CN107076826A

CN107076826A - Ultra-broadband ranging method and apparatus, barrier-avoiding method and avoidance equipment

Info

Publication number: CN107076826A
Application number: CN201680003246.1A
Authority: CN
Inventors: 方文钊
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-11-15
Filing date: 2016-11-15
Publication date: 2017-08-18
Anticipated expiration: 2036-11-15
Also published as: WO2018090181A1; CN107076826B

Abstract

A kind of ultra-broadband ranging method applied in loose impediment, including：Broadcast ultra-broadband ranging request signal；The ultra-broadband ranging response signal broadcasted by movable object is received, the very first time that the ultra-broadband ranging response signal includes the movable object broadcast ultra-broadband ranging response signal and received between the ultra-broadband ranging request signal is poor；It is determined that receiving the second time difference between the ultra-broadband ranging response signal and the broadcast ultra-broadband ranging request signal；Determine the loose impediment to the distance of the movable object according to the very first time poor and described second time difference.In addition, additionally providing a kind of barrier-avoiding method based on ultra-broadband ranging, the ultra-broadband ranging equipment applied in loose impediment, avoidance equipment and unmanned vehicle system based on ultra-broadband ranging.Embodiments of the invention can improve the range accuracy between multiple loose impediments, and can improve the avoidance performance between loose impediment.

Description

Ultra-broadband ranging method and apparatus, barrier-avoiding method and avoidance equipment

Technical field

Embodiments of the invention relate generally to measurement and control area, in particular it relates to which a kind of apply in loose impediment Ultra-broadband ranging method and ultra-broadband ranging equipment, ultra-broadband ranging method and the ultra-broadband ranging applied in movable object Equipment, the barrier-avoiding method based on ultra-broadband ranging and avoidance equipment and unmanned vehicle system.

Background technology

With the development of science and technology, carrying out ranging to realize that the control to loose impediment seems more to two loose impediments Come more important.For example, the relative distance between two unmanned vehicles is determined in the air, to determine that the two unmanned vehicles are It is no to collide；The relative distance between two automobiles is determined on ground, is touched with determining whether this two automobiles can occur wiping； The relative distance between two steamers is determined in the water surface, to determine whether this two steamers can collide；Two are determined in underground Relative distance between row subway, to determine whether this two row subway can knock into the back.

It is usually to install the whole world in two loose impediments to determine that in the prior art two loose impediments are carried out with ranging Position system (GPS, Global Positioning System), to obtain the gps signal of the two loose impediments, and according to Latitude and longitude coordinates information in two gps signals calculates the air line distance between the two loose impediments.But, GPS letters Number easily influenceed by weather and surrounding environment, easily occur the situation of dropout, and gps signal precision itself compared with Low, general positioning precision is several meters to tens meters, it is difficult to meet the requirement for range accuracy under existing application scenarios.

The content of the invention

In order to solve above-mentioned present in prior art or other potential problems, the present invention provides one kind and applied removable Ultra-broadband ranging method and ultra-broadband ranging equipment in object, apply ultra-broadband ranging method in movable object and super Broadband distance-measuring equipment, the barrier-avoiding method based on ultra-broadband ranging and avoidance equipment, and unmanned vehicle system.

According to some embodiments of the present invention, there is provided a kind of ultra-broadband ranging method applied in loose impediment, bag Include：Broadcast ultra-broadband ranging request signal；Receive the ultra-broadband ranging response signal broadcasted by movable object, the ultra wide band Ranging response signal, which includes the movable object, broadcasts the ultra-broadband ranging response signal and receives the ultra wide band survey It is poor away from the very first time between request signal；Surveyed it is determined that receiving the ultra-broadband ranging response signal and broadcasting the ultra wide band Away from the second time difference between request signal；The mobile article is determined according to the very first time poor and described second time difference Body to the movable object distance.

According to some embodiments of the present invention, there is provided a kind of ultra-broadband ranging method applied in movable object, bag Include：Receive the ultra-broadband ranging request signal broadcasted by loose impediment；It is determined that broadcast ultra-broadband ranging response signal and reception It is poor to the very first time between the ultra-broadband ranging request signal；Ultra-broadband ranging response signal is broadcasted, the ultra wide band is surveyed Include the very first time away from response signal poor.

According to some embodiments of the present invention, there is provided a kind of ultra-broadband ranging equipment applied in loose impediment, bag Include：Ultra-broadband signal transmitter, for broadcasting ultra-broadband ranging request signal；Ultra-broadband signal receiver, for receiving by can The ultra-broadband ranging response signal of mobile target broadcast, the ultra-broadband ranging response signal is broadcasted including the movable object The ultra-broadband ranging response signal and the very first time received between the ultra-broadband ranging request signal are poor；At least one Processor, is either individually or collectively used for：Surveyed it is determined that receiving the ultra-broadband ranging response signal and broadcasting the ultra wide band Away from the second time difference between request signal；The mobile article is determined according to the very first time poor and described second time difference Body to the movable object distance.

According to some embodiments of the present invention there is provided a kind of ultra-broadband ranging equipment applied in movable object, its It is characterised by, including：Ultra-broadband signal receiver, for receiving the ultra-broadband ranging request signal broadcasted by loose impediment； At least one processor, is either individually or collectively used for：It is determined that broadcasting ultra-broadband ranging response signal and receiving the ultra-wide It is poor with the very first time between distance measurement request signal；Ultra-broadband signal transmitter, for broadcasting ultra-broadband ranging response signal, institute State ultra-broadband ranging response signal poor including the very first time.

According to some embodiments of the present invention there is provided a kind of barrier-avoiding method based on ultra-broadband ranging, including：Broadcast ultra-wide Band distance measurement request signal；Receive the ultra-broadband ranging response signal broadcasted by movable obstruction, the ultra-broadband ranging response Signal, which includes the movable obstruction, broadcasts the ultra-broadband ranging response signal and receives the ultra-broadband ranging request The very first time between signal is poor；It is determined that receiving the ultra-broadband ranging response signal and broadcasting the ultra-broadband ranging request The second time difference between signal；Determine the loose impediment to institute according to the very first time poor and described second time difference State the distance of movable obstruction；Indicate that the loose impediment performs avoidance operation in response to the distance.

According to some embodiments of the present invention there is provided a kind of avoidance equipment based on ultra-broadband ranging, including：Ultra-wide is taken a message Number transmitter, for broadcasting ultra-broadband ranging request signal；Ultra-broadband signal receiver, is broadcasted for receiving by movable object Ultra-broadband ranging response signal, the ultra-broadband ranging response signal, which includes the movable object, to be broadcasted the ultra wide band and surveys Away from response signal and to receive very first time between the ultra-broadband ranging request signal poor；At least one processor, individually Ground is commonly used for：It is determined that receive the ultra-broadband ranging response signal and broadcast the ultra-broadband ranging request signal it Between the second time difference；Determine the loose impediment to described removable according to the very first time poor and described second time difference The distance of moving-target；Indicate that the loose impediment performs avoidance operation according to the distance.

According to some embodiments of the present invention there is provided a kind of unmanned vehicle system, including：Above-mentioned avoidance equipment, is used for Indicate avoidance operation；And power-equipment, for indicating to drive the unmanned vehicle to carry out avoidance according to described.

Technical scheme according to an embodiment of the invention, by using ultra-broadband signal in loose impediment and removable Ranging is carried out between target, the avoidance performance between range accuracy and loose impediment is improved.

Brief description of the drawings

By referring to the described in detail below of accompanying drawing, the above and other objects, features and advantages of the embodiment of the present invention will Become more clearly understood from.In the accompanying drawings, multiple embodiments of the present invention will be said with example and nonrestrictive mode It is bright, wherein：

The flow signal for the ultra-broadband ranging method applied in loose impediment that Fig. 1 provides for one embodiment of the invention Figure；

The structural representation for the ultra-broadband ranging equipment applied in loose impediment that Fig. 2 provides for one embodiment of the invention Figure；

The flow for the ultra-broadband ranging method applied in movable object that Fig. 3 provides for another embodiment of the present invention is shown It is intended to；

The structure for the ultra-broadband ranging equipment applied in movable object that Fig. 4 provides for another embodiment of the present invention is shown It is intended to；

The loose impediment and movable object that Fig. 5 provides for one embodiment of the invention carry out interaction during ultra-broadband ranging Schematic diagram；

The schematic flow sheet for the barrier-avoiding method based on ultra-broadband ranging that Fig. 6 provides for one embodiment of the invention；

Fig. 7 carries out schematic diagram when alarm signal is interacted for the unmanned vehicle that one embodiment of the invention is provided with ground；

The structural representation for the avoidance equipment based on ultra-broadband ranging that Fig. 8 provides for one embodiment of the invention；And

The structural representation for the unmanned vehicle system that Fig. 9 provides for one embodiment of the invention.

Embodiment

Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting Feature in embodiment and embodiment can be mutually combined.

It should be appreciated that the following examples are not intended to limit the step execution sequence for the method that the present invention is protected.This Each step of the method for invention can be performed with any possible order and in a circulating manner.

Firstly, it is necessary to explanation, in the examples below loose impediment can be unmanned vehicle, automobile, steamer, Any object that can be moved in the prior art relative to a reference point such as subway, train.Similarly, movable object can also be nothing Any object that can be moved in the prior art relative to a reference point such as people's aircraft, automobile, steamer, subway, train.Certainly, Loose impediment and movable object can be the objects of identical type in the following embodiments, be for example unmanned vehicle or Person's automobile；Meanwhile, loose impediment and movable object can also be different types of objects, for example, loose impediment is vapour Car, and movable object is train.

In addition, super-broadband tech (UWB, Ultra Wide Band) technology is a kind of new wireless communication technology, it is By directly being modulated to the impulse with very steep rising and falling time, make signal that there is 3.1-10.6GHz magnitudes Bandwidth, and cause data transmission bauds it is very high.

Embodiment 1

The present embodiment provides a kind of ultra-broadband ranging method applied in loose impediment, for determining loose impediment The distance between with movable object, to provide foundation for subsequent operation.

The schematic flow sheet for the ultra-broadband ranging method applied in loose impediment that Fig. 1 provides for the present embodiment.

As shown in figure 1, the ultra-broadband ranging method that the present embodiment is provided, including：

S101, broadcast ultra-broadband ranging request signal.

Specifically, loose impediment can use in the prior art any-mode broadcasted into environment ultra-broadband ranging request Signal.For example, loose impediment can broadcast ultra-broadband ranging request signal into environment by ultra-broadband signal transmitter.

Be further illustrated, loose impediment can be unmanned vehicle, the unmanned vehicle according to control instruction to The ultra-broadband signal transmitter that the machine is installed sends instruction, controls the ultra-broadband signal transmitter to one the machine of air broadcast Ultra-broadband ranging request signal, so as to start to carry out ranging to aerial movable object (such as the second frame unmanned vehicle). Control instruction can be sent by the flight control system of unmanned vehicle, earth station or remote control in the present embodiment. In addition, ultra-broadband signal transmitter can be that the machine is carried or be arranged separately in the machine.

Preferably, ultra-broadband ranging request signal is broadcasted, including：Broadcast is included in the ultra-broadband ranging request signal Ask device number and request sequence number.

For example, loose impediment is unmanned vehicle, when the unmanned vehicle to movable object (such as the second frame nobody Aircraft) carry out ranging when, its broadcast ultra-broadband ranging request signal when can carry the request device number of the machine (such as 1#), and, the request sequence number (such as Serial No. 1) of ultra-broadband ranging request signal.That is, by above-mentioned request device number and Request sequence number is modulated in ultra-broadband ranging request signal.So, sky can just be informed by the ultra-broadband ranging request signal In movable object to send the equipment of the ultra-broadband ranging request signal be 1# unmanned vehicles, and inform its movable object Need to respond the ultra-broadband ranging request signal of Serial No. 1 that unmanned vehicle is sent, rather than the unmanned vehicle is sent The ultra-broadband ranging request signal of other sequences number, so that the specific aim of ultra-broadband ranging request signal is improved, to improve survey Away from efficiency.

It is further to note that the request sequence number of ultra-broadband ranging request signal refers to which time of loose impediment is sent Ultra-broadband ranging request signal, it is unrelated with the interval time of the adjacent request signal of ultra-broadband ranging twice, for example, mobile article Body is super to what is sent every time according to time sequencing from front to back in whole life cycle or in same usage cycles Broadband distance measurement request signal is respectively to a request sequence number (such as 1,2,3 ...).Certainly, if loose impediment is according to week Phase property order sends ultra-broadband ranging request signal, then can be directly by asking sequence number to determine its time sent.

The ultra-broadband ranging response signal that S102, reception are broadcasted by movable object, the ultra-broadband ranging response signal Broadcast the ultra-broadband ranging response signal including the movable object and receive the ultra-broadband ranging request signal it Between the very first time it is poor.

Specifically, loose impediment can be received by any-mode of the prior art by surpassing that movable object is broadcasted Broadband ranging response signal.For example, loose impediment can be connect by the ultra-broadband signal receiver installed thereon from environment Receive the ultra-broadband ranging response signal being broadcast to by movable object.

In further example, loose impediment can be provided with ultra wide band on unmanned vehicle, the unmanned vehicle Signal receiver, the signal that above-mentioned ultra-broadband signal is picked in device detection environment is broadcast in environment with receiving by movable object Ultra-broadband ranging response signal.In addition, above-mentioned ultra-broadband signal transmitter can be peace that the machine is carried or independent In the machine.

It is appreciated that movable object is receiving the ultra-broadband ranging request signal that loose impediment is sent in environment Again to the certain processing time of the broadcast ultra-broadband ranging response signal needs into environment, and this time is in the present embodiment It is defined as the very first time poor.Certainly, movable object can by any-mode of the prior art by above-mentioned first when Between difference record, and be loaded into ultra-broadband ranging response signal to be sent to ring by usual manner of the prior art In border, so that the above-mentioned very first time to be received from environment poor for the ultra-broadband signal receiver of movable object.

For example, when loose impediment is unmanned vehicle (the first unmanned vehicle), movable object is also for nobody Aircraft (the second unmanned vehicle), above-mentioned very first time difference can be determined in the following manner：

When the second unmanned vehicle receives the ultra-broadband ranging request signal broadcasted in environment by the first unmanned vehicle Shi Jilu receives the time T of the ultra-broadband ranging request signal_m1；Ultra wide band is broadcasted into environment when the second unmanned vehicle to survey Record provides the time T of the ultra-broadband ranging response signal during away from response signal_m2；The then very first time poor Δ T₁For (T_m2-T_m1)。

Preferably, the ultra-broadband ranging response signal that the reception is broadcasted by movable object, including：Reception is included in institute State the request device number in ultra-broadband ranging request signal, the request sequence number and with response apparatus number, so as to adapt to ring There is the situation of multiple loose impediments in border, shorten the time of ranging, improve ranging efficiency, and lift the reliability of ranging.

For example, when loose impediment is unmanned vehicle (the first unmanned vehicle), movable object is also unmanned flight During device (the second unmanned vehicle), the second unmanned vehicle broadcast ultra-broadband ranging response signal when can carry first nobody The request device number (such as 1#) of aircraft, the request sequence number (such as Serial No. 2) of ultra-broadband ranging request signal, Yi Ji The response apparatus number (such as 2#) of two unmanned vehicles.In this manner it is possible to inform aerial institute by ultra-broadband ranging response signal Some this secondary responses of loose impediment are to be directed to the first unmanned vehicle (1#), and notify this sound of the first unmanned vehicle Answer is the first unmanned vehicle send Serial No. 2 ultra-broadband ranging request signal, while also inform first nobody fly That row device responds the ultra-broadband ranging request signal is the second unmanned vehicle (2#).By the above-mentioned means, ought have multiple in the air Be not in confusion, it is ensured that the reliability and accuracy of information transfer, and shorten when unmanned vehicle carries out ranging simultaneously The time of ranging, improve the efficiency of ranging.

S103, determination are received between the ultra-broadband ranging response signal and the broadcast ultra-broadband ranging request signal The second time difference.

Specifically, when loose impediment receives the ultra-broadband ranging response signal that movable object is sent in environment Afterwards, time T when receiving above-mentioned ultra-broadband ranging response signal is recorded_z2.So, broadcasted further according to loose impediment to environment The time T of ultra-broadband ranging request signal_z1Loose impediment can just be calculated and broadcast ultra-broadband ranging request signal to reception The time for the ultra-broadband ranging response signal broadcasted to movable object, here, it was defined as the second time difference, second time difference ΔT₂For (T_z2-T_z1)

S104, determined according to the very first time poor and described second time difference loose impediment to described removable The distance of target.

Specifically, determining that loose impediment to the distance between movable object can be in the following manner：

Wherein, S is the distance between loose impediment to movable object；C is the propagation of ultra-broadband signal in the environment Speed.

Exemplified by carrying out ranging to the skyborne two framves unmanned vehicle that flies：

First unmanned vehicle is to air broadcast ultra-broadband ranging request signal and records the time T of transmission_z1.When the sky When having the second frame unmanned vehicle flight in domain, the ultra-broadband ranging request signal can be received and the time of receiving is recorded T_m1.Then, the second frame unmanned vehicle is handled the ultra-broadband ranging request signal, and past air broadcast ultra-broadband ranging Response signal and the time T for recording transmission_m2, meanwhile, the second frame unmanned vehicle will also handle the broadband distance measurement request signal Processing time Δ T₁It is carried in ultra-broadband ranging response signal and is sent in the lump in the air.Afterwards, first unmanned vehicle connects Receive the ultra-broadband ranging response signal and record the time T received_z2, while it is super to calculate the broadcast of first unmanned vehicle Broadband distance measurement request signal to receive movable object broadcast ultra-broadband ranging response signal between time Δ T₂, and root According to above-mentioned Δ T₁With Δ T₂The distance between two frame unmanned vehicles are calculated by above-mentioned formula (1).

The present embodiment applies the ultra-broadband ranging method in loose impediment, by using ultra-narrow pulse (namely ultra-wide Band signal) transmission loose impediment distance measurement request signal and the ranging response signal of movable object, not only transmission speed Hurry up, and there is suitable penetration power to barrier, it is possible to reduce complex environment for ranging influence, so as to improve removable The reaction speed and measurement accuracy of ranging are carried out between animal body and movable object.

Further, the present embodiment can also comprise the following steps：

Above-mentioned ultra-broadband ranging method is periodically carried out at predetermined intervals.

Specifically, can be periodic broadcast ultra-broadband ranging request signal, and receive removable according to same period The ultra-broadband ranging response signal that target is returned, and calculate after the ultra-broadband ranging response signal is received every time removable The distance between object and movable object.

So that the two frame unmanned vehicles flown in the air carry out ranging as an example, first unmanned vehicle is every the T1 times (for example can be 1s) be to ultra-broadband ranging request signal of air broadcast.The the second frame unmanned flight flown in the spatial domain Device also just will receive a ultra-broadband ranging request signal every the T1 times accordingly, after treatment, also can be every T1 The ultra wide band that time is once responded to air broadcast to the ultra-broadband ranging request signal that first unmanned vehicle is sent Ranging response signal.First unmanned vehicle will also receive the second frame unmanned vehicle broadcast every the T1 times Ultra-broadband ranging response signal, so as to calculate the distance of first unmanned vehicle and the second frame unmanned vehicle.That is, the One frame unmanned vehicle will obtain the first unmanned vehicle and the second frame unmanned vehicle of a renewal every the T1 times The distance between.

From the above description, it can be seen that the ultra-broadband ranging method by periodically performing embodiment 1, can be grasped in real time The variation tendency of distance, foundation is provided for subsequent operation between loose impediment and movable object.

Preferably, loose impediment described in each cycle is recorded to the distance of the movable object；According to being recorded Distance determine the kinematic parameter of the movable object.Due to periodically have recorded loose impediment and movable object it Between distance, the distance between movable object and loose impediment change qualitative, quantitative data just can be obtained, so that can To determine the kinematic parameter of movable object.For example, can be by interior in a period of time by movable object and loose impediment Distance carry out line, to obtain the movement locus of movable object.In another example, existed by movable object and loose impediment Range difference in one determination time can calculate the movement velocity of movable object.For another example by calculating removable mesh The speed of mark different time just can further calculate the acceleration of movable object.

In summary, by periodically record the distance between movable object and loose impediment can determine it is removable Kinematic parameter of the moving-target including movement locus, movement velocity and acceleration of motion, can thus be joined by the motion Count to determine the control strategy of the first mobile object, realization more accurately controls the first object.

Finally it should also be noted that, in the present embodiment, loose impediment is by sending ultra-broadband ranging request signal And receive the ultra-broadband ranging response signal of movable object to carry out the relative position of loose impediment and movable object The method of positioning can use including：Based on received signal strength (received signal strength, RSS), based on connecing Collection of letters angle of arrival (angle of arrival, AOA), based on receive signal time (time/time difference of Arrival, TOA/TDOA), any existing method including AOA and TDOA mixed location methods etc..

Embodiment 2

The present embodiment provides a kind of ultra-broadband ranging equipment applied in loose impediment, for determining movable object The distance between with loose impediment, so as to provide foundation for subsequent operation

The structural representation for the ultra-broadband ranging equipment applied in loose impediment that Fig. 2 provides for the present embodiment.

As shown in Fig. 2 the ultra-broadband ranging equipment of the present embodiment, including：

Ultra-broadband signal transmitter 13, for broadcasting ultra-broadband ranging request signal；

Ultra-broadband signal receiver 15, it is described for receiving the ultra-broadband ranging response signal broadcasted by movable object Ultra-broadband ranging response signal includes the movable object and broadcasts the ultra-broadband ranging response signal and receive described super The very first time between the distance measurement request signal of broadband is poor；

At least one processor 11, is either individually or collectively used for：It is determined that receiving the ultra-broadband ranging response signal The second time difference between the broadcast ultra-broadband ranging request signal；According to the very first time poor and described second time Difference determines the loose impediment to the distance of the movable object.

Specifically, the ultra-broadband signal transmitter 13 of the present embodiment can realize that ultra wide band is sent in the prior art The random devices or module of function, are not limited in any way herein.Similarly, the ultra-broadband signal receiver 15 of the present embodiment also may be used To be that can realize the random devices or module of ultra-wideband receiver function in the prior art, also it is not limited in any way herein.And And, in the present embodiment, ultra-broadband signal transmitter 13 and ultra-broadband signal receiver 15 can be two single devices or Person's module or the device integrated or module.

Meanwhile, the processor 11 of the present embodiment can realize the logic electricity for calculating processing function in the prior art Road, integrated circuit or chip, single-chip microcomputer etc., specific restriction is not done yet at this to it.

In addition, the ultra-broadband ranging method that the ultra-broadband ranging equipment in the present embodiment is used is same as Example 1, specifically Reference can be made to above-described embodiment 1, will not be repeated here.

The present embodiment applies the ultra-broadband ranging equipment in loose impediment, by using ultra-narrow pulse (namely ultra-wide Band signal) transmission loose impediment distance measurement request signal and the ranging response signal of movable object, not only transmission speed Hurry up, and there is suitable penetration power to barrier, it is possible to reduce complex environment for ranging influence, so as to improve removable The reaction speed and measurement accuracy of ranging are carried out between animal body and movable object.

Embodiment 3

The present embodiment provides a kind of ultra-broadband ranging method applied in movable object, may move for determining one The distance between target and at least one loose impediment, to provide foundation for subsequent operation.

The schematic flow sheet for the ultra-broadband ranging method applied in movable object that Fig. 3 provides for the present embodiment.

The ultra-broadband ranging request signal that S201, reception are broadcasted by loose impediment.

Specifically, movable object can use mode any appropriate in the prior art to receive mobile article from environment Body is broadcast to the ultra-broadband ranging request signal in environment.For example, movable object can be taken a message by the ultra-wide installed thereon Number receiver receives the ultra-broadband ranging response signal being broadcast to by movable object from environment.

In further example, movable object can be provided with ultra wide band on unmanned vehicle, the unmanned vehicle What the signal in signal receiver, above-mentioned ultra-broadband signal receiver detection environment was broadcasted with receiving in environment by loose impediment Ultra-broadband ranging request signal, to be responded to ultra-broadband ranging request signal.In addition, above-mentioned ultra-broadband signal transmitter can To be that the machine is carried or be arranged separately in the machine.

Preferably, it can include in ultra-broadband ranging request signal：Broadcast the request equipment of ultra-broadband ranging request signal Number and request sequence number.

For example, movable object is unmanned vehicle, when the movable object is used to respond loose impediment (such as second Frame unmanned vehicle) ultra-broadband ranging request signal, with realize to two frame unmanned vehicles carry out ranging when：Second frame nobody Aircraft can carry the request device number (such as 1#) of the machine when broadcasting ultra-broadband ranging request signal, and, the machine hair The request sequence number (such as Serial No. 1) of the ultra-broadband ranging request signal sent.So, unmanned vehicle is receiving the ultra-wide With distance measurement request signal it is known that the equipment for sending the ultra-broadband ranging request signal is the second frame unmanned vehicle (1#), And the machine needs to respond the ultra-broadband ranging request signal of the second unmanned vehicle Serial No. 1, rather than other sequences number Ultra-broadband ranging request signal, so as to improve response efficiency of the unmanned vehicle for ultra-broadband ranging request signal, Jin Erti High ranging efficiency.

It is further to note that the request sequence number of ultra-broadband ranging request signal refers to which time of loose impediment is sent Ultra-broadband ranging request signal, it is unrelated with the interval time of the adjacent request signal of ultra-broadband ranging twice, for example, mobile article Body is super to what is sent every time according to time sequencing from front to back in whole life cycle or in same usage cycles Broadband distance measurement request signal gives a sequence number.Certainly, if loose impediment is to send ultra-broadband ranging according to periodic sequence Request signal, then its time sent directly can be determined by sequence number.

S202, determine broadcast ultra-broadband ranging response signal and receive between the ultra-broadband ranging request signal the One time difference.

Specifically, when movable object receives the ultra-broadband ranging that loose impediment in above-mentioned steps is sent in environment , it is necessary to handle first the ultra-broadband ranging request signal after request signal, to determine the need for surveying the ultra wide band Responded away from request signal.Response is such as needed, then generates the ultra-broadband ranging corresponding with the ultra-broadband ranging request signal and rings Induction signal, will pass through the ultra-broadband signal sending module on movable object (such as ultra-broadband signal transmitter) by the ultra-wide Band ranging response signal is broadcast in environment.From the foregoing, movable object is in processing, the ultra-broadband ranging request signal is arrived Sending ultra-broadband ranging response signal needs a period of time, will be defined as the very first time in the present embodiment poor this period.

For example, above-mentioned very first time difference can be determined in the following manner：

Record and connect when movable object receives the ultra-broadband ranging request signal broadcasted in environment by loose impediment Receive the time T of the ultra-broadband ranging request signal_m1；When movable object broadcasts ultra-broadband ranging response signal into environment Record provides the time T of the ultra-broadband ranging response signal_m2；The then very first time poor Δ T₁For (T_m2-T_m1)。

S203, broadcast ultra-broadband ranging response signal, it is poor that the ultra-broadband ranging response signal includes the very first time.

Specifically, movable object can use in the prior art any-mode broadcasted into environment ultra-broadband ranging request Signal.For example, movable object can broadcast ultra-broadband ranging response signal into environment by ultra-broadband signal transmitter.

In further example, when loose impediment is unmanned vehicle (the first unmanned vehicle), movable object When being unmanned vehicle (the second unmanned vehicle), the second unmanned vehicle is broadcast to receiving the first unmanned vehicle in the air Ultra-broadband ranging request signal after, it is handled, and to the machine ultra-broadband signal transmitter send instruct, control it Include the ultra-broadband ranging response signal of difference of the above-mentioned very first time to air broadcast, to respond the ranging of the first unmanned vehicle Request signal.In the present embodiment control instruction can be by the flight control system of the second unmanned vehicle, earth station or What remote control was sent.In addition, ultra-broadband signal transmitter can be that the machine is carried or be arranged separately in the machine 's.

Preferably, the ultra-broadband ranging response signal is broadcasted, can also be included：Broadcast is included in ultra-broadband ranging request Request device number, request sequence number and response apparatus number in signal, so that the situation for having multiple loose impediments in environment is adapted to, Shorten the time of ranging, improve ranging efficiency, and lift the reliability of ranging.

For example, when loose impediment is unmanned vehicle (the first unmanned vehicle), movable object is also unmanned flight During device (the second unmanned vehicle), in response to the ultra-broadband ranging request signal of the first unmanned vehicle, the second unmanned flight Device can carry the request device number (such as 1#) of the first unmanned vehicle, ultra wide band when broadcasting ultra-broadband ranging response signal The request sequence number (such as Serial No. 2) of distance measurement request signal, and the second unmanned vehicle response apparatus number (such as 2#). In this manner it is possible to inform that aerial all this secondary responses of loose impediment are to be directed to the first nothing by ultra-broadband ranging response signal People's aircraft (1#), and notify first unmanned vehicle this secondary response is Serial No. that the first unmanned vehicle is sent 2 ultra-broadband ranging request signal, while also inform that the first unmanned vehicle responds the ultra-broadband ranging request signal is Two unmanned vehicles (2#).By the above-mentioned means, being not in mixed when there is multiple unmanned vehicles to carry out ranging simultaneously in the air It is random, it is ensured that the reliability and accuracy of information transfer, and shorten the time of ranging, improve the efficiency of ranging.

The present embodiment applies the ultra-broadband ranging method in movable object, by using ultra-narrow pulse (namely ultra-wide Band signal) transmission loose impediment distance measurement request signal and the ranging response signal of movable object, not only transmission speed Hurry up, and there is suitable penetration power to barrier, it is possible to reduce complex environment for ranging influence, so as to improve removable The reaction speed and measurement accuracy of ranging are carried out between animal body and movable object.

Embodiment 4

The present embodiment provides a kind of ultra-broadband ranging equipment applied in movable object, for determining movable object The distance between with loose impediment, so as to provide foundation for subsequent operation.

The structural representation for the ultra-broadband ranging equipment applied in movable object that Fig. 4 provides for the present embodiment.

Ultra-broadband signal receiver 35, for receiving the ultra-broadband ranging request signal broadcasted by loose impediment；

At least one processor 31, is either individually or collectively used for：It is determined that broadcast ultra-broadband ranging response signal and reception It is poor to the very first time between the ultra-broadband ranging request signal；

Ultra-broadband signal transmitter 33, for broadcasting ultra-broadband ranging response signal, the ultra-broadband ranging response signal It is poor including the very first time.

Specifically, the ultra-broadband signal receiver 35 of the present embodiment can realize ultra-wideband receiver in the prior art The random devices or module of function, are not limited in any way herein.Similarly, the ultra-broadband signal transmitter 33 of the present embodiment also may be used To be that can realize the random devices or module of ultra wide band sending function in the prior art, also it is not limited in any way herein.And And, in the present embodiment, ultra-broadband signal receiver 35 and ultra-broadband signal transmitter 33 can be two single devices or Person's module or the device integrated or module.

Meanwhile, the processor 31 of the present embodiment can realize the logic electricity for calculating processing function in the prior art Road, integrated circuit or chip, single-chip microcomputer etc., specific restriction is not done yet at this to it.

In addition, the ultra-broadband ranging method that the ultra-broadband ranging equipment in the present embodiment is used is same as Example 3, specifically Reference can be made to above-described embodiment 3, will not be repeated here.

The present embodiment applies the ultra-broadband ranging equipment in movable object, by using ultra-narrow pulse (namely ultra-wide Band signal) transmission loose impediment distance measurement request signal and the ranging response signal of movable object, not only transmission speed Hurry up, and there is suitable penetration power to barrier, it is possible to reduce complex environment for ranging influence, so as to improve removable The reaction speed and measurement accuracy of ranging are carried out between animal body and movable object.

Embodiment 5

The present embodiment provides a kind of ultra-broadband ranging method applied between loose impediment and movable object, is used for The distance between loose impediment and movable object are determined, to provide foundation for subsequent operation.

The loose impediment and movable object that Fig. 5 provides for the present embodiment carry out interaction signal during ultra-broadband ranging Figure.

As shown in figure 5, the ultra-broadband ranging method that the present embodiment is provided is as follows：

First, ultra-broadband ranging request signal is broadcasted in loose impediment into environment.Then, the movable object in environment Receive after the ultra-broadband ranging request signal, broadcast and ring into environment again after the processing of (very first time is poor) after a while The ultra-broadband ranging response signal of above-mentioned ultra-broadband ranging request signal is answered, that is, movable object is receiving ultra wide band survey It is poor for the very first time away from the time between request signal and broadcast ultra-broadband ranging response signal.Subsequently, loose impediment connects Receive after the ultra-broadband ranging response signal, calculate transmission ultra-broadband ranging request signal and receive ultra-broadband ranging response The time (the second time difference) spent between signal.Finally, it can just be calculated according to above-mentioned second time difference, very first time difference Go out the distance between loose impediment and movable object, certainly, ultra-broadband signal may be used in the environment when calculating This constant of spread speed, and this speed is known to those skilled in the art, can pass through the related skill of inquiry Art handbook is obtained.

Specifically, loose impediment how into environment broadcast ultra-broadband ranging request signal, movable object how to Ultra-broadband ranging response signal is broadcasted in environment, and how to determine the poor very first time, the second time difference and calculates mobile article Body and movable object are same as the previously described embodiments, reference can be made to the detailed description of above-described embodiment.

Further, loose impediment can be at predetermined intervals periodically toward broadcast ultra-broadband ranging letter in environment Number, that is, loose impediment is continuous to broadcast ultra-broadband ranging request signal sequence into environment, and continuously receive removable mesh Mark is broadcast to the ultra-broadband ranging response signal responded to each ultra-broadband ranging request signal in environment, with continuous Acquisition loose impediment and the distance between movable object, so as to draw between loose impediment and movable object Distance change trend.It is understood that movable object may not be that the ultra wide band of each request sequence number can be surveyed All responded away from request signal, such as the movable object progresses into finding range or is gradually distance from finding range, again Or movable object is seriously blocked at certain moment and can not receive loose impediment and be broadcast to the request of some of environment The ultra-broadband ranging request signal of sequence number.Certainly, described above is applied equally to loose impediment and receives ultra-broadband ranging sound The process of induction signal.

Specifically so that two frame unmanned vehicles carry out ranging as an example, first unmanned vehicle is continuous to sky within a period of time In broadcast ultra-broadband ranging request signal of the request sequence number from 1 to 10.Second frame unmanned vehicle be likely to be received this 10 The ultra-broadband ranging request signal of individual request sequence number, and sound has been made to the ultra-broadband ranging request signal of this 10 request sequence numbers Answer the ultra-broadband ranging response signal of serial number 1 to 10.If first unmanned vehicle have received above-mentioned 10 responses sequence Number ultra-broadband ranging response signal, it is possible to calculate from send request serial number 1 ultra-broadband ranging request signal to please First unmanned vehicle and the second frame unmanned flight when asking this 10 time points of the ultra-broadband ranging request signal of serial number 10 The distance between device, so as to obtain the variation tendency of the two relative distance.And in some cases, such as the second frame unmanned flight When device just enters finding range when first unmanned vehicle sends the ultra-broadband ranging request signal of request serial number 5, then It may can only receive several ultra-broadband ranging request signals below.Similarly, first unmanned vehicle receive the second frame nobody Identical situation also occurs in the ultra-broadband ranging response signal of aircraft.

The ultra-broadband ranging method of the present embodiment, mobile article is transmitted by using ultra-narrow pulse (namely ultra-broadband signal) The distance measurement request signal and the ranging response signal of movable object of body, not only transmission speed is fast, and has to barrier Suitable penetration power, it is possible to reduce complex environment for ranging influence, so as to improve in loose impediment and movable object Between carry out ranging reaction speed and measurement accuracy.

Embodiment 6

The present embodiment provides a kind of barrier-avoiding method based on ultra-broadband ranging, for evading to movable obstruction, To avoid colliding with movable obstruction.

The schematic flow sheet for the barrier-avoiding method based on ultra-broadband ranging that Fig. 6 provides for the present embodiment.

As shown in fig. 6, the ultra-broadband ranging method that the present embodiment is provided, including：

S301, broadcast ultra-broadband ranging request signal.

The ultra-broadband ranging response signal that S302, reception are broadcasted by movable obstruction, the ultra-broadband ranging response letter Number including the movable obstruction broadcasts the ultra-broadband ranging response signal and receives the ultra-broadband ranging request letter The very first time between number is poor.

S303, determination are received between the ultra-broadband ranging response signal and the broadcast ultra-broadband ranging request signal The second time difference.

S304, determined according to the very first time poor and described second time difference loose impediment to described removable The distance of barrier.

Specifically, the movable obstruction in the present embodiment is equal to the movable object in above-described embodiment, also, step Rapid S301 is same as the previously described embodiments to step S304, for details, reference can be made to the detailed description of above-described embodiment, will not be repeated here.

S305, in response to the distance indicate that the loose impediment performs avoidance operation.

Specifically, after the distance of loose impediment and movable obstruction is measured, can be determined according to the distance can The avoidance operation of mobile object, to evade the movable obstruction.For example, change loose impediment mobile route, speed or Person direction etc..Further by taking unmanned vehicle as an example, after the distance between unmanned vehicle and movable obstruction is measured to, The unmanned vehicle of straight trip can be made to be angularly offset toward a direction, or the speed of the unmanned vehicle can also be reduced Degree, such as hover over current location, to evade movable obstruction.Certainly, loose impediment can be only according to above-mentioned distance Directly determine to carry out avoidance to movable obstruction, other guide can also be combined to determine the avoidance to movable obstruction. Can for example combine the other information of loose impediment itself, the speed of such as loose impediment, acceleration, moving direction or Height etc., to determine the avoidance to movable obstruction.

Barrier-avoiding method of the present embodiment based on ultra-broadband ranging, is transmitted by using ultra-narrow pulse (namely ultra-broadband signal) The distance measurement request signal and the ranging response signal of movable obstruction of loose impediment, not only transmission speed is fast, and right Barrier has suitable penetration power, it is possible to reduce complex environment, can so as to improve loose impediment pair for the influence of ranging The reaction speed and measurement accuracy of moving obstacle ranging, and then the distance based on measure carries out avoidance operation, to improve avoidance The promptness and accuracy of operation, it is ensured that the safety of loose impediment.

Preferably, the barrier-avoiding method also includes：

Above-mentioned barrier-avoiding method is periodically carried out at predetermined intervals.

Specifically, be periodically determine at predetermined intervals between loose impediment and movable obstruction away from From, and then just can be after mensuration distance each time according to distance execution avoidance operation.For example, it may be periodically broadcast Ultra-broadband ranging request signal, and the ultra-broadband ranging response signal that movable obstruction is returned is received according to same period, and The distance between loose impediment and movable obstruction is calculated after the ultra-broadband ranging response signal is received every time, so Avoidance operation is performed based on the distance afterwards.

From the above description, it can be seen that the barrier-avoiding method by periodically performing above-described embodiment, it is possible to grasp in real time The variation tendency of distance between loose impediment and movable obstruction, more preferable foundation is provided for avoidance operation.

Preferably, loose impediment described in each cycle is recorded to the distance of the movable obstruction；According to being remembered The distance of record determines the kinematic parameter of the movable obstruction.Due to periodically have recorded loose impediment and removable barrier Hinder the distance between thing, just can obtain the distance between movable obstruction and loose impediment change qualitative, quantitative data, So as to be assured that the kinematic parameter of movable obstruction.For example, can be by by movable obstruction and loose impediment Distance within a period of time carries out line, to obtain the movement locus of movable obstruction.In another example, by may move obstacle The range difference of thing and loose impediment within one determination time can calculate the movement velocity of movable obstruction.Example again Such as, the acceleration of movable obstruction just can further be calculated by calculating the speed of movable obstruction different time.

In summary, can by periodically recording that the distance between movable obstruction and loose impediment can determine Kinematic parameter of the moving obstacle including movement locus, movement velocity and acceleration of motion, can thus pass through the fortune Dynamic parameter optimizes the avoidance route of loose impediment, improves the accuracy of avoidance.

Embodiment 7

The present embodiment is that on the basis of embodiment 6, following improvement is done to barrier-avoiding method：

It is less than the first safe distance in response to the distance, indicates that the loose impediment sends barrier and reminded.

Specifically, after the loose impediment that calculating is obtained is compared with the distance of movable obstruction with the first safe distance It was found that when the distance of the two is less than first safe distance, then an alarm signal can be sent by loose impediment with can to this Moving obstacle is reminded.Furthermore, it is understood that the alarm signal can be destined to the warning device of loose impediment in itself, Warning device set on the control device for controlling loose impediment movement can also be destined to.In other words, Alarm operation can be the warning device alarm or loose impediment for controlling loose impediment itself assembling toward individually Warning device send alarm signal, to be alarmed by this single warning device.

Referring to Fig. 7, Fig. 7 carries out signal when alarm signal is interacted for the unmanned vehicle that the present embodiment is provided with ground Figure, by taking unmanned vehicle as an example：When the distance that unmanned vehicle 51 calculates itself and movable obstruction be less than the first safety away from From when, then it can send an alarm signal to the hand-held remote control 53 of operator or earth station 55.Remote control 53 or Earth station 55 is received after the alarm signal, can carry out word or image by display screen, indicator lamp or loudspeaker Alarm, light warning either audio alert.Certainly, the unmanned vehicle 51 itself can also be carried out by light or voice Alarm.

Embodiment 8

The present embodiment is that on the basis of embodiment 6 or embodiment 7, following improvement is done to barrier-avoiding method：

It is less than the second safe distance in response to the distance, determines the position of the movable obstruction；

The avoidance route of the loose impediment is determined according to the position of the movable obstruction.

Specifically, when the distance of loose impediment and movable obstruction is less than the second safe distance, can be by existing There is any-mode in technology to determine the position of movable obstruction, for example, determining the position of movable obstruction by gps signal Put, either detect the position of movable obstruction by other sensors or ultra-broadband ranging response signal can also be passed through Received signal strength (received signal strength, RSS) detect the position of movable obstruction, or can be with Pass through reception signal time (time/time difference of arrival, TOA/ of ultra-broadband ranging response signal TDOA the position of movable obstruction) is detected.

The barrier-avoiding method of the present embodiment, by determining the position of movable obstruction, can more accurately be determined removable The avoidance route of animal body so that the movement of loose impediment is safer.

Preferably, the position of the movable obstruction is determined, including：

According to the receiving angle of the ultra-broadband ranging response signal determine the movable obstruction relative to it is described can The angle of pitch and horizontal angle of mobile object；

Institute is determined according to the angle of pitch, horizontal angle and the loose impediment to the distance of the movable obstruction State position of the movable obstruction relative to the loose impediment.

Specifically, loose impediment in the present embodiment can arrange ultra-wide by way of such as array in the prior art Band signal receiver is to realize the acquisition of the receiving angle to ultra-broadband ranging response signal, so that by the receiving angle come really The relative position of loose impediment and movable obstruction is determined, that is, determining movable obstruction bowing with respect to loose impediment Elevation angle degree and horizontal angle.As for using which kind of array or other be different from array mode, how to be calculated by receiving angle Obtain luffing angle and horizontal angle, and by luffing angle, horizontal angle and apart from how to calculate movable obstruction it is relative with The position of loose impediment is referred to the content positioned in the prior art on super-broadband tech, is no longer repeated herein.

Further, on the basis of above-described embodiment, above-mentioned barrier-avoiding method also includes：

Obtain posture, speed and the acceleration of the loose impediment detected by inertial sensor；

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

Specifically, the posture of loose impediment includes loose impediment and horizontal angle, by taking unmanned vehicle as an example, The posture of the unmanned vehicle refers to its flight attitude, namely the unmanned vehicle in-flight angle position of the body axis relative to ground Put.It can generally be represented with three angles：The angle of the angle of pitch, the body longitudinal axis and horizontal plane；Yaw angle, the body longitudinal axis is in level Angle in projection and the face on face between parameter line；Roll angle, unmanned vehicle symmetrical plane is with passing through the body longitudinal axis The angle of vertical interplanar.

By getting the posture of loose impediment, speed, the position of acceleration and movable obstruction just can be by These informixs determine the avoidance route of loose impediment together.

Below by taking unmanned vehicle as an example, briefly introduce how integrated intertial sensor information and movable obstruction Position is to plan the avoidance route of unmanned vehicle：

When the distance that first unmanned vehicle detects itself and the second frame unmanned vehicle by ultra-wide band sensor exists When within the second safe distance, and by receiving the acceptance angle for the ultra-broadband ranging response signal that the second frame unmanned vehicle is sent While degree determines the position of the second frame unmanned vehicle or afterwards, it can be installed by first unmanned vehicle itself Inertial sensor obtain itself flight attitude, speed and acceleration, so as to design the rule to the second frame unmanned vehicle Keep away route.For example, when first unmanned vehicle slows down, and the degree that reduces of its speed be insufficient to allow first nobody When aircraft loads onto the second frame unmanned vehicle, then it can continue to fly according to former flight path.When first unmanned vehicle Speed quickly or when acceleration is very big, when first unmanned vehicle and the second frame unmanned vehicle can collide, then Can be by changing the flight angle of first unmanned vehicle, so as to change its flight wirelessly, to carry out avoidance.In addition, working as First unmanned vehicle can collide with the second frame unmanned vehicle, but the information got from inertial sensor is this The flight attitude of first unmanned vehicle for draw high or dive when, and above-mentioned first unmanned vehicle fly Walking along the street line can cause it to be collided with the second frame unmanned vehicle, then can be changed by way of slowing down, hovering or dive, draw high Become the flight path of first unmanned vehicle, so as to realize the purpose of avoidance.

Obtain the obstacle information detected by avoidance sensor；

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

Specifically, avoidance sensor can be vision sensor, infrared sensor, ultrasonic sensor and radar sensor In one or more.Namely, it is preferable that the obstacle information detected by avoidance sensor is obtained, including：Obtain by vision The obstacle information of at least one detection in sensor, infrared sensor, ultrasonic sensor and radar sensor.

That is, loose impediment can also to for example, by：Infrared distance measurement signal, radar range finding signal, microwave are surveyed The barrier in environment is measured away from the one or more in signal.By taking infrared sensor as an example, the infrared sensor Infrared signal transmitting and reception diode can be included.The infrared signal emitting diode installed in loose impediment is into environment Launch infrared ray, when the barrier of the infrared radiation to front is (for example, stone, trees, wall, bird, aircraft or automobile Deng) when, the infrared reflection can be returned, the IR signal reception diode now installed in loose impediment can just be captured The infrared ray fired back to this.So, mobile article can just be calculated by the time for calculating infrared emitting and receiving The obstacle informations such as the distance and position of body and barrier.Then, the obstacle information that comprehensive infrared sensor is measured, so that it may With further determine that fixed obstacle and movable obstruction of the loose impediment movement route either in surrounding enviroment away from From and position, so as to optimize avoidance road of the loose impediment to the barrier including fixed obstacle and movable obstruction Line.

Also, due to obtaining the information of same barrier by different avoidance sensors, it is possible to by each sensing The obstacle information that device is obtained is calibrated, so as to obtain the distance and position of more accurately barrier and loose impediment Information, and then optimize the avoidance route of loose impediment.

By taking unmanned vehicle as an example, there are other obstacles such as trees, wall due to not only having other unmanned vehicles in the air Thing, and the unmanned vehicle for being fitted without ultra-broadband ranging module is there is likely to be, sensed by ultra-broadband ranging and avoidance The mode that device detection obstacle information is combined plans suitable avoidance route for unmanned vehicle in complex environment during flight, So as to improve the avoidance ability of unmanned vehicle, it is to avoid unmanned vehicle collides with barrier and the danger of air crash occurs.

Embodiment 9

The present embodiment provides a kind of avoidance equipment based on ultra-broadband ranging, for evading to movable obstruction, To avoid colliding with movable obstruction.

The structural representation for the avoidance equipment based on ultra-broadband ranging that Fig. 8 provides for the present embodiment.

As shown in figure 8, the avoidance equipment of the present embodiment, including：

Ultra-broadband signal transmitter 73, for broadcasting ultra-broadband ranging request signal；

Ultra-broadband signal receiver 75, it is described for receiving the ultra-broadband ranging response signal broadcasted by movable object Ultra-broadband ranging response signal includes the movable object and broadcasts the ultra-broadband ranging response signal and receive described super The very first time between the distance measurement request signal of broadband is poor；

At least one processor 71, is either individually or collectively used for：It is determined that receiving the ultra-broadband ranging response signal The second time difference between the broadcast ultra-broadband ranging request signal；According to the very first time poor and described second time Difference determines the loose impediment to the distance of the movable object；Indicate that the loose impediment is performed according to the distance Avoidance is operated.

Specifically, the ultra-broadband signal transmitter 73 of the present embodiment can realize that ultra wide band is sent in the prior art The random devices or module of function, are not limited in any way herein.Similarly, the ultra-broadband signal receiver 75 of the present embodiment also may be used To be that can realize the random devices or module of ultra-wideband receiver function in the prior art, also it is not limited in any way herein.And And, in the present embodiment, ultra-broadband signal transmitter 73 and ultra-broadband signal receiver 75 can be two single devices or Person's module or the device integrated or module.

Meanwhile, the processor 71 of the present embodiment can realize the logic electricity for calculating processing function in the prior art Road, integrated circuit or chip, single-chip microcomputer etc., specific restriction is not done yet at this to it.In addition, the processor of the present embodiment can With single or be wholely set.

Avoidance equipment of the present embodiment based on ultra-broadband ranging, is transmitted by using ultra-narrow pulse (namely ultra-broadband signal) The distance measurement request signal and the ranging response signal of movable obstruction of loose impediment, not only transmission speed is fast, and right Barrier has suitable penetration power, it is possible to reduce complex environment, can so as to improve loose impediment pair for the influence of ranging The reaction speed and measurement accuracy of moving obstacle ranging, and then the distance based on measure carries out avoidance operation, to improve avoidance The promptness and accuracy of operation, it is ensured that the safety of loose impediment.

Further, the processor 71 is additionally operable to：

Further, the processor 71 is additionally operable to be less than the second safe distance in response to the distance, it is determined that described can The position of moving obstacle；The avoidance route of the loose impediment is determined according to the position of the movable obstruction.Specifically , the position of movable obstruction can be determined according to any prior art.

Further, the processor 71 is additionally operable to determine institute according to the receiving angle of the ultra-broadband ranging response signal State the angle of pitch and horizontal angle of the movable obstruction relative to the loose impediment；According to the angle of pitch, horizontal angle and The loose impediment to the distance of the movable obstruction determines the movable obstruction relative to the mobile article The position of body.Specifically, the array generally used in super-broadband tech or other modes can be used to obtain ultra-broadband ranging The receiving angle of response signal, and the angle of pitch and level for obtaining loose impediment are calculated according to calculation formula of the prior art Angle.

Further, above-mentioned avoidance equipment also includes inertial sensor, posture, speed for detecting the loose impediment Degree and acceleration.Specifically, inertial sensor can use any inertial sensor on unmanned vehicle in the prior art.It is excellent Selection of land, processor 71 is additionally operable to according to being determined the position of the posture, speed, acceleration and the movable obstruction Avoidance route.

Further, above-mentioned avoidance equipment also includes avoidance sensor, the obstacle information for detection.Specifically, keeping away Barrier sensor can include：One kind or many in vision sensor, infrared sensor, ultrasonic sensor and radar sensor Kind.Preferably, processor 71 is additionally operable to keep away according to being determined the position of the obstacle information and the movable obstruction Hinder route.

Finally it should be noted that the barrier-avoiding method that the avoidance equipment in the present embodiment is realized can be found in above-described embodiment 6 To embodiment 8, it will not be repeated here.

Below so that two aerial frame unmanned vehicles are evaded as an example, avoidance equipment is worked in brief description the present embodiment Journey：

The flight control system of first unmanned vehicle controls ultra-broadband ranging transmitter please to the aerial ultra-broadband ranging that sends Seek signal.Then, the ultra-broadband ranging receiver of the second frame unmanned vehicle is received after the ultra-broadband ranging request signal, warp The processing for crossing flight control system sends ultra-broadband ranging response signal by ultra-broadband ranging transmitter to aerial.First nobody fly The ultra-broadband ranging receiver of row device is received after the ultra-broadband ranging response signal, by flight control system calculate this two frame nobody The distance of aircraft, and by calculating the receiving angle of ultra-broadband ranging response signal the second frame unmanned vehicle relative to the The luffing angle and horizontal angle of one frame unmanned vehicle, and the second frame is further calculated by above-mentioned luffing angle and horizontal angle The position of unmanned vehicle.While ultra-broadband ranging response signal is received, before or after, first unmanned flight Device can also by the information of the avoidance sensor barrier set thereon, wherein, avoidance sensor can for infrared sensor, The one or more in ultrasonic sensor in vision sensor, radar sensor and ultrasonic sensor, and hinder It can be the one or more in the information and movable obstruction information of fixed obstacle to hinder thing information.In addition, first Unmanned vehicle can also get flight attitude, the speed of first unmanned vehicle by the inertial sensor set thereon And acceleration.In this manner it is possible to the first unmanned vehicle that is obtained according to ultra-broadband ranging and the second frame unmanned vehicle Distance, the information that position, inertial sensor in conjunction with the second frame unmanned vehicle are got, and avoidance sensor are detected Obstacle information the flight path of unmanned vehicle just can be preferably planned to avoid unmanned vehicle from other nobody flying Row device and other aerial fixed obstacles and movable obstruction collide, so as to improve the flight peace of unmanned vehicle Quan Xing.It should be noted that the information that the position of the second frame unmanned vehicle, inertial sensor are got, and avoidance sensing The obstacle information that device is detected is not that unmanned progress avoidance operation is required, can be in above three type when specifically used Information in any select and be combined to improve the avoidance precision of unmanned vehicle with the distance determined by ultra-broadband signal.

Embodiment 10

The present embodiment provides a kind of unmanned vehicle system, awing can be surveyed by ultra-broadband ranging signal Away to avoid it from awing being collided with movable obstruction.

The structural representation for the unmanned vehicle system that Fig. 9 provides for the present embodiment.

As shown in figure 9, the unmanned vehicle system 9 that the present embodiment is provided, including the avoidance equipment 91 in above-described embodiment, For indicating that avoidance is operated；And, power-equipment 93, for driving unmanned vehicle to be kept away according to the instruction of avoidance equipment Barrier.

Specifically, the structure of the avoidance equipment 91 of the present embodiment, principle and its effect are same as the previously described embodiments, specifically may be used Referring to above-described embodiment, will not be repeated here.

In addition, the power-equipment 93 of the present embodiment can use the power of the disposable type used in existing unmanned vehicle Equipment.

The unmanned vehicle system of the present embodiment, unmanned flight is transmitted by using ultra-narrow pulse (namely ultra-broadband signal) The distance measurement request signal and the ranging response signal of movable obstruction of device system, not only transmission speed is fast, and to obstacle Thing has suitable penetration power, it is possible to reduce complex environment, can so as to improve unmanned vehicle system pair for the influence of ranging The range accuracy and reaction speed of moving obstacle, and then the distance based on measure carries out avoidance operation, to improve unmanned flight The promptness and accuracy of device system avoidance operation, it is ensured that the safety of unmanned vehicle system.

More than technical scheme in each embodiment, technical characteristic with this it is afoul in the case of can be independent, or Person is combined, as long as without departing from the cognitive range of those skilled in the art, the equivalent reality belonged in the application protection domain Apply example.

In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, the module or list The division of member, only a kind of division of logic function can have other dividing mode when actually realizing, such as multiple units or Component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, show Show or the coupling each other discussed or direct-coupling or communication connection can be by some interfaces, between device or unit Connect coupling or communicate to connect, can be electrical, machinery or other forms.

The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.

In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.

If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, including some instructions are to cause computer disposal Device 101 (processor) performs all or part of step of each embodiment methods described of the invention.And foregoing storage medium Including：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc. are various can be with the medium of store program codes.

Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills Art field, is included within the scope of the present invention.

Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims

1. a kind of ultra-broadband ranging method applied in loose impediment, it is characterised in that including：

Broadcast ultra-broadband ranging request signal；

The ultra-broadband ranging response signal broadcasted by movable object is received, the ultra-broadband ranging response signal can including described in Ultra-broadband ranging response signal described in mobile target broadcast and when receiving first between the ultra-broadband ranging request signal Between it is poor；

It is determined that when receiving second between the ultra-broadband ranging response signal and the broadcast ultra-broadband ranging request signal Between it is poor；

According to the very first time poor and described second time difference determine the loose impediment to the movable object away from From.

2. ultra-broadband ranging method according to claim 1, it is characterised in that the broadcast ultra-broadband ranging request letter Number, including：

Broadcast is included in request device number and request sequence number in the ultra-broadband ranging request signal.

3. ultra-broadband ranging method according to claim 2, it is characterised in that what the reception was broadcasted by movable object Ultra-broadband ranging response signal, including：

Receive the request device number, the request sequence number and the response apparatus being included in the ultra-broadband ranging response signal Number.

4. ultra-broadband ranging method according to any one of claim 1 to 3, it is characterised in that between the predetermined time Every periodically carrying out the ultra-broadband ranging method.

5. ultra-broadband ranging method according to claim 4, it is characterised in that also include：

Loose impediment described in each cycle is recorded to the distance of the movable object；

Distance according to being recorded determines the kinematic parameter of the movable object.

6. ultra-broadband ranging method according to claim 5, it is characterised in that the kinematic parameter of the movable object, Including：

At least one of in movement locus, movement velocity and the acceleration of motion of the movable object.

7. a kind of ultra-broadband ranging method applied in movable object, it is characterised in that including：

Receive the ultra-broadband ranging request signal broadcasted by loose impediment；

It is determined that broadcast ultra-broadband ranging response signal and the very first time received between the ultra-broadband ranging request signal are poor；

Ultra-broadband ranging response signal is broadcasted, it is poor that the ultra-broadband ranging response signal includes the very first time.

8. ultra-broadband ranging method according to claim 7, it is characterised in that the broadcast ultra-broadband ranging response signal Also include：

Broadcast is included in request device number, request sequence number and response apparatus number in the ultra-broadband ranging response signal.

9. a kind of ultra-broadband ranging equipment applied in loose impediment, it is characterised in that including：

Ultra-broadband signal transmitter, for broadcasting ultra-broadband ranging request signal；

Ultra-broadband signal receiver, for receiving the ultra-broadband ranging response signal broadcasted by movable object, the ultra wide band Ranging response signal, which includes the movable object, broadcasts the ultra-broadband ranging response signal and receives the ultra wide band survey It is poor away from the very first time between request signal；

At least one processor, is either individually or collectively used for：

10. ultra-broadband ranging equipment according to claim 9, it is characterised in that the ultra-broadband ranging request signal, bag Include：Ask device number and request sequence number.

11. ultra-broadband ranging equipment according to claim 10, it is characterised in that the ultra-broadband ranging response signal, Including：The request device number, the request sequence number and response apparatus number.

12. the ultra-broadband ranging equipment according to any one of claim 9 to 11, it is characterised in that the ultra wide band is surveyed Periodically determine the loose impediment to the distance of the movable object at predetermined intervals away from equipment.

13. ultra-broadband ranging equipment according to claim 12, it is characterised in that the processor is additionally operable to：

14. ultra-broadband ranging equipment according to claim 13, it is characterised in that the motion ginseng of the movable object Number, including：

15. a kind of ultra-broadband ranging equipment applied in movable object, it is characterised in that including：

Ultra-broadband signal receiver, for receiving the ultra-broadband ranging request signal broadcasted by loose impediment；

At least one processor, is either individually or collectively used for：It is determined that broadcasting ultra-broadband ranging response signal and receiving described The very first time between ultra-broadband ranging request signal is poor；

Ultra-broadband signal transmitter, for broadcasting ultra-broadband ranging response signal, the ultra-broadband ranging response signal includes institute State the very first time poor.

16. ultra-broadband ranging method according to claim 15, it is characterised in that the ultra-broadband ranging response signal bag Include：Ask device number, request sequence number and response apparatus number.

17. a kind of barrier-avoiding method based on ultra-broadband ranging, it is characterised in that including：

Broadcast ultra-broadband ranging request signal；

The ultra-broadband ranging response signal broadcasted by movable obstruction is received, the ultra-broadband ranging response signal includes described Movable obstruction broadcast the ultra-broadband ranging response signal and receive between the ultra-broadband ranging request signal the One time difference；

Determine the loose impediment to the movable obstruction according to the very first time poor and described second time difference Distance；

Indicate that the loose impediment performs avoidance operation according to the distance.

18. barrier-avoiding method according to claim 17, it is characterised in that described that described may move is indicated according to the distance Object performs avoidance operation, including：

19. the barrier-avoiding method according to claim 17 or 18, it is characterised in that indicated according to the distance described removable Object performs avoidance operation, including：

20. barrier-avoiding method according to claim 19, it is characterised in that the position of the determination movable obstruction Put, including：

Determine that the movable obstruction is removable relative to described according to the receiving angle of the ultra-broadband ranging response signal The angle of pitch and horizontal angle of object；

Can according to being determined the distance of the angle of pitch, horizontal angle and the loose impediment to the movable obstruction Position of the moving obstacle relative to the loose impediment.

21. barrier-avoiding method according to claim 19, it is characterised in that the barrier-avoiding method also includes：

22. barrier-avoiding method according to claim 19, it is characterised in that the barrier-avoiding method also includes：

Obtain the obstacle information detected by avoidance sensor；

23. barrier-avoiding method according to claim 22, it is characterised in that the obstacle that the acquisition is detected by avoidance sensor Thing information, including：

Obtain by the barrier of at least one detection in vision sensor, infrared sensor, ultrasonic sensor and radar sensor Hinder thing information.

24. the barrier-avoiding method according to claim 17 or 18, it is characterised in that periodically hold at predetermined intervals The row barrier-avoiding method.

25. a kind of avoidance equipment based on ultra-broadband ranging, it is characterised in that including：

Ultra-broadband signal receiver, for receiving the ultra-broadband ranging response signal broadcasted by movable obstruction, the ultra-wide Band ranging response signal, which includes the movable obstruction, broadcasts the ultra-broadband ranging response signal and receives the ultra-wide It is poor with the very first time between distance measurement request signal；

At least one processor, is either individually or collectively used for：

26. avoidance equipment according to claim 25, it is characterised in that the processor is additionally operable to：

27. the avoidance equipment according to claim 25 or 26, it is characterised in that the processor is additionally operable to：

28. avoidance equipment according to claim 27, it is characterised in that the processor is additionally operable to：

29. avoidance equipment according to claim 27, it is characterised in that the avoidance equipment also includes：

Inertial sensor, posture, speed and acceleration for detecting the loose impediment.

30. avoidance equipment according to claim 29, it is characterised in that the processor is additionally operable to：

31. avoidance equipment according to claim 27, it is characterised in that the avoidance equipment also includes：

Avoidance sensor, for detecting obstacle information.

32. avoidance equipment according to claim 31, it is characterised in that the processor is additionally operable to：

33. the avoidance equipment according to claim 31 or 32, it is characterised in that the avoidance sensor, including：Vision is passed At least one of in sensor, infrared sensor, ultrasonic sensor and radar sensor.

34. a kind of unmanned vehicle system, it is characterised in that including：

Avoidance equipment according to any one of claim 25 to 33, for indicating that avoidance is operated；

Power-equipment, for indicating to drive the unmanned vehicle to carry out avoidance according to described.