CN115016515A - Obstacle detection early warning system for unmanned aerial vehicle - Google Patents
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Abstract
The invention relates to the technical field of unmanned aerial vehicle obstacle detection, in particular to an obstacle detection early warning system for an unmanned aerial vehicle, which comprises a first detector, a positioner, a processor, a flight controller, a second detector and an early warning device, wherein the first detector is connected with the second detector; the first detector detects the barrier information; the positioner positions the flight position; the processor identifies the barrier information acquired from the first detector to obtain barrier parameters; the flight controller controls the unmanned aerial vehicle to carry out obstacle avoidance flight according to the flight position and the obstacle parameter acquired from the processor; the processor acquires internal clock information and judges whether the internal clock information is the active time period of the moving target, and if the internal clock information is the active time period of the moving target, the processor sends a detection signal to the second detector; the second detector detects the movement information of the moving target, the processor judges whether the moving target exists or not according to the movement information, and if yes, the processor sends early warning information to the early warning device. The invention can detect the moving target only in the active time period, thereby reducing the energy consumed by detection all the time.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle obstacle detection, in particular to an obstacle detection early warning system for an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an aircraft driven by power, pilotless on the aircraft and capable of being reused. Unmanned aerial vehicles are divided into civilian use and military use, and the unmanned aerial vehicles are widely applied to various civilian fields, for example, the unmanned aerial vehicles are applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric power inspection, disaster relief and the like.
For the stable flight of the unmanned aerial vehicle, in order not to collide with the barrier, the preset task is executed, at present, the unmanned aerial vehicle usually carries out the detection of the barrier information in the flight process by carrying on a laser, a radar or an ultrasonic system, then the processor on the unmanned aerial vehicle carries out the operation of the barrier information, obtains the barrier parameter, and lets the flight controller carry out the flight control of the unmanned aerial vehicle according to the barrier parameter.
However, in the flying environment of the unmanned aerial vehicle, there are many uncertain obstacles, such as birds, livestock, wires or bird catching nets, etc., and due to their fast mobility or size characteristics, the obstacle detection of the existing laser, radar or ultrasonic system has errors, which causes the unmanned aerial vehicle to collide with the obstacle to cause a fault. If these uncertain obstacles are continuously detected, the power consumption of the unmanned aerial vehicle can be increased, thereby leading to greatly reduced cruising ability of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide an obstacle detection early warning system for an unmanned aerial vehicle, which is used for detecting uncertain obstacles on the premise of not increasing too much power consumption.
The obstacle detection early warning system for the unmanned aerial vehicle comprises a first detector, a positioner, a processor and a flight controller, wherein the first detector, the positioner, the processor and the flight controller are positioned on the unmanned aerial vehicle;
the first detector is used for detecting the obstacle information of the unmanned aerial vehicle during flying and sending the obstacle information to the processor;
the positioner is used for positioning the flight position of the unmanned aerial vehicle and sending the flight position to the flight controller;
the processor is used for identifying the obstacle information acquired from the first detector, obtaining obstacle parameters and sending the obstacle parameters to the flight controller;
the flight controller is used for controlling the unmanned aerial vehicle to carry out obstacle avoidance flight according to the flight position and the obstacle parameter acquired from the processor;
the device also comprises a second detector and an early warning device;
the processor acquires internal clock information and judges whether the clock information is the activity time period of the moving target, and if so, the processor sends a detection signal to the second detector;
the second detector is used for detecting the movement information of the moving target according to the detection signal and sending the movement information to the processor, the processor judges whether the moving target exists or not according to the movement information, and if yes, the processor sends early warning information to the early warning device;
and the early warning device is used for carrying out early warning according to the early warning information received from the processor to drive the moving target.
The beneficial effect of this scheme is:
in the flight process of the unmanned aerial vehicle, the first detector is used for detecting the obstacle information, the processor is used for identifying the obstacle parameters from the obstacle information, and the flight controller is used for controlling the unmanned aerial vehicle to carry out obstacle avoidance flight according to the obstacle parameters and the flight position; meanwhile, the processor acquires internal clock information to judge whether the unmanned aerial vehicle is located in the activity time period of the moving target, if so, the processor sends a detection signal to the second detector, the second detector detects the moving information of the moving target according to the detection signal, the processor judges whether the moving information has the moving target, such as flying birds, and if so, the processor sends early warning information to the early warning device to give an early warning to drive the moving target, so that the probability that the unmanned aerial vehicle collides with the unmanned aerial vehicle is reduced. The accuracy of detecting the moving target is improved, and the energy consumed by detecting the moving target all the time is reduced by detecting the moving target only in the activity time period.
The system further comprises a background server, wherein the background server acquires the flight position of the locator, judges the type information of the moving target according to the flight position, matches a preset activity time period according to the type information and sends the preset activity time period to the processor.
The beneficial effects are that: the moving time period of the moving target is matched according to the flying position of the unmanned aerial vehicle through the background server, and the accuracy of detecting the moving target by the unmanned aerial vehicle is improved.
Further, the background server judges the aggregation degree of the moving target according to the type information, judges whether the aggregation degree is larger than a threshold value or not, and matches an activity time period according to the type information when the aggregation degree is larger than the threshold value.
The beneficial effects are that: the aggregation degree of the moving target is judged through the type information, and the activity time period is matched when the aggregation degree is large, so that the frequency of detecting the moving target is reduced, and the energy consumption of detecting the moving target by the unmanned aerial vehicle is reduced.
Furthermore, the background server acquires season information after the activity time period is matched, the background server compares the season information with a preset season, when the season information is the preset season, the background server judges the duration of the activity time period according to the preset season, and the background server corrects the activity time period according to the duration.
The beneficial effects are that: when the season information of the environment where the unmanned aerial vehicle is located is a preset season, the duration of the preset season is judged, the activity time period is corrected according to the duration, and the accuracy of the activity time period is improved.
Further, the preset seasons include spring, summer and autumn, and the background server prolongs the activity time period to a continuous time.
The beneficial effects are that: because the activity time periods of the moving target in different seasons are different, the accuracy of the activity time periods is improved by correcting according to the preset seasons.
Furthermore, the early warning device is a sound player, and a horn-shaped surrounding blocking piece is fixedly arranged around a playing port of the sound player.
The beneficial effects are that: carry out the early warning through the sound player to set up and enclose the separation blade, can let sound more concentrate, in order to improve the probability of driving away the place ahead birds.
Further, the second detector photographs a plurality of flying images as moving information toward a side of the sky inclined at an angle of 30 ° -60 ° from the horizontal, and the processor determines whether there is an isolated point on the plurality of flying images, and determines that there is a moving target when there is an isolated point on the flying images.
The beneficial effects are that: through setting the shooting angle in an inclined manner, other objects on the background on the flight image can be reduced, interference caused by covering the moving target when the other objects are used as the background is reduced, and the accuracy of judging the moving target is improved.
Further, the second detector shoots a plurality of flight images at preset frequency every preset time.
The beneficial effects are that: the second detector does not always detect, so that the consumed energy is reduced.
Drawings
Fig. 1 is a schematic block diagram of a first embodiment of an obstacle detection and early warning system for an unmanned aerial vehicle according to the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
Obstacle detection early warning system for unmanned aerial vehicle, as shown in fig. 1: including being located first detector, locator, treater, flight controller, second detector and the precaution device on the unmanned aerial vehicle, still include backend server, backend server and unmanned aerial vehicle carry out wireless communication, for example carry out wireless communication through 3G/4G/5G mobile communication network.
First detector is used for surveying the barrier information when unmanned aerial vehicle flies, and first detector signal connection treater, first detector send barrier information to the treater, and first detector can use current supersound or infrared detector, and barrier information can be distance signal and position signal etc. that supersound or infrared detector surveyed the barrier and obtain, and first detector carries out the detection of barrier with supersound or infrared technique for prior art, no longer gives unnecessary details here.
The locator is used for fixing a position unmanned aerial vehicle's flight position, locator signal connection treater, and the locator sends the flight position to flight controller, and the locator can keep away from the location of carrying out the flight position with current inertial positioning, and the locator is prior art to the location of unmanned aerial vehicle's flight position, no longer gives redundant details here.
The processor is used for identifying the obstacle information acquired from the first detector, obtaining obstacle parameters and sending the obstacle parameters to the flight controller, the processor identifies the obstacle parameters from the obstacle information by using an existing algorithm, the obstacle parameters comprise the direction, the distance, the width and the like of the obstacle, and the processor can use an existing SOC chip.
The flight controller is used for controlling the unmanned aerial vehicle to carry out obstacle avoidance flight according to the flight position and the obstacle parameter acquired from the processor, the flight controller can use the controller of the existing unmanned aerial vehicle, and the flight controller carries out obstacle avoidance flight according to the existing algorithm by using the obstacle parameter and the flight position.
The background server acquires the flight position of the locator, the background server can be a background PC host, the background server judges the type information of the moving target according to the flight position, the pairing relation between the flight position and the type information is stored in advance, the type information is the type of the moving target, for example, the type information of the moving target at the flight position A mainly comprises a sparrow and a swallow, the background server matches a preset activity time period according to the type information, the activity time period is the activity or foraging time of the moving target, and the background server sends the activity time period to the processor.
The processor acquires internal clock information, the clock information is a clock inside the processor, the processor judges whether the clock information is an active time period of the moving target, the clock information comprises time and date information, namely whether the clock information is located in the active time period is judged, if the clock information is located in the active time period, the processor sends a detection signal to the second detector, and the detection signal can be a power-on signal.
The second detector is used for detecting movement information of a moving target according to a detection signal and sending the movement information to the processor, the second detector shoots a plurality of flight images towards one side of the sky in an inclined mode to serve as the movement information, the second detector can use an existing camera, the second detector shoots a plurality of flight images at intervals of preset time according to preset frequency, the preset time is ten minutes, the preset frequency is thirty seconds, six flight images are shot, the inclination angle shot by the second detector is 30-60 degrees inclined to the horizontal direction, and the inclination angle is preferably 45 degrees; the processor judges whether a moving target exists or not according to the moving information, namely the processor judges whether isolated points exist on a plurality of flight images or not, the processor firstly carries out gray processing on the flight images, then the brightness difference between adjacent pixels is compared, the position where the brightness changes suddenly is an edge pixel, the edge pixel points are connected together to form an edge image, the edge image is used for identifying the moving target, if yes, the processor judges that the moving target exists, namely when the isolated points exist on the flight images, the processor sends early warning information to the early warning device, and the early warning information can be voice information; the early warning device is used for carrying out early warning according to early warning information received from the processor to drive a moving target, and is a sound player, and horn-shaped surrounding blocking sheets are welded around a playing port of the sound player.
The specific implementation process is as follows:
in the flight process of the unmanned aerial vehicle, the obstacle information is detected through the first detector, the processor identifies the obstacle parameters from the obstacle information, the obstacle parameters are sent to the flight controller, and the flight controller controls the unmanned aerial vehicle to avoid obstacle flight according to the obstacle parameters and the flight position. When the unmanned aerial vehicle carries out obstacle avoidance flight, the flight position of the locator on the unmanned aerial vehicle is obtained by the background server, the activity time period of the moving target is matched according to the flight position of the unmanned aerial vehicle through the background server, and the activity time period is sent to the processor.
The processor acquires internal clock information, judges whether the acquired current clock information is located in an activity time period of a moving target or not, if the clock information is located in the activity time period, the processor sends a detection signal to the second detector, the second detector detects the movement information of the moving target according to the detection signal, namely, a plurality of flight images are shot at preset intervals according to preset frequency to serve as the movement information, the processor judges whether the movement information has the moving target or not, for example, whether flying birds exist in the flight images or not is identified, if the movement information has the moving target, the processor sends early warning information to the early warning device to perform early warning to drive the moving target, the moving target is actively driven in an active mode, and the probability that the unmanned aerial vehicle collides with the unmanned aerial vehicle is reduced. The moving target is identified by intermittently shooting the flight image so as to improve the detection accuracy of the moving target, and the moving target is detected only in the activity time period so as to reduce the energy consumed by detection all the time.
Example two
The obstacle detection early warning system for the unmanned aerial vehicle is different from the first embodiment in that the background server judges the aggregation degree of the moving target according to the type information, namely, the aggregation characteristic of the moving target is judged according to the type of the moving target, the aggregation degree can be expressed through the quantity, for example, the aggregation degree of sparrows is twenty, the background server judges whether the aggregation degree is larger than a threshold value, the threshold value is set according to the aggregation degree which can actually affect the flight of the unmanned aerial vehicle, for example, the threshold value is set to eight, when the aggregation degree is larger than the threshold value, the background server matches out the activity time period according to the type information, namely, the activity time period is matched when the moving target has the aggregation characteristic of a larger degree.
Because single or a few moving targets of minute even strike unmanned aerial vehicle, also can not produce very big influence to unmanned aerial vehicle, and when the quantity of moving target was too much, strike to unmanned aerial vehicle in succession and can cause damage or reduce unmanned aerial vehicle's flying speed, so, this embodiment judges the gathering degree of moving target through type information, and just match the activity time section when the gathering degree is great, start the detection of carrying out moving target with this activity time section, reduce the frequency that the moving target detected, reduce the energy consumption that unmanned aerial vehicle detected the moving target.
EXAMPLE III
The obstacle detection early warning system for the unmanned aerial vehicle is different from the first embodiment in that the background server acquires season information after matching the active time period, the background server compares the season information with preset seasons, the preset seasons comprise spring, summer and autumn, when the season information is the preset seasons, the background server judges the duration of the active time period according to the preset seasons, the background server corrects the active time period according to the duration, and the correction mode is that the background server prolongs the active time period to the duration.
Because the activity time periods of part of the moving targets in different seasons are different, in this embodiment, when the seasonal information of the environment where the unmanned aerial vehicle is located is a preset season, the duration of the preset season is determined, and the activity time period is corrected according to the duration, so that the accuracy of the activity time period is improved.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. The obstacle detection early warning system for the unmanned aerial vehicle comprises a first detector, a positioner, a processor and a flight controller, wherein the first detector, the positioner, the processor and the flight controller are positioned on the unmanned aerial vehicle;
the first detector is used for detecting the obstacle information of the unmanned aerial vehicle during flying and sending the obstacle information to the processor;
the positioner is used for positioning the flight position of the unmanned aerial vehicle and sending the flight position to the flight controller;
the processor is used for identifying the obstacle information acquired from the first detector, obtaining obstacle parameters and sending the obstacle parameters to the flight controller;
the flight controller is used for controlling the unmanned aerial vehicle to carry out obstacle avoidance flight according to the flight position and the obstacle parameter acquired from the processor;
the method is characterized in that:
the device also comprises a second detector and an early warning device;
the processor acquires internal clock information and judges whether the clock information is the activity time period of the moving target, and if so, the processor sends a detection signal to the second detector;
the second detector is used for detecting the movement information of the moving target according to the detection signal and sending the movement information to the processor, the processor judges whether the moving target exists or not according to the movement information, and if the moving target exists, the processor sends early warning information to the early warning device;
and the early warning device is used for carrying out early warning according to the early warning information received from the processor to drive the moving target.
2. The obstacle detection and early warning system for the unmanned aerial vehicle according to claim 1, wherein: the background server acquires the flight position of the locator, judges the type information of the moving target according to the flight position, matches a preset activity time period according to the type information and sends the activity time period to the processor.
3. The obstacle detection and early warning system for the unmanned aerial vehicle according to claim 2, wherein: and the background server judges the aggregation degree of the moving target according to the type information and judges whether the aggregation degree is greater than a threshold value, and when the aggregation degree is greater than the threshold value, the background server matches an activity time period according to the type information.
4. The obstacle detection and early warning system for the unmanned aerial vehicle according to claim 3, wherein: the method comprises the steps that the background server acquires season information after an active time period is matched, the background server compares the season information with a preset season, when the season information is the preset season, the background server judges the duration of the active time period according to the preset season, and the background server corrects the active time period according to the duration.
5. The obstacle detection and early warning system for the unmanned aerial vehicle according to claim 4, wherein: the preset seasons comprise spring, summer and autumn, and the background server prolongs the activity time period to the duration.
6. The obstacle detection and early warning system for the unmanned aerial vehicle according to claim 1, wherein: the early warning device is a sound player, and a horn-shaped surrounding blocking piece is fixedly arranged around a playing port of the sound player.
7. The obstacle detection and early warning system for the unmanned aerial vehicle according to claim 1, wherein: the second detector shoots a plurality of flight images towards one side inclined to the sky as movement information, the inclination angle shot by the second detector is 30-60 degrees inclined to the horizontal direction, the processor judges whether isolated points exist on the flight images, and when the isolated points exist on the flight images, the processor judges that a moving target exists.
8. The obstacle detection and early warning system for the unmanned aerial vehicle according to claim 7, wherein: and the second detector shoots a plurality of flight images at preset intervals according to a preset frequency.
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