

In particular, the movable object can broadcast the UWB ranging request signal to the environment in any manner known in the art. For example, a movable object can broadcast an ultra-wideband ranging request signal to the environment through an ultra-wideband signal transmitter.

For further example, the movable object may be an unmanned aerial vehicle, and the unmanned aerial vehicle sends an instruction to the ultra-wideband signal transmitter installed in the local machine according to the control instruction, and controls the ultra-wideband signal transmitter to broadcast a local ultra-wideband measurement to the air. From the request signal, the distance to the movable target in the air (for example, the second unmanned aerial vehicle) is started. In this embodiment, the control command may be transmitted by the flight control system of the unmanned aerial vehicle, the ground station, or the remote controller. In addition, the ultra-wideband signal transmitter can be built in or attached to the unit.

Preferably, the broadcasting the ultra-wideband ranging request signal comprises: broadcasting a requesting device number and a request sequence number included in the ultra-wideband ranging request signal.

For example, the movable object is an unmanned aerial vehicle, and when the unmanned aerial vehicle performs ranging on a movable target (for example, a second unmanned aerial vehicle), it can carry the requesting device of the local device when broadcasting the ultra-wideband ranging request signal. The number (such as 1#), and the request number of the UWB ranging request signal (such as the serial number is 1). That is, the above request device number and request sequence number are modulated into the ultra wideband ranging request signal. In this way, the device that can notify the movable target in the air to transmit the UWB ranging request signal through the UWB ranging request signal is the 1# UAV, and informs that the movable target needs to respond to the serial number sent by the UAV. The ultra-wideband ranging request signal of 1 is not the ultra-wideband ranging request signal of other serial numbers sent by the UAV, thereby improving the pertinence of the ultra-wideband ranging request signal, so as to improve the efficiency of ranging.

It should be noted that the request sequence number of the ultra-wideband ranging request signal refers to the first time that the movable object transmits the ultra-wideband ranging request signal, which is independent of the interval between two adjacent ultra-wideband ranging request signals, for example, The movable object respectively gives a request sequence number (for example, 1, 2, 3, ...) to each transmitted UWB ranging request signal in the entire life cycle or in the same time period from the time of travel. Of course, if the movable object is sent in a periodic order, it is super wide. With the ranging request signal, the time of transmission can be determined directly by the request sequence number.

S102. Receive an ultra-wideband ranging response signal broadcasted by a movable target, where the ultra-wideband ranging response signal includes the movable target broadcasting the ultra-wideband ranging response signal and receiving the ultra-wideband ranging request signal. The first time difference between.

Specifically, the movable object can receive the ultra-wideband ranging response signal broadcast by the movable target in any manner in the prior art. For example, the movable object can receive an ultra-wideband ranging response signal broadcasted by the movable target from the environment through an ultra-wideband signal receiver mounted thereon.

For further example, the movable object may be an unmanned aerial vehicle having an ultra-wideband signal receiver installed thereon, and the ultra-wideband signal pick-up device detects a signal in the environment to receive the broadcast by the movable target to the environment. Wideband ranging response signal. In addition, the above ultra-wideband signal transmitter may be provided by the unit itself or may be separately installed on the unit.

It can be understood that the movable target requires a certain processing time after receiving the ultra-wideband ranging request signal that the movable object transmits to the environment and then broadcasting the ultra-wideband ranging response signal to the environment, and this time is in this embodiment. It is defined as the first time difference. Of course, the movable target can record the first time difference described above by any means in the prior art, and load it into the ultra-wideband ranging response signal in a conventional manner in the prior art to be sent to the environment. The UWB signal receiver of the mobile target can receive the first time difference described above from the environment.

For example, when the movable object is an unmanned aerial vehicle (first unmanned aerial vehicle) and the movable target is also an unmanned aerial vehicle (second unmanned aerial vehicle), the first time difference described above can be determined by:

Recording the time T _{m1 of} receiving the UWB ranging request signal when the second UAV receives the UWB ranging request signal broadcasted by the first UAV in the environment; when the second UAV broadcasts to the environment The time T _m2 at which the UWB ranging response signal is issued is recorded when the UWB ranging response signal is transmitted; then the first time difference ΔT ₁ is (T _{m2 -} T _m1 ).

Advantageously, the receiving the ultra-wideband ranging response signal broadcast by the movable target comprises: receiving the requesting device number, the request sequence number, and a response device number included in the ultra-wideband ranging request signal, Thereby adapting to the situation that there are multiple movable objects in the environment, shortening the time of ranging, improving the measuring efficiency, and improving the reliability of the ranging.

For example, when the movable object is an unmanned aerial vehicle (the first unmanned aerial vehicle), the movable target is also When the unmanned aerial vehicle (the second unmanned aerial vehicle) is used, the second unmanned aerial vehicle may carry the requesting device number of the first unmanned aerial vehicle (such as 1#), the ultra-wideband ranging request signal when broadcasting the ultra-wideband ranging response signal. The request serial number (such as the serial number is 2) and the response device number of the second unmanned aerial vehicle (such as 2#). In this way, all the movable objects in the air can be informed by the ultra-wideband ranging response signal. The current response is for the first unmanned aerial vehicle (1#), and the first unmanned aerial vehicle is notified that the first response is the first unmanned aircraft. The ultra-wideband ranging request signal of sequence number 2 transmitted by the aircraft, while also informing the first unmanned aircraft that the second unmanned aerial vehicle (2#) is responsive to the ultra-wideband ranging request signal. In the above manner, when there are multiple unmanned aerial vehicles in the air to perform ranging at the same time, there is no confusion, the reliability and accuracy of information transmission can be ensured, the time of ranging can be shortened, and the efficiency of ranging can be improved.

S103. Determine a second time difference between receiving the ultra-wideband ranging response signal and broadcasting the ultra-wideband ranging request signal.

Specifically, when the movable object receives the UWB ranging response signal sent to the environment by the movable object, the time T _z2 when the UWB ranging response signal is received is recorded. In this way, the time when the movable object broadcasts the ultra-wideband ranging request signal to the ultra-wideband ranging response signal of the movable target broadcast can be calculated according to the time T _z1 at which the movable object can broadcast the ultra-wideband ranging request signal to the environment. Here, defined as a second time difference, the second time difference ΔT ₂ is (T _z2 -T _z1 )

S104. Determine a distance of the movable object to the movable target according to the first time difference and the second time difference.

Specifically, determining the distance between the movable object and the movable target can be as follows:

Where S is the distance between the movable object and the movable target; C is the propagation speed of the ultra-wideband signal in the environment.

Take the example of ranging from two unmanned aerial vehicles flying in the air:

The first unmanned aerial vehicle broadcasts an ultra-wideband ranging request signal to the air and records the time T _z1 transmitted. When there is a second unmanned aerial vehicle flying in the airspace, the UWB ranging request signal is received and the accepted time _{Tm1 is} recorded. Then, the second unmanned aerial vehicle processes the UWB ranging request signal, and broadcasts the UWB ranging response signal to the air and records the transmission time _Tm2 . At the same time, the second UAV will also process the broadband. The processing time ΔT _{1 of the} ranging request signal is carried into the ultra-wideband ranging response signal and sent to the air. Thereafter, the first unmanned aerial vehicle receives the UWB ranging response signal and records the received time T _z2 , and calculates the first UAV broadcast UWB ranging request signal to receive the movable target broadcast. The time ΔT ₂ between the ultra-wideband ranging response signals, and the distance between the two unmanned aerial vehicles is calculated by the above formula (1) according to the above-mentioned ΔT ₁ and ΔT ₂ .

The present embodiment is applied to an ultra-wideband ranging method in a movable object, and transmits a ranging request signal of a movable object and a ranging response signal of a movable target by using a very narrow pulse (that is, an ultra-wideband signal), not only a transmission speed Fast and appropriate penetration of obstacles can reduce the impact of complex environments on ranging, thereby improving the response speed and measurement accuracy of ranging between movable objects and movable targets.

Further, this embodiment may further include the following steps:

The above-described ultra-wideband ranging method is periodically performed at predetermined time intervals.

Specifically, it may be a periodic broadcast ultra-wideband ranging request signal, and receive an ultra-wideband ranging response signal returned by the movable target according to the same period, and calculate the available after each receiving the ultra-wideband ranging response signal. The distance between the moving object and the movable target.

For example, ranging from two unmanned aerial vehicles flying in the air, the first unmanned aerial vehicle broadcasts an ultra-wideband ranging request signal to the air every T1 time (for example, 1 s). The second unmanned aerial vehicle flying in the airspace will receive an ultra-wideband ranging request signal every T1 time. After processing, it will also broadcast the first to the air every T1 time. The ultra-wideband ranging response signal transmitted by the UAV transmitted by the UWB ranging request signal. The first UAV will also receive the UWB ranging response signal broadcast by the second UAV every T1 to calculate the distance between the first UAV and the second UAV. That is, the first unmanned aerial vehicle will obtain a distance between the updated first unmanned aerial vehicle and the second unmanned aerial vehicle every T1 time.

According to the above description, by periodically performing the ultra-wideband ranging method of Embodiment 1, the trend of the distance between the movable object and the movable target can be grasped in real time, thereby providing a basis for subsequent operations.

Preferably, the distance of the movable object to the movable target is recorded every cycle; A motion parameter of the movable target is determined based on the recorded distance. Since the distance between the movable object and the movable target is periodically recorded, qualitative quantitative data of the distance change between the movable target and the movable object can be obtained, so that the motion parameter of the movable target can be determined. For example, the motion trajectory of the movable target can be obtained by connecting the distance between the movable target and the movable object over a period of time. For another example, the speed of movement of the movable target can be calculated by the distance difference between the movable target and the movable object over a certain period of time. For another example, the acceleration of the movable target can be further calculated by calculating the speed of the movable target at different times.

In summary, by periodically recording the distance between the movable target and the movable object, the motion parameters including the motion trajectory, the motion speed, and the motion acceleration can be determined, so that the motion parameter can be determined by the motion parameter. The control strategy of the first moving object achieves more precise control of the first object.

Finally, it should be noted that, in this embodiment, the movable object locates the relative position of the movable object and the movable target by transmitting the ultra-wideband ranging request signal and receiving the ultra-wideband ranging response signal of the movable target. The method can be used to include: based on received signal strength (RSS), based on received signal angle of arrival (AOA), time/time difference of arrival (TOA/TDOA), AOA, and Any existing method such as TDOA hybrid positioning method.

Example 2

The embodiment provides an ultra-wideband ranging device applied to a movable object, which is used for determining a distance between a movable target and a movable object, thereby providing a basis for subsequent operations.

FIG. 2 is a schematic structural diagram of an ultra-wideband ranging device applied to a movable object according to an embodiment of the present invention.

As shown in FIG. 2, the ultra-wideband ranging device of this embodiment includes:

An ultra-wideband signal transmitter 13 for broadcasting an ultra-wideband ranging request signal;

An ultra-wideband signal receiver 15 for receiving an ultra-wideband ranging response signal broadcast by the movable target, the ultra-wideband ranging response signal including the movable target broadcasting the ultra-wideband ranging response signal and receiving the location Determining a first time difference between the ultra-wideband ranging request signals;

At least one processor 11, singly or collectively, for determining a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal; The time difference and the second time difference determine a distance of the movable object to the movable target.

Specifically, the ultra-wideband signal transmitter 13 of the present embodiment may be any device or module that can implement the ultra-wideband transmission function in the prior art, and is not limited herein. Similarly, the ultra-wideband signal receiver 15 of the present embodiment may be any device or module capable of implementing the ultra-wideband receiving function in the prior art, and is not limited herein. Moreover, in the present embodiment, the ultra-wideband signal transmitter 13 and the ultra-wideband signal receiver 15 may be two separate devices or modules, or may be integrated devices or modules.

In the meantime, the processor 11 of the present embodiment may be a logic circuit, an integrated circuit or a chip, a single chip microcomputer, etc., which can implement a calculation processing function in the prior art, and is not specifically limited herein.

In addition, the ultra-wideband ranging method used in the ultra-wideband ranging device in this embodiment is the same as that in the first embodiment. For details, refer to the foregoing Embodiment 1, and details are not described herein again.

The present embodiment is applied to an ultra-wideband ranging device in a movable object, and transmits a ranging request signal of a movable object and a ranging response signal of a movable target by using a very narrow pulse (that is, an ultra-wideband signal), not only a transmission speed Fast and appropriate penetration of obstacles can reduce the impact of complex environments on ranging, thereby improving the response speed and measurement accuracy of ranging between movable objects and movable targets.

Example 3

The embodiment provides an ultra-wideband ranging method applied to a movable target for determining a distance between a movable target and at least one movable object to provide a basis for subsequent operations.

FIG. 3 is a schematic flowchart diagram of an ultra-wideband ranging method applied to a movable target according to an embodiment of the present disclosure.

S201. Receive an ultra-wideband ranging request signal broadcasted by the movable object.

In particular, the movable target can receive an ultra-wideband ranging request signal that the mobile object broadcasts into the environment from the environment using any suitable means in the prior art. For example, the movable target can receive an ultra-wideband ranging response signal broadcasted by the movable target from the environment through the ultra-wideband signal receiver installed thereon.

Further for example, the movable target may be an unmanned aerial vehicle installed on the unmanned aerial vehicle There is an ultra-wideband signal receiver that detects signals in the environment to receive an ultra-wideband ranging request signal broadcast by a movable object in the environment to respond to the ultra-wideband ranging request signal. In addition, the above ultra-wideband signal transmitter may be provided by the unit itself or may be separately installed on the unit.

Preferably, the ultra-wideband ranging request signal may include: a requesting device number and a request sequence number for broadcasting the ultra-wideband ranging request signal.

For example, the movable target is an unmanned aerial vehicle, and when the movable target is used to respond to an ultra-wideband ranging request signal of a movable object (for example, a second unmanned aerial vehicle), when the two unmanned aerial vehicles are measured. : The second unmanned aerial vehicle can carry the requesting device number (such as 1#) of the local device when broadcasting the ultra-wideband ranging request signal, and the request serial number of the ultra-wideband ranging request signal sent by the local device (for example, the serial number is 1). In this way, the UAV receives the UWB ranging request signal and knows that the device that transmits the UWB ranging request signal is the second UAV (1#), and the device needs to respond to the second UAV. The ultra-wideband ranging request signal with sequence number 1 is not the ultra-wideband ranging request signal of other serial numbers, thereby improving the response efficiency of the unmanned aerial vehicle for the ultra-wideband ranging request signal, thereby improving the ranging efficiency.

It should be noted that the request sequence number of the ultra-wideband ranging request signal refers to the first time that the movable object transmits the ultra-wideband ranging request signal, which is independent of the interval between two adjacent ultra-wideband ranging request signals, for example, The movable object gives a sequence number to each transmitted UWB ranging request signal in the order of the time from the arrival to the entire life cycle or in the same usage period. Of course, if the movable object transmits the UWB ranging request signal in periodic order, the time of transmission can be determined directly by the serial number.

S202. Determine a first time difference between the broadcast ultra-wideband ranging response signal and the received ultra-wideband ranging request signal.

Specifically, after the movable target receives the UWB ranging request signal sent to the environment in the foregoing step, the UWB ranging request signal needs to be processed first to determine whether the UWB measurement is needed. Respond to the request signal. If responsive, generating an ultra-wideband ranging response signal corresponding to the ultra-wideband ranging request signal to measure the ultra-wideband through an ultra-wideband signal transmitting module (eg, an ultra-wideband signal transmitter) on the movable target The response signal is broadcast to the environment. It can be seen from the above that the movable target is processing the ultra-wideband ranging request signal to the transmission super wide It takes a period of time to carry the ranging response signal, which is defined as the first time difference in this embodiment.

For example, the first time difference described above can be determined by:

Recording the time T _{m1 of} receiving the UWB ranging request signal when the movable target receives the UWB ranging request signal broadcasted by the movable object in the environment; broadcasting the UWB ranging response signal when the movable target is in the environment The time T _{m2 at} which the UWB ranging response signal is issued is recorded; then the first time difference ΔT ₁ is (T _{m2 -} T _m1 ).

S203. Broadcast an ultra-wideband ranging response signal, where the ultra-wideband ranging response signal includes the first time difference.

Specifically, the movable target can broadcast the ultra wideband ranging request signal to the environment in any manner in the prior art. For example, a movable target can broadcast an ultra-wideband ranging response signal to the environment through an ultra-wideband signal transmitter.

Further for example, when the movable object is an unmanned aerial vehicle (first unmanned aerial vehicle) and the movable target is also an unmanned aerial vehicle (second unmanned aerial vehicle), the second unmanned aerial vehicle receives the first unmanned aerial vehicle After broadcasting the UWB ranging request signal in the air, processing it, and sending an instruction to the UWB transmitter of the local machine to control the UWB over-the-air ranging response signal including the first time difference to be transmitted in the air to respond The ranging request signal of the first unmanned aerial vehicle. In this embodiment the control command may be sent by the flight control system of the second unmanned aerial vehicle, the ground station or the remote control. In addition, the ultra-wideband signal transmitter can be built in or attached to the unit.

Preferably, the broadcasting the ultra-wideband ranging response signal may further include: broadcasting a requesting device number, a request sequence number, and a response device number included in the ultra-wideband ranging request signal, thereby adapting to multiple movable objects in the environment. In case, the time of ranging is shortened, the ranging efficiency is improved, and the reliability of ranging is improved.

For example, when the movable object is an unmanned aerial vehicle (first unmanned aerial vehicle) and the movable target is also an unmanned aerial vehicle (second unmanned aerial vehicle), in response to the UWB ranging request signal of the first unmanned aerial vehicle, The second unmanned aerial vehicle may carry the requesting device number of the first unmanned aerial vehicle (such as 1#), the request serial number of the ultra-wideband ranging request signal (such as the serial number 2), and the second when broadcasting the ultra-wideband ranging response signal. The response device number of the unmanned aerial vehicle (such as 2#). In this way, all the movable objects in the air can be informed by the ultra-wideband ranging response signal. This response is for the first Unmanned aerial vehicle (1#), and informs the first unmanned aerial vehicle that this time responds to the ultra-wideband ranging request signal of sequence number 2 sent by the first unmanned aerial vehicle, and also informs the first unmanned aerial vehicle to respond to the The UWB ranging request signal is the second unmanned aerial vehicle (2#). In the above manner, when there are multiple unmanned aerial vehicles in the air to perform ranging at the same time, there is no confusion, the reliability and accuracy of information transmission can be ensured, the time of ranging can be shortened, and the efficiency of ranging can be improved.

The present embodiment applies an ultra-wideband ranging method in a movable target, and transmits a ranging request signal of a movable object and a ranging response signal of a movable target by using a very narrow pulse (that is, an ultra-wideband signal), not only a transmission speed Fast and appropriate penetration of obstacles can reduce the impact of complex environments on ranging, thereby improving the response speed and measurement accuracy of ranging between movable objects and movable targets.

Example 4

The embodiment provides an ultra-wideband ranging device applied to a movable target for determining a distance between a movable target and a movable object, thereby providing a basis for subsequent operations.

FIG. 4 is a schematic structural diagram of an ultra-wideband ranging device applied to a movable target according to an embodiment of the present disclosure.

An ultra-wideband signal receiver 35, configured to receive an ultra-wideband ranging request signal broadcast by the movable object;

At least one processor 31, singly or collectively, for determining a first time difference between a broadcast UWB ranging response signal and receiving the UWB ranging request signal;

An ultra-wideband signal transmitter 33 for broadcasting an ultra-wideband ranging response signal, the ultra-wideband ranging response signal including the first time difference.

Specifically, the ultra-wideband signal receiver 35 of the present embodiment may be any device or module that can implement the ultra-wideband receiving function in the prior art, and is not limited herein. Similarly, the ultra-wideband signal transmitter 33 of the present embodiment may be any device or module capable of implementing the ultra-wideband transmission function in the prior art, and is not limited herein. Moreover, in the present embodiment, the ultra-wideband signal receiver 35 and the ultra-wideband signal transmitter 33 may be two separate devices or modules, or may be integrated devices or modules.

Meanwhile, the processor 31 of this embodiment may be capable of performing computational processing work in the prior art. The logic circuit, integrated circuit or chip, single chip microcomputer, etc. can not be specifically limited herein.

In addition, the ultra-wideband ranging method used in the ultra-wideband ranging device in this embodiment is the same as that in the third embodiment. For details, refer to the foregoing embodiment 3, and details are not described herein again.

The present embodiment is applied to an ultra-wideband ranging device in a movable target, and transmits a ranging request signal of a movable object and a ranging response signal of a movable target by using a very narrow pulse (that is, an ultra-wideband signal), not only a transmission speed Fast and appropriate penetration of obstacles can reduce the impact of complex environments on ranging, thereby improving the response speed and measurement accuracy of ranging between movable objects and movable targets.

Example 5

The embodiment provides an ultra-wideband ranging method applied between a movable object and a movable target for determining a distance between the movable object and the movable target to provide a basis for subsequent operations.

FIG. 5 is a schematic diagram of interaction between a movable object and a movable target for ultra-wideband ranging according to the embodiment.

As shown in FIG. 5, the ultra-wideband ranging method provided in this embodiment is as follows:

First, the movable object broadcasts an ultra-wideband ranging request signal to the environment. Then, after receiving the ultra-wideband ranging request signal, the movable target in the environment broadcasts the UWB ranging response signal in response to the UWB ranging request signal to the environment after a period of time (first time difference) processing. That is, the time between the reception of the ultra-wideband ranging request signal and the broadcast ultra-wideband ranging response signal by the movable target is the first time difference. Then, after receiving the UWB ranging response signal, the movable object calculates a time (second time difference) between transmitting the UWB ranging request signal and receiving the UWB ranging response signal. Finally, according to the second time difference and the first time difference, the distance between the movable object and the movable target can be calculated. Of course, the constant of the propagation speed of the ultra-wideband signal in the environment may be used in the calculation, and this A speed is well known to those skilled in the art and can be obtained by consulting a related technical manual.

Specifically, how the movable object broadcasts the ultra-wideband ranging request signal to the environment, how the movable target broadcasts the ultra-wideband ranging response signal to the environment, and how to determine the first time difference, the second time difference, and calculate the movable object and The moving target is the same as the above embodiment, and can be seen in the above implementation. A detailed description of the example.

Further, the movable object may periodically broadcast the UWB ranging signal to the environment at predetermined time intervals, that is, the movable object continuously broadcasts the UWB ranging request signal sequence to the environment, and continuously receives the movable target. An ultra-wideband ranging response signal that is broadcast to the environment in response to each of the ultra-wideband ranging request signals to continuously obtain a distance between the movable object and the movable target, thereby obtaining a movable object and being movable The trend of the distance between the targets. It can be understood that the movable target may not respond to the UWB ranging request signal of each request sequence number, for example, the movable target gradually enters the ranging range or gradually moves away from the ranging range, or is movable. The target is severely occluded at a certain time and cannot receive the UWB ranging request signal of some request sequence numbers that the mobile object broadcasts to the environment. Of course, the above description is equally applicable to the process in which a movable object receives an ultra-wideband ranging response signal.

Taking the two unmanned aerial vehicles for ranging as an example, the first unmanned aerial vehicle continuously broadcasts an ultra-wideband ranging request signal with a sequence number from 1 to 10 continuously over the air. The second unmanned aerial vehicle may receive the ultra-wideband ranging request signals of the 10 request serial numbers, and respond to the ultra-wideband ranging request signals of the 10 request serial numbers in response to the ultra-wideband ranging response with sequence numbers 1 to 10. signal. If the first UAV receives the UWB ranging response signal of the above 10 response numbers, it can calculate the UWB ranging request signal from the transmission request sequence number 1 to the UWB ranging request request sequence number 10. At the 10th time point of the signal, the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle is obtained, so that the relative distance between the two is changed. In some cases, for example, when the first UAV enters the ranging range when the first UAV sends the UWB ranging request signal with sequence number 5, it may only receive the following Ultra-wideband ranging request signal. Similarly, the same situation occurs when the first UAV receives the UWB ranging response signal of the second UAV.

The ultra-wideband ranging method of the present embodiment transmits a ranging request signal of a movable object and a ranging response signal of a movable target by using a very narrow pulse (that is, an ultra-wideband signal), not only the transmission speed is fast but also an obstacle With suitable penetrating power, the influence of complex environment on ranging can be reduced, thereby improving the reaction speed and measurement accuracy of ranging between a movable object and a movable target.

Example 6

The embodiment provides an obstacle avoidance method based on ultra-wideband ranging for evading movable obstacles to avoid collision with movable obstacles.

FIG. 6 is a schematic flowchart diagram of an obstacle avoidance method based on ultra-wideband ranging according to an embodiment of the present invention.

As shown in FIG. 6, the ultra-wideband ranging method provided in this embodiment includes:

S301. Broadcast ultra-wideband ranging request signal.

S302. Receive an ultra-wideband ranging response signal broadcasted by a movable obstacle, the ultra-wideband ranging response signal including the movable obstacle broadcasting the ultra-wideband ranging response signal, and receiving the ultra-wideband ranging The first time difference between the request signals.

S303. Determine a second time difference between receiving the ultra-wideband ranging response signal and broadcasting the ultra-wideband ranging request signal.

S304. Determine a distance of the movable object to the movable obstacle according to the first time difference and the second time difference.

Specifically, the movable obstacle in the embodiment is equivalent to the movable target in the above embodiment, and the steps S301 to S304 are the same as the above embodiment. For details, refer to the detailed description of the foregoing embodiment, and no longer Narration.

S305. In response to the distance indicating the movable object performs an obstacle avoidance operation.

Specifically, after the distance between the movable object and the movable obstacle is measured, the obstacle avoidance operation of the movable object may be determined according to the distance to avoid the movable obstacle. For example, changing the moving path, speed or direction of the movable object. Taking the unmanned aerial vehicle as an example, when the distance between the unmanned aerial vehicle and the movable obstacle is measured, the straight unmanned aerial vehicle can be offset by a certain angle in one direction, or the unmanned aerial vehicle can be reduced. Speed, such as hovering at the current position, to avoid moving obstacles. Of course, the movable object can directly determine the obstacle avoidance of the movable obstacle according to the above distance, and can also combine other contents to determine the obstacle avoidance of the movable obstacle. For example, the obstacle avoidance of the movable obstacle can be determined by combining other information of the movable object itself, such as the speed, acceleration, moving direction or height of the movable object.

In this embodiment, based on the obstacle avoidance method of ultra-wideband ranging, the distance measurement request signal of the movable object and the ranging response signal of the movable obstacle are transmitted by using a very narrow pulse (that is, an ultra-wideband signal), and the transmission speed is fast, Moreover, it has suitable penetrating power for obstacles, which can reduce the influence of complex environment on ranging, thereby improving the response speed of movable objects to the distance measurement of movable obstacles. And the measurement accuracy, and then the obstacle avoidance operation based on the measured distance, to improve the timeliness and accuracy of the obstacle avoidance operation, and to ensure the safety of the movable object.

Preferably, the obstacle avoidance method further includes:

The above obstacle avoidance method is periodically performed at predetermined time intervals.

Specifically, the distance between the movable object and the movable obstacle is periodically measured at predetermined time intervals, and then the obstacle avoidance operation can be performed according to the distance after each distance is measured. For example, it may be a periodic broadcast ultra-wideband ranging request signal, and receive an ultra-wideband ranging response signal returned by the movable obstacle according to the same period, and calculate each time after receiving the ultra-wideband ranging response signal. The distance between the moving object and the movable obstacle, and then the obstacle avoidance operation is performed based on the distance.

According to the above description, by periodically performing the obstacle avoidance method of the above embodiment, the change trend of the distance between the movable object and the movable obstacle can be grasped in real time, thereby providing a better basis for the obstacle avoidance operation.

Preferably, the distance of the movable object to the movable obstacle is recorded every cycle; the motion parameter of the movable obstacle is determined according to the recorded distance. Since the distance between the movable object and the movable obstacle is periodically recorded, qualitative and quantitative data of the distance change between the movable obstacle and the movable object can be obtained, so that the motion parameter of the movable obstacle can be determined. . For example, the movement trajectory of the movable obstacle can be obtained by connecting the distance between the movable obstacle and the movable object over a period of time. For another example, the speed of movement of the movable obstacle can be calculated by the distance difference between the movable obstacle and the movable object over a certain period of time. For another example, the movable barrier can be further calculated by calculating the speed of the movable obstacle at different times. Obstruct the acceleration of the object.

In summary, by periodically recording the distance between the movable obstacle and the movable object, the motion parameter including the motion trajectory, the motion speed, and the motion acceleration can be determined, so that the motion parameter can be passed. To optimize the obstacle avoidance route of movable objects and improve the accuracy of obstacle avoidance.

Example 7

This embodiment is based on the embodiment 6, and the obstacle avoidance method is improved as follows:

In response to the distance being less than the first safety distance, the movable object is instructed to send an obstacle reminder.

Specifically, when the calculated distance between the movable object and the movable obstacle is compared with the first safety distance and the distance between the two is less than the first safety distance, an alarm signal may be sent by the movable object to Removable obstacles for reminders. Further, the alarm signal may be an alarm device transmitted to the movable object itself, or may be an alarm device provided on a control device for controlling the movement of the movable object. That is to say, the alarm operation may be an alarm device that controls the assembly of the movable object itself, or the movable object may send an alarm signal to a separate alarm device to perform an alarm through the separate alarm device.

Please refer to FIG. 7. FIG. 7 is a schematic diagram of the unmanned aerial vehicle interacting with the ground for performing an alarm signal according to the embodiment. Taking the unmanned aerial vehicle as an example: when the unmanned aerial vehicle 51 calculates that the distance from the movable obstacle is smaller than the first At a safe distance, it can send an alarm signal to the remote control 53 or ground station 55 held by the operator. After receiving the alarm signal, the remote controller 53 or the ground station 55 can perform text or image alarm, light alarm or voice alarm through the display screen, indicator light or speaker. Of course, the UAV 51 itself can also alarm by light or voice.

Example 8

This embodiment is based on the embodiment 6 or the embodiment 7, and the obstacle avoidance method is improved as follows:

Determining a position of the movable obstacle in response to the distance being less than a second safety distance;

An obstacle avoidance route of the movable object is determined according to a position of the movable obstacle.

Specifically, when the distance between the movable object and the movable obstacle is less than the second safety distance, the position of the movable obstacle may be determined by any means in the prior art, for example, determining the position of the movable obstacle by using a GPS signal, Or detecting the position of the movable obstacle by other sensors, or detecting the position of the movable obstacle by the received signal strength (RSS) of the ultra-wideband ranging response signal, or responding to the ultra-wideband ranging The time/time difference of arrival (TOA/TDOA) detects the position of the movable obstacle.

In the obstacle avoidance method of the embodiment, by determining the position of the movable obstacle, the obstacle avoidance route of the movable object can be determined more accurately, so that the movement of the movable object is more secure.

Preferably, determining the location of the movable obstacle comprises:

Determining a pitch angle and a horizontal angle of the movable obstacle relative to the movable object according to a receiving angle of the ultra-wideband ranging response signal;

A position of the movable obstacle relative to the movable object is determined according to the pitch angle, a horizontal angle, and a distance of the movable object to the movable obstacle.

Specifically, in the embodiment, the movable object may be arranged by using an ultra-wideband signal receiver in an array manner in the prior art to implement acquisition of a receiving angle of the ultra-wideband ranging response signal, thereby determining by the receiving angle. The relative position of the moving object and the movable obstacle, that is, the pitch angle and the horizontal angle of the movable obstacle relative to the movable object. As for the array or other way of using the array, how to calculate the pitch angle and the horizontal angle by the receiving angle, and how to calculate the position of the movable obstacle relative to the movable object by the pitch angle, the horizontal angle and the distance can be referred to The content of the technology about the positioning of ultra-wideband technology will not be described here.

Further, based on the foregoing embodiment, the foregoing obstacle avoidance method further includes:

Acquiring the attitude, velocity, and acceleration of the movable object detected by the inertial sensor;

The obstacle avoidance route is determined according to the attitude, the speed, the acceleration, and the position of the movable obstacle.

Specifically, the posture of the movable object includes an angle between the movable object and the horizon, and is unmanned In the case of an aircraft, the attitude of the unmanned aerial vehicle refers to its flight attitude, that is, the angular position of the axis of the aircraft relative to the ground during flight of the unmanned aerial vehicle. It can usually be expressed by three angles: the pitch angle, the angle between the longitudinal axis of the body and the horizontal plane; the yaw angle, the angle between the projection of the longitudinal axis of the body on the horizontal plane and the parameter line on the surface; the roll angle, the unmanned aerial vehicle The angle between the plane of symmetry and the vertical plane passing through the longitudinal axis of the body.

By acquiring the attitude, velocity, acceleration, and position of the movable obstacle of the movable object, the information can be integrated to determine the obstacle avoidance route of the movable object.

The following is an example of an unmanned aerial vehicle. It briefly describes how to integrate the information of the inertial sensor and the position of the movable obstacle to plan the obstacle avoidance route of the UAV:

When the first unmanned aerial vehicle detects that its distance from the second unmanned aerial vehicle is within a second safe distance by the UWB sensor, and receives the UWB ranging response signal transmitted by the second UAV At the same time as or after the angle determines the position of the second unmanned aerial vehicle, the inertial sensor installed by the first unmanned aerial vehicle can acquire its own flight attitude, speed and acceleration, thereby designing the avoidance of the second unmanned aerial vehicle. route. For example, when the first unmanned aerial vehicle is decelerating and its speed is not reduced enough to allow the first unmanned aerial vehicle to be fitted with a second unmanned aerial vehicle, it can continue to fly according to the original flight path. When the first unmanned aerial vehicle is fast or has a high acceleration, when the first unmanned aerial vehicle and the second unmanned aerial vehicle collide, the flight angle of the first unmanned aerial vehicle can be changed, thereby Change its flight wireless to avoid obstacles. In addition, when the first unmanned aerial vehicle collides with the second unmanned aerial vehicle, but the information obtained from the inertial sensor is that the first unmanned aerial vehicle's flight attitude is being pulled up or diving, and the above The flight path of the first unmanned aerial vehicle will cause it to collide with the second unmanned aerial vehicle, and the flight path of the first unmanned aerial vehicle can be changed by deceleration, hovering or dive and lift, thereby achieving obstacle avoidance. the goal of.

Obtaining obstacle information detected by the obstacle avoidance sensor;

The obstacle avoidance route is determined according to the obstacle information and the position of the movable obstacle.

Specifically, the obstacle avoidance sensor may be one or more of a visual sensor, an infrared sensor, an ultrasonic sensor, and a radar sensor. That is, preferably, acquiring obstacle information detected by the obstacle avoidance sensor includes acquiring obstacle information detected by at least one of a visual sensor, an infrared sensor, an ultrasonic sensor, and a radar sensor.

That is to say, the movable object can also measure an obstacle in the environment by one or more of, for example, an infrared ranging signal, a radar ranging signal, and a microwave ranging signal. Taking an infrared sensor as an example, the infrared sensor may include an infrared signal transmitting and receiving diode. An infrared signal emitting diode mounted on a movable object emits infrared rays into the environment, and when the infrared rays are irradiated to an obstacle in front (for example, a stone, a tree, a wall, a bird, an airplane, or a car), the infrared light is reflected back. At this time, the infrared signal receiving diode mounted on the movable object can capture the emitted infrared rays. Thus, by calculating the time of infrared emission and reception, it is possible to calculate obstacle information such as the distance and position of the movable object and the obstacle. Then, by integrating the obstacle information measured by the infrared sensor, the distance and position of the movable object moving path or the fixed obstacle and the movable obstacle in the surrounding environment can be further determined, thereby optimizing the movable object pair including the fixed obstacle Obstacle avoidance routes for obstacles including movable obstacles.

Moreover, since the information of the same obstacle is acquired by different obstacle avoidance sensors, the obstacle information acquired by each sensor can be calibrated, thereby obtaining a distance and position information of obtaining a more accurate obstacle and the movable object, and further Optimize obstacle avoidance routes for moving objects.

Taking an unmanned aerial vehicle as an example, there are not only other unmanned aerial vehicles, but also other obstacles such as trees and walls, and there may be unmanned aerial vehicles without an ultra-wideband ranging module, and ultra-wideband ranging and obstacle avoidance sensors. The method of detecting the obstacle information is to plan the appropriate obstacle avoidance route when the UAV is flying in a complex environment, thereby improving the obstacle avoidance capability of the UAV and avoiding the risk of crash when the UAV collides with the obstacle. .

Example 9

The embodiment provides an obstacle avoidance device based on ultra-wideband ranging for evading movable obstacles to avoid collision with movable obstacles.

FIG. 8 is a schematic structural diagram of an obstacle avoidance device based on ultra-wideband ranging according to an embodiment of the present invention.

As shown in FIG. 8, the obstacle avoidance device of this embodiment includes:

An ultra-wideband signal transmitter 73 for broadcasting an ultra-wideband ranging request signal;

An ultra-wideband signal receiver 75, configured to receive an ultra-wideband ranging response signal broadcast by the movable target, the ultra-wideband ranging response signal including the movable target broadcasting the ultra-wideband ranging response signal and receiving the location Determining a first time difference between the ultra-wideband ranging request signals;

At least one processor 71, singly or collectively, for determining a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal; The second time difference determines a distance of the movable object to the movable object; and the movable object is instructed to perform an obstacle avoidance operation according to the distance.

Specifically, the ultra-wideband signal transmitter 73 of the present embodiment may be any device or module that can implement the ultra-wideband transmission function in the prior art, and is not limited herein. Similarly, the ultra-wideband signal receiver 75 of the present embodiment may also be any device or module capable of implementing the ultra-wideband receiving function in the prior art, and is not limited herein. Also, in the present embodiment, the ultra-wideband signal transmitter 73 and the ultra-wideband signal receiver 75 may be two separate devices or modules, or may be integrated devices or modules.

In the meantime, the processor 71 of the present embodiment may be a logic circuit, an integrated circuit or a chip, a single chip microcomputer, etc., which can implement a calculation processing function in the prior art, and is not specifically limited herein. Further, the processor of the embodiment may be provided separately or integrally.

In this embodiment, the obstacle avoidance device based on the ultra-wideband ranging uses a very narrow pulse (that is, an ultra-wideband signal) to transmit a ranging request signal of the movable object and a ranging response signal of the movable obstacle, so that the transmission speed is fast. Moreover, it has suitable penetrating power for obstacles, which can reduce the influence of complex environment on ranging, thereby improving the response speed and measurement accuracy of the movable object to the distance measurement of the movable obstacle, and then performing obstacle avoidance operation based on the measured distance. To improve the timeliness and accuracy of obstacle avoidance operations and ensure the safety of movable objects.

Further, the processor 71 is further configured to:

Still further, the processor 71 is further configured to determine a position of the movable obstacle in response to the distance being less than a second safety distance; determining an obstacle avoidance of the movable object according to a position of the movable obstacle route. In particular, the position of the movable obstacle can be determined according to any prior art.

Still further, the processor 71 is further configured to determine a pitch angle and a horizontal angle of the movable obstacle relative to the movable object according to a receiving angle of the ultra-wideband ranging response signal; according to the pitch angle, A horizontal angle and a distance of the movable object to the movable obstacle determine a position of the movable obstacle relative to the movable object. Specifically, the receiving angle of the ultra-wideband ranging response signal can be obtained by using an array commonly used in ultra-wideband technology or other methods, and The pitch angle and the horizontal angle of the movable object are calculated according to the calculation formula in the prior art.

Still further, the above obstacle avoidance device further includes an inertial sensor for detecting the attitude, velocity, and acceleration of the movable object. Specifically, the inertial sensor can use any inertial sensor on the unmanned aerial vehicle of the prior art. Preferably, the processor 71 is further configured to determine the obstacle avoidance route according to the posture, the speed, the acceleration, and the position of the movable obstacle.

Still further, the obstacle avoidance device further includes an obstacle avoidance sensor for detecting obstacle information. Specifically, the obstacle avoidance sensor may include one or more of a visual sensor, an infrared sensor, an ultrasonic sensor, and a radar sensor. Preferably, the processor 71 is further configured to determine the obstacle avoidance route according to the obstacle information and a position of the movable obstacle.

Finally, it should be noted that the obstacle avoidance method implemented by the obstacle avoidance device in this embodiment can be referred to the foregoing Embodiment 6 to Embodiment 8, and details are not described herein again.

The following is an example of escaping two unmanned aerial vehicles in the air to briefly describe the working process of the obstacle avoidance equipment in this embodiment:

The flight control system of the first unmanned aerial vehicle controls the UWB ranging transmitter to transmit an ultra-wideband ranging request signal to the air. Then, after receiving the ultra-wideband ranging request signal, the UWB ranging receiver of the second unmanned aerial vehicle transmits the ultra-wideband ranging response signal to the air through the UWB ranging transmitter through the processing of the flight control system. After the UWB ranging receiver of the first UAV receives the UWB ranging response signal, the flight control system calculates the distance between the two UAVs and receives the UWB ranging response signal. The pitch angle and the horizontal angle of the second unmanned aerial vehicle relative to the first unmanned aerial vehicle are calculated from the angle, and the position of the second unmanned aerial vehicle is further calculated by the above-mentioned pitch angle and horizontal angle. At the same time as before, before or after receiving the UWB ranging response signal, the first UAV can also pass the obstacle obstacle sensor information set thereon, wherein the obstacle avoidance sensor can be an infrared sensor, a visual sensor, One or more of the radar sensor and the ultrasonic sensor in the ultrasonic sensor, and the obstacle information may be one or more of information of the fixed obstacle and movable obstacle information. In addition, the first unmanned aerial vehicle can also acquire the flight attitude, velocity and acceleration of the first unmanned aerial vehicle through the inertial sensor disposed thereon. In this way, the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle obtained according to the ultra-wideband ranging can be combined with the position of the second unmanned aerial vehicle, the information acquired by the inertial sensor, and the obstacle detection sensor detection. Obstacle information to better plan the flight path of the UAV to avoid UAVs Other UAVs and other fixed obstacles in the air collide with movable obstacles to improve the flight safety of UAVs. It should be noted that the position of the second unmanned aerial vehicle, the information acquired by the inertial sensor, and the obstacle information detected by the obstacle avoidance sensor are not necessary for the obstacle avoidance operation, and the specific three can be used in the above three The type of information is arbitrarily chosen and combined with the distance measured by the UWB signal to improve the obstacle avoidance accuracy of the UAV.

Example 10

The present embodiment provides an unmanned aerial vehicle system that can be ranged by an ultra-wideband ranging signal during flight to avoid collision with a movable obstacle in flight.

As shown in FIG. 9, the UAV system 9 provided in this embodiment includes the obstacle avoidance device 91 in the above embodiment for indicating obstacle avoidance operation; and the power device 93 is configured to be driven according to the indication of the obstacle avoidance device. Unmanned aerial vehicles are used to avoid obstacles.

Specifically, the structure, the principle, and the effect of the obstacle avoidance device 91 of the present embodiment are the same as those of the foregoing embodiment. For details, refer to the foregoing embodiment, and details are not described herein again.

Further, the power unit 93 of the present embodiment can use any type of power unit used in the existing unmanned aerial vehicle.

The UAV system of the present embodiment transmits the ranging request signal of the UAV system and the ranging response signal of the movable obstacle by using extremely narrow pulses (that is, ultra-wideband signals), not only the transmission speed is fast but also the obstacle The object has suitable penetrating power, which can reduce the influence of complex environment on the ranging, thereby improving the accuracy and reaction speed of the UAV system for the movable obstacle, and then performing obstacle avoidance operation based on the measured distance to improve the The timeliness and accuracy of the obstacle avoidance operation of the human aircraft system ensure the safety of the unmanned aircraft system.

The technical solutions and technical features in the above various embodiments may be separate or combined in the case of conflicting with the present invention, and are equivalent embodiments within the scope of the present application as long as they do not exceed the cognitive scope of those skilled in the art. .

In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combine or can Integrate into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer processor 101 to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

An ultra-wideband ranging method for use in a movable object, comprising:

Broadcast ultra-wideband ranging request signal;

Receiving an ultra-wideband ranging response signal broadcast by the movable target, the ultra-wideband ranging response signal including the movable target broadcasting the ultra wideband ranging response signal and receiving the ultra wideband ranging request signal First time difference;

Determining a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal;

Determining a distance of the movable object to the movable target according to the first time difference and the second time difference.
The ultra-wideband ranging method according to claim 1, wherein the broadcast ultra-wideband ranging request signal comprises:

The broadcast includes a requesting device number and a request sequence number in the ultra wideband ranging request signal.
The ultra-wideband ranging response method according to claim 2, wherein the receiving the ultra-wideband ranging response signal broadcasted by the movable target comprises:

Receiving the requesting device number, the request sequence number, and the response device number included in the ultra-wideband ranging response signal.
The ultra-wideband ranging method according to any one of claims 1 to 3, characterized in that the ultra-wideband ranging method is periodically performed at predetermined time intervals.
The ultra-wideband ranging method according to claim 4, further comprising:

Recording a distance of the movable object to the movable target in each cycle;

A motion parameter of the movable target is determined based on the recorded distance.
The ultra-wideband ranging method according to claim 5, wherein the motion parameters of the movable target comprise:

At least one of a motion trajectory, a motion speed, and a motion acceleration of the movable target.
An ultra-wideband ranging method for use in a movable target, comprising:

Receiving an ultra-wideband ranging request signal broadcast by a movable object;

Determining a first time difference between the broadcast ultra-wideband ranging response signal and the receiving the ultra-wideband ranging request signal;

Broadcasting an ultra-wideband ranging response signal, the ultra-wideband ranging response signal including the first time difference.
The ultra-wideband ranging method according to claim 7, wherein the broadcast ultra-wideband ranging response signal further comprises:

The broadcast includes a requesting device number, a request sequence number, and a response device number in the ultra-wideband ranging response signal.
An ultra-wideband ranging device for use in a movable object, comprising:

Ultra-wideband signal transmitter for broadcasting ultra-wideband ranging request signals;

An ultra-wideband signal receiver for receiving an ultra-wideband ranging response signal broadcast by the movable target, the ultra-wideband ranging response signal including the movable target broadcasting the ultra-wideband ranging response signal and receiving the a first time difference between the ultra-wideband ranging request signals;

At least one processor, used individually or collectively, is used to:

Determining a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal;

Determining a distance of the movable object to the movable target according to the first time difference and the second time difference.
The ultra-wideband ranging device according to claim 9, wherein the ultra-wideband ranging request signal comprises: a requesting device number and a request sequence number.
The ultra-wideband ranging device according to claim 10, wherein the ultra-wideband ranging response signal comprises: the requesting device number, the request sequence number, and a response device number.
The ultra-wideband ranging device according to any one of claims 9 to 11, wherein the ultra-wideband ranging device periodically determines the movable object to the movable target at predetermined time intervals the distance.
The ultra-wideband ranging device according to claim 12, wherein the processor is further configured to:

Recording a distance of the movable object to the movable target in each cycle;

A motion parameter of the movable target is determined based on the recorded distance.
The ultra-wideband ranging device according to claim 13, wherein the motion parameter of the movable target comprises:

At least one of a motion trajectory, a motion speed, and a motion acceleration of the movable target.
An ultra-wideband ranging device for use in a movable target, comprising:

An ultra-wideband signal receiver for receiving an ultra-wideband ranging request signal broadcast by a movable object;

At least one processor, singly or collectively, for determining a first time difference between a broadcast UWB ranging response signal and receiving the UWB ranging request signal;

An ultra-wideband signal transmitter for broadcasting an ultra-wideband ranging response signal, the ultra-wideband ranging response signal including the first time difference.
The ultra-wideband ranging method according to claim 15, wherein the ultra-wideband ranging response signal comprises: a requesting device number, a request sequence number, and a response device number.
An obstacle avoidance method based on ultra-wideband ranging, which comprises:

Broadcast ultra-wideband ranging request signal;

Receiving an ultra-wideband ranging response signal broadcast by the movable obstacle, the ultra-wideband ranging response signal including the movable obstacle broadcasting the ultra-wideband ranging response signal and receiving the ultra-wideband ranging request signal The first time difference between;

Determining a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal;

Determining a distance of the movable object to the movable obstacle according to the first time difference and the second time difference;

The movable object is instructed to perform an obstacle avoidance operation according to the distance.
The obstacle avoidance method according to claim 17, wherein the indicating the movable object to perform an obstacle avoidance operation according to the distance comprises:

In response to the distance being less than the first safety distance, the movable object is instructed to send an obstacle reminder.
The obstacle avoidance method according to claim 17 or 18, wherein the indicating the movable object to perform an obstacle avoidance operation according to the distance comprises:

Determining a position of the movable obstacle in response to the distance being less than a second safety distance;

An obstacle avoidance route of the movable object is determined according to a position of the movable obstacle.
The obstacle avoidance method according to claim 19, wherein the determining the position of the movable obstacle comprises:

Determining a pitch angle and a horizontal angle of the movable obstacle relative to the movable object according to a receiving angle of the ultra-wideband ranging response signal;

According to the pitch angle, the horizontal angle, and the distance from the movable object to the movable obstacle Determining a position of the movable obstacle relative to the movable object.
The obstacle avoidance method according to claim 19, wherein the obstacle avoidance method further comprises:

Acquiring the attitude, velocity, and acceleration of the movable object detected by the inertial sensor;

The obstacle avoidance route is determined according to the attitude, the speed, the acceleration, and the position of the movable obstacle.
The obstacle avoidance method according to claim 19, wherein the obstacle avoidance method further comprises:

Obtaining obstacle information detected by the obstacle avoidance sensor;

The obstacle avoidance route is determined according to the obstacle information and the position of the movable obstacle.
The obstacle avoidance method according to claim 22, wherein the acquiring the obstacle information detected by the obstacle avoidance sensor comprises:

Obtaining obstacle information detected by at least one of a visual sensor, an infrared sensor, an ultrasonic sensor, and a radar sensor.
The obstacle avoidance method according to claim 17 or 18, wherein the obstacle avoidance method is periodically performed at predetermined time intervals.
An obstacle avoidance device based on ultra-wideband ranging, which comprises:

Ultra-wideband signal transmitter for broadcasting ultra-wideband ranging request signals;

An ultra-wideband signal receiver for receiving an ultra-wideband ranging response signal broadcast by a movable obstacle, the ultra-wideband ranging response signal including the movable obstacle broadcasting the ultra-wideband ranging response signal and receiving a first time difference between the ultra-wideband ranging request signals;

At least one processor, used individually or collectively, is used to:

Determining a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal;

Determining a distance of the movable object to the movable obstacle according to the first time difference and the second time difference;

The movable object is instructed to perform an obstacle avoidance operation according to the distance.
The obstacle avoidance device according to claim 25, wherein the processor is further configured to:

In response to the distance being less than the first safety distance, the movable object is instructed to send an obstacle reminder.
The obstacle avoidance device according to claim 25 or 26, wherein the processor is further configured to:

Determining a position of the movable obstacle in response to the distance being less than a second safety distance;

An obstacle avoidance route of the movable object is determined according to a position of the movable obstacle.
The obstacle avoidance device according to claim 27, wherein the processor is further configured to:

Determining a pitch angle and a horizontal angle of the movable obstacle relative to the movable object according to a receiving angle of the ultra-wideband ranging response signal;

A position of the movable obstacle relative to the movable object is determined according to the pitch angle, a horizontal angle, and a distance of the movable object to the movable obstacle.
The obstacle avoidance device according to claim 27, wherein the obstacle avoidance device further comprises:

An inertial sensor for detecting the attitude, velocity and acceleration of the movable object.
The obstacle avoidance device according to claim 29, wherein the processor is further configured to:

The obstacle avoidance route is determined according to the attitude, the speed, the acceleration, and the position of the movable obstacle.
The obstacle avoidance device according to claim 27, wherein the obstacle avoidance device further comprises:

An obstacle avoidance sensor for detecting obstacle information.
The obstacle avoidance device according to claim 31, wherein the processor is further configured to:

The obstacle avoidance route is determined according to the obstacle information and the position of the movable obstacle.
The obstacle avoidance device according to claim 31 or 32, wherein the obstacle avoidance sensor comprises at least one of a visual sensor, an infrared sensor, an ultrasonic sensor, and a radar sensor.
An unmanned aerial vehicle system, comprising:

The obstacle avoidance device according to any one of claims 25 to 33, for indicating an obstacle avoidance operation;

And a power device for driving the unmanned aerial vehicle to perform obstacle avoidance according to the indication.