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

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

technical field

Embodiments of the present invention generally relate to the field of measurement and control, and specifically relate to an ultra-wideband ranging method and ultra-wideband ranging equipment applied to movable objects, an ultra-wideband ranging method and ultra-wideband ranging applied to movable objects Wideband ranging equipment, an obstacle avoidance method and obstacle avoidance equipment based on ultra-wideband ranging, and an unmanned aerial vehicle system.

Background technique

With the development of science and technology, it is more and more important to measure the distance of two movable objects to realize the control of the movable objects. For example, measure the relative distance between two UAVs in the air to determine whether the two UAVs will collide; measure the relative distance between two cars on the ground to determine whether the two vehicles will collide Rubbing; measuring the relative distance between two ships on the water surface to determine whether the two ships will collide; measuring the relative distance between two trains underground to determine whether the two trains will collide.

In the prior art, the distance measurement of two movable objects is generally to install a global positioning system (GPS, Global Positioning System) on the two movable objects to obtain the GPS signals of the two movable objects, and according to the two The latitude and longitude coordinate information in the GPS signal calculates the straight-line distance between the two movable objects. However, the GPS signal is easily affected by the weather and the surrounding environment, and the signal loss is prone to occur. Moreover, the accuracy of the GPS signal itself is low. The general positioning accuracy is several meters to tens of meters, which is difficult to meet the requirements for ranging accuracy in existing application scenarios. Require.

Contents of the invention

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

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

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

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

According to some embodiments of the present invention, there is provided an ultra-wideband ranging device applied to a movable object, which is characterized in that it includes: an ultra-wideband signal receiver for receiving an ultra-wideband ranging request broadcast by a movable object signal; at least one processor, individually or collectively, for: determining a first time difference between broadcasting an UWB ranging response signal and receiving said UWB ranging request signal; an UWB signal transmitter for broadcasting An ultra-wideband ranging response signal, where the ultra-wideband ranging response signal includes the first time difference.

According to some embodiments of the present invention, an obstacle avoidance method based on ultra-wideband ranging is provided, including: broadcasting an ultra-wideband ranging request signal; receiving an ultra-wideband ranging response signal broadcast by a movable obstacle, the ultra-wideband The ranging response signal includes a first time difference between the movable obstacle broadcasting the ultra-wideband ranging response signal and receiving the ultra-wideband ranging request signal; determining that the ultra-wideband ranging response signal and broadcasting a second time difference between the UWB ranging request signals; determining a distance from the movable object to the movable obstacle according to the first time difference and the second time difference; responding to the distance indication The movable object performs an obstacle avoidance operation.

According to some embodiments of the present invention, an obstacle avoidance device based on ultra-wideband ranging is provided, including: an ultra-wideband signal transmitter, used to broadcast an ultra-wideband ranging request signal; The ultra-wideband ranging response signal broadcast by the mobile target, the ultra-wideband ranging response signal includes the first interval between the movable target broadcasting the ultra-wideband ranging response signal and receiving the ultra-wideband ranging request signal time difference; at least one processor, individually or jointly, for: determining a second time difference between receiving the UWB ranging response signal and broadcasting the UWB ranging request signal; according to the first time difference and The second time difference determines the distance from the movable object to the movable target; and instructs the movable object to perform an obstacle avoidance operation according to the distance.

According to some embodiments of the present invention, an unmanned aerial vehicle system is provided, including: the above-mentioned obstacle avoidance device, used to instruct an obstacle avoidance operation; and a power device, used to drive the unmanned aerial vehicle to perform obstacle avoidance according to the instruction.

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

Description of drawings

The above and other objects, features and advantages of embodiments of the present invention will become more readily understood by the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the invention are illustrated by way of example and not limitation, in which:

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

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

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

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

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

6 is a schematic flow diagram of an obstacle avoidance method based on ultra-wideband ranging provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram when an unmanned aerial vehicle and the ground perform alarm signal interaction provided by an embodiment of the present invention;

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

Fig. 9 is a schematic structural diagram of an unmanned aerial vehicle system provided by an embodiment of the present invention.

detailed description

Some embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

It should be understood that the following embodiments do not limit the execution sequence of the steps of the method protected by the present invention. The individual steps of the method of the invention can be carried out in any possible order and in a cyclic fashion.

First of all, it should be noted that in the following embodiments, the movable object may be any object that can move relative to a reference point in the prior art, such as unmanned aerial vehicles, automobiles, ships, subways, and trains. Similarly, the movable target may also be an object that can move relative to a reference point in any prior art such as unmanned aerial vehicles, automobiles, ships, subways, and trains. Of course, in the following embodiments, the movable object and the movable target can be the same type of object, for example, both are unmanned aerial vehicles or automobiles; meanwhile, the movable object and the movable target can also be different types of objects, for example, they can be The moving objects are cars and the movable objects are trains.

In addition, UWB (Ultra Wide Band) technology is a new type of wireless communication technology, which directly modulates the impulse pulse with a very steep rise and fall time, so that the signal has a magnitude of 3.1-10.6GHz bandwidth and makes the data transmission speed very high.

Example 1

This embodiment provides an ultra-wideband ranging method applied to a movable object, which is used to measure the distance between the movable object and the movable target, so as to provide a basis for subsequent operations.

FIG. 1 is a schematic flowchart of the ultra-wideband ranging method applied to a movable object provided by this embodiment.

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

S101. Broadcast an ultra-wideband ranging request signal.

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

For further illustration, the movable object may be an unmanned aerial vehicle, and the unmanned aerial vehicle sends an instruction to the ultra-wideband signal transmitter installed on the machine according to the control command, and controls the ultra-wideband signal transmitter to broadcast a local ultra-wideband signal transmitter to the air. The range request signal is received to start ranging the movable target in the air (such as the second unmanned aerial vehicle). In this embodiment, the control command may be sent by the flight control system of the UAV, the ground station or the remote controller. In addition, the ultra-wideband signal transmitter can be self-contained in the machine, or installed on the machine separately.

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

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

In addition, it should be noted that the request sequence number of the ultra-wideband ranging request signal refers to the number of times the movable object sends the ultra-wideband ranging request signal, which has nothing to do with the interval between two adjacent ultra-wideband ranging request signals, for example, The movable object gives a request sequence number (eg 1, 2, 3 . Of course, if the movable object sends the UWB ranging request signal in a periodic sequence, the sending time can be directly determined through the request sequence number.

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

Specifically, the movable object may receive the UWB ranging response signal broadcast by the movable object in any manner in the prior art. For example, the movable object can receive the ultra-wideband ranging response signal broadcasted by the movable object from the environment through the ultra-wideband signal receiver installed on it.

As a further example, the movable object may be an unmanned aerial vehicle, and an ultra-wideband signal receiver is installed on the unmanned aerial vehicle. Broadband ranging response signal. In addition, the above-mentioned ultra-wideband signal transmitter may be self-contained on the machine, or installed on the machine separately.

It can be understood that it takes a certain amount of processing time for the movable target to receive the ultra-wideband ranging request signal sent by the movable object to the environment and then broadcast the ultra-wideband ranging response signal to the environment, and this time is in this embodiment Define it as the first time difference. Of course, the movable target can record the above-mentioned first time difference by any method in the prior art, and load it into the ultra-wideband ranging response signal to send to the environment by a conventional method in the prior art, so that the The UWB signal receiver of the moving target can receive the above-mentioned first time difference from the environment.

For example, when the movable object is an unmanned aerial vehicle (the first unmanned aerial vehicle), and the movable target is also an unmanned aerial vehicle (the second unmanned aerial vehicle), the above-mentioned first time difference can be determined in the following manner:

When the second unmanned aerial vehicle receives the ultra-wideband ranging request signal broadcast by the first unmanned aerial vehicle in the environment, record the time T _m1 of receiving the ultra-wideband ranging request signal; when the second unmanned aerial vehicle broadcasts to the environment When the ultra-wideband ranging response signal is recorded, the time T _m2 of issuing the ultra-wideband ranging response signal is recorded; then the first time difference ΔT ₁ is (T _m2 -T _m1 ).

Preferably, the receiving the ultra-wideband ranging response signal broadcast by the movable target includes: receiving the requesting device number, the request sequence number and the responding device number included in the ultra-wideband ranging request signal, Therefore, it adapts to the situation that there are multiple movable objects in the environment, shortens the time of ranging, improves the efficiency of ranging, and improves the reliability of ranging.

For example, when the movable object is an unmanned aerial vehicle (the first unmanned aerial vehicle), and the movable target is also an unmanned aerial vehicle (the second unmanned aerial vehicle), the second unmanned aerial vehicle may carry The requesting device number (such as 1#) of the first UAV, the request serial number (such as the serial number is 2) of the UWB ranging request signal, and the response device number (such as 2#) of the second UAV. In this way, all movable objects in the air can be notified by the UWB ranging response signal that this response is for the first unmanned aerial vehicle (1#), and that the first unmanned aerial vehicle is notified that this response is the first unmanned aerial vehicle. The UWB ranging request signal with the serial number 2 sent by the aircraft also informs the first UAV that it is the second UAV (2#) that responds to the UWB ranging request signal. Through the above method, when there are multiple unmanned aerial vehicles performing ranging at the same time in the air, there will be no confusion, which can ensure the reliability and accuracy of information transmission, shorten the time of ranging, and improve the efficiency of ranging.

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

Specifically, after the movable object receives the ultra-wideband ranging response signal sent by the movable target to the environment, the time T _z2 when the ultra-wideband ranging response signal is received is recorded. In this way, according to the time T _z1 when the movable object broadcasts the ultra-wideband ranging request signal to the environment, the time from the movable object broadcasting the ultra-wideband ranging request signal to the time when the movable object broadcasts the ultra-wideband ranging response signal can be calculated , here, defined as the second time difference, the second time difference ΔT ₂ is (T _z2 -T _z1 )

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

Specifically, the distance between the movable object and the movable target can be determined in the following ways:

Among them, S is the distance between the movable object and the movable target; C is the propagation speed of the UWB signal in the environment.

Take the distance measurement of two unmanned aerial vehicles flying in the air as an example:

The first UAV broadcasts the UWB ranging request signal into the air and records the sending time T _z1 . When there is a second UAV flying in the airspace, it will receive the UWB ranging request signal and record the received time T _m1 . Then, the second unmanned aerial vehicle processes the ultra-wideband ranging request signal, and broadcasts the ultra-wideband ranging response signal to the air and records the time T _m2 of sending. At the same time, the second unmanned aerial vehicle will also process the broadband The processing time ΔT ₁ of the ranging request signal is carried in the UWB ranging response signal and sent to the air. Afterwards, the first unmanned aerial vehicle receives the UWB ranging response signal and records the received time T _z2 , and at the same time calculates the time from the first UWB ranging request signal broadcast to the reception of the movable target broadcast. The time ΔT ₂ between the UWB ranging response signals, and the distance between the two unmanned aerial vehicles is calculated by the above formula (1) according to the above ΔT ₁ and ΔT ₂ .

In the ultra-wideband ranging method applied to movable objects in this embodiment, by using extremely narrow pulses (that is, ultra-wideband signals) to transmit ranging request signals of movable objects and ranging response signals of movable targets, not only the transmission speed It is fast and has suitable penetration for obstacles, which can reduce the influence of complex environments on distance measurement, thereby improving the reaction speed and measurement accuracy of distance measurement between movable objects and movable targets.

Further, this embodiment may also include the following steps:

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

Specifically, the ultra-wideband ranging request signal may be periodically broadcast, and the ultra-wideband ranging response signal returned by the movable target may be received according to the same period, and the available distance may be calculated after receiving the ultra-wideband ranging response signal each time. The distance between the moving object and the movable target.

Taking two unmanned aerial vehicles flying in the air for ranging as an example, the first unmanned aerial vehicle broadcasts an ultra-wideband ranging request signal to the air every T1 time (for example, it may be 1s). The second unmanned aerial vehicle flying in this airspace will receive an ultra-wideband ranging request signal every T1 time, and after processing, it will also broadcast to the air every T1 time. An ultra-wideband ranging response signal in response to the ultra-wideband ranging request signal sent by the unmanned aerial vehicle. The first UAV will also receive the UWB ranging response signal broadcast by the second UAV every T1 time, so as to calculate the distance between the first UAV and the second UAV. That is, the first UAV will obtain an updated distance between the first UAV and the second UAV every T1 time.

According to the above description, it can be seen that by periodically executing the ultra-wideband distance measuring method in Embodiment 1, the change trend of the distance between the movable object and the movable target can be grasped in real time, which provides a basis for subsequent operations.

Preferably, the distance from the movable object to the movable target is recorded in each cycle; and the motion parameters of the movable target are determined according to the recorded distance. Since the distance between the movable object and the movable target is recorded periodically, the qualitative and quantitative data of the distance change between the movable object and the movable object can be obtained, so that the motion parameters of the movable target can be determined. For example, the movement trajectory of the movable object can be obtained by connecting the distance between the movable object and the movable object within a period of time. For another example, the moving speed of the movable object can be calculated according to the distance difference between the movable object and the movable object within a certain period of time. For another example, by calculating the velocity of the movable object at different times, the acceleration of the movable object can be further calculated.

To sum up, by periodically recording the distance between the movable target and the movable object, the motion parameters of the movable target, including the trajectory, speed and acceleration, can be determined, so that the motion parameters can be used to determine The control strategy of the first moving object realizes more precise control of the first object.

Finally, it needs to be explained that in this embodiment, the movable object can locate the relative position of the movable object and the movable object by sending the ultra-wideband ranging request signal and receiving the ultra-wideband ranging response signal of the movable object The methods that can be used include: based on received signal strength (received signal strength, RSS), based on received signal angle of arrival (angle of arrival, AOA), based on received signal time (time/time difference of arrival, TOA/TDOA), AOA and TDOA Any existing method including hybrid localization methods, etc.

Example 2

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

FIG. 2 is a schematic structural diagram of an ultra-wideband ranging device applied to a movable object provided by this embodiment.

As shown in Figure 2, the ultra-wideband ranging equipment of this embodiment includes:

UWB signal transmitter 13, used for broadcasting UWB ranging request signal;

The ultra-wideband signal receiver 15 is used to receive the ultra-wideband ranging response signal broadcast by the movable target, and the ultra-wideband ranging response signal includes the ultra-wideband ranging response signal broadcast by the movable target and the received The first time difference between the UWB ranging request signals;

At least one processor 11 is used individually or jointly for: determining a second time difference between receiving the ultra-wideband ranging response signal and broadcasting the ultra-wideband ranging request signal; according to the first time difference and the The second time difference determines the distance from the movable object to the movable target.

Specifically, the ultra-wideband signal transmitter 13 in this embodiment may be any device or module in the prior art that can realize the ultra-wideband transmission function, and no limitation is made here. Similarly, the ultra-wideband signal receiver 15 of this embodiment may also be any device or module in the prior art that can realize the ultra-wideband receiving function, and no limitation is made here. Moreover, in this embodiment, the UWB signal transmitter 13 and the UWB signal receiver 15 may be two separate devices or modules, or may be integrated devices or modules.

Meanwhile, the processor 11 in this embodiment may be a logic circuit, an integrated circuit or a chip, a single-chip microcomputer, etc. capable of realizing calculation and processing functions in the prior art, and no specific limitation is made here.

In addition, the ultra-wideband ranging method adopted by the ultra-wideband ranging device in this embodiment is the same as that in Embodiment 1. For details, refer to the above-mentioned Embodiment 1, which will not be repeated here.

This embodiment is applied to the ultra-wideband ranging device in the movable object. By using extremely narrow pulses (that is, ultra-wideband signals) to transmit the ranging request signal of the movable object and the ranging response signal of the movable target, not only the transmission speed It is fast and has suitable penetration for obstacles, which can reduce the influence of complex environments on distance measurement, thereby improving the reaction speed and measurement accuracy of distance measurement between movable objects and movable targets.

Example 3

This embodiment provides an ultra-wideband ranging method applied to a movable object, which is used to measure the distance between a movable object and at least one movable object, so as to provide a basis for subsequent operations.

FIG. 3 is a schematic flowchart of the ultra-wideband ranging method applied to a movable target provided by this embodiment.

S201. Receive an ultra-wideband ranging request signal broadcast by a movable object.

Specifically, the movable object may use any suitable method in the prior art to receive the ultra-wideband ranging request signal broadcast by the movable object to the environment from the environment. For example, the movable object can receive the ultra-wideband ranging response signal broadcasted by the movable object from the environment through the ultra-wideband signal receiver installed thereon.

As a further example, the movable target may be an unmanned aerial vehicle, and an ultra-wideband signal receiver is installed on the unmanned aerial vehicle. The above-mentioned ultra-wideband signal receiver detects signals in the environment to receive ultra-wideband signals broadcast by movable objects in the environment. A ranging request signal to respond to the UWB ranging request signal. In addition, the above-mentioned ultra-wideband signal transmitter may be self-contained on the machine, or installed on the machine separately.

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

For example, the movable target is an unmanned aerial vehicle, when the movable target is used to respond to the ultra-wideband ranging request signal of a movable object (such as a second unmanned aerial vehicle), so as to realize the ranging of two unmanned aerial vehicles : the second unmanned aerial vehicle can carry the request device number (such as 1#) of this aircraft when broadcasting the ultra-wideband ranging request signal, and the request serial number of the ultra-wideband ranging request signal sent by the aircraft (such as the serial number is 1). In this way, the UAV can know that the device sending the UWB ranging request signal is the second UAV (1#) after receiving the UWB ranging request signal, and this machine needs to respond to the second UAV. The ultra-wideband ranging request signal with the serial number 1 is not the ultra-wideband ranging request signal with other serial numbers, so as to improve the response efficiency of the UAV to the ultra-wideband ranging request signal, thereby improving the ranging efficiency.

In addition, it should be noted that the request sequence number of the ultra-wideband ranging request signal refers to the number of times the movable object sends the ultra-wideband ranging request signal, which has nothing to do with the interval between two adjacent ultra-wideband ranging request signals, for example, The movable object assigns a sequence number to each sent ultra-wideband ranging request signal according to the time sequence from front to back in the whole life cycle or in the same use cycle. Of course, if the movable object sends the UWB ranging request signal in a periodic sequence, the sending time can be determined directly through the sequence number.

S202. Determine a first time difference between broadcasting the UWB ranging response signal and receiving the UWB ranging request signal.

Specifically, after the movable object receives the ultra-wideband ranging request signal sent by the movable object to the environment in the above steps, it needs to first process the ultra-wideband ranging request signal to determine whether the ultra-wideband ranging request signal needs to be processed. Respond to the request signal. If a response is required, then generate an ultra-wideband ranging response signal corresponding to the ultra-wideband ranging request signal, so that the ultra-wideband ranging can be measured by an ultra-wideband signal sending module (such as an ultra-wideband signal transmitter) on a movable target Response signals are broadcast to the environment. It can be seen from the above that it takes a period of time for the movable object to process the UWB ranging request signal and send the UWB ranging response signal, and this period of time is defined as the first time difference in this embodiment.

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

When the movable target receives the ultra-wideband ranging request signal broadcast by the movable object in the environment, record the time T _m1 of receiving the ultra-wideband ranging request signal; when the movable target broadcasts the ultra-wideband ranging response signal to the environment record the time T _m2 of issuing the ultra-wideband ranging response signal; then the first time difference ΔT ₁ is (T _m2 -T _m1 ).

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

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

As a further example, when the movable object is an unmanned aerial vehicle (the first unmanned aerial vehicle), and the movable target is also an unmanned aerial vehicle (the second unmanned aerial vehicle), the second unmanned aerial vehicle receives the first unmanned aerial vehicle After broadcasting the ultra-wideband ranging request signal in the air, process it, and send an instruction to the ultra-wideband signal transmitter of the machine to control it to broadcast the ultra-wideband ranging response signal including the above-mentioned first time difference to the air, so as to respond A ranging request signal of the first UAV. In this embodiment, the control instruction may be sent by the flight control system of the second UAV, the ground station or the remote controller. In addition, the ultra-wideband signal transmitter can be self-contained in the machine, or installed on the machine separately.

Preferably, broadcasting the ultra-wideband ranging response signal may also include: broadcasting the requesting device number, request sequence number and responding device number included in the ultra-wideband ranging request signal, so as to adapt to situations where there are multiple movable objects in the environment situation, shorten the time of ranging, improve the efficiency of ranging, and improve the reliability of ranging.

For example, when the movable object is an unmanned aerial vehicle (the first unmanned aerial vehicle), and the movable target is also an unmanned aerial vehicle (the second unmanned aerial vehicle), in order to respond to the UWB ranging request signal of the first unmanned aerial vehicle, the first Two UAVs can carry the request device number (such as 1#) of the first UAV when broadcasting the ultra-wideband ranging response signal, the request sequence number (such as the serial number is 2) of the ultra-wideband ranging request signal, and the second The UAV's response device number (such as 2#). In this way, all movable objects in the air can be notified by the UWB ranging response signal that this response is for the first unmanned aerial vehicle (1#), and that the first unmanned aerial vehicle is notified that this response is the first unmanned aerial vehicle. The UWB ranging request signal with the serial number 2 sent by the aircraft also informs the first UAV that it is the second UAV (2#) that responds to the UWB ranging request signal. Through the above method, when there are multiple unmanned aerial vehicles performing ranging at the same time in the air, there will be no confusion, which can ensure the reliability and accuracy of information transmission, shorten the time of ranging, and improve the efficiency of ranging.

This embodiment is applied to the ultra-wideband ranging method for movable objects. By using extremely narrow pulses (that is, ultra-wideband signals) to transmit the ranging request signal of the movable object and the ranging response signal of the movable object, not only the transmission speed It is fast and has suitable penetration for obstacles, which can reduce the influence of complex environments on distance measurement, thereby improving the reaction speed and measurement accuracy of distance measurement between movable objects and movable targets.

Example 4

This embodiment provides an ultra-wideband distance measuring device applied to a movable object, which is used to measure the distance between the movable object and the movable object, so as to provide a basis for subsequent operations.

FIG. 4 is a schematic structural diagram of an ultra-wideband ranging device applied to a movable target provided in this embodiment.

As shown in Figure 2, the ultra-wideband ranging equipment of this embodiment includes:

The ultra-wideband signal receiver 35 is used to receive the ultra-wideband ranging request signal broadcast by the movable object;

At least one processor 31, individually or jointly: determining a first time difference between broadcasting an ultra-wideband ranging response signal and receiving the ultra-wideband ranging request signal;

The ultra-wideband signal transmitter 33 is configured to broadcast an ultra-wideband ranging response signal, where the ultra-wideband ranging response signal includes the first time difference.

Specifically, the ultra-wideband signal receiver 35 in this embodiment may be any device or module in the prior art that can realize the ultra-wideband receiving function, and no limitation is made here. Similarly, the ultra-wideband signal transmitter 33 in this embodiment may also be any device or module in the prior art that can realize the ultra-wideband transmission function, and no limitation is made here. Moreover, in this embodiment, the UWB signal receiver 35 and the UWB signal transmitter 33 may be two separate devices or modules, or may be integrated devices or modules.

Meanwhile, the processor 31 in this embodiment may be a logic circuit, an integrated circuit or a chip, a single-chip microcomputer, etc. capable of realizing calculation and processing functions in the prior art, and no specific limitation is made here.

In addition, the ultra-wideband ranging method adopted by the ultra-wideband ranging device in this embodiment is the same as that in embodiment 3. For details, refer to the above-mentioned embodiment 3, which will not be repeated here.

This embodiment is applied to the ultra-wideband ranging equipment in the movable target. By using extremely narrow pulses (that is, ultra-wideband signals) to transmit the ranging request signal of the movable object and the ranging response signal of the movable target, not only the transmission speed It is fast and has suitable penetration for obstacles, which can reduce the influence of complex environments on distance measurement, thereby improving the reaction speed and measurement accuracy of distance measurement between movable objects and movable targets.

Example 5

This embodiment provides an ultra-wideband ranging method applied between a movable object and a movable target, which is used to measure the distance between the movable object and the movable target to provide a basis for subsequent operations.

FIG. 5 is a schematic diagram of interaction between a movable object and a movable target when performing ultra-wideband distance measurement according to this embodiment.

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

First, the movable object broadcasts a UWB ranging request signal into the environment. Then, after the movable target in the environment receives the ultra-wideband ranging request signal, after a period of time (first time difference) processing, it broadcasts an ultra-wideband ranging response signal in response to the above-mentioned ultra-wideband ranging request signal to the environment , that is, the time between the movable object receiving the ultra-wideband ranging request signal and broadcasting the ultra-wideband ranging response signal is the first time difference. Then, after receiving the UWB ranging response signal, the movable object calculates the time (second time difference) between sending the UWB ranging request signal and receiving the UWB ranging response signal. Finally, the distance between the movable object and the movable target can be calculated according to the above-mentioned second time difference and the first time difference. Of course, the constant of the propagation speed of the ultra-wideband signal in the environment may be used in the calculation, and this A speed is well known to those skilled in the art and can be obtained by consulting relevant technical manuals.

Specifically, how a movable object broadcasts an ultra-wideband ranging request signal to the environment, how a movable object broadcasts an ultra-wideband ranging response signal to the environment, and how to determine the first time difference and the second time difference and calculate the distance between the movable object and the The moving target is the same as the above embodiment, and reference may be made to the detailed description of the above embodiment.

Further, the movable object can periodically broadcast UWB ranging signals to the environment at predetermined time intervals, that is, the movable object continuously broadcasts UWB ranging request signal sequences to the environment, and continuously receives the UWB ranging request signal sequence of the movable object. The ultra-wideband ranging response signal that is broadcast to the environment in response to each ultra-wideband ranging request signal to continuously obtain the distance between the movable object and the movable target, so that the distance between the movable object and the movable object can be obtained. The trend of the distance between targets. It is understandable that the movable target may not respond to every UWB ranging request signal requesting a serial number, for example, the movable target gradually enters the ranging range or gradually moves away from the ranging range, or is movable The target is severely occluded at a certain moment and cannot receive UWB ranging request signals of certain request numbers broadcast by movable objects to the environment. Of course, the above description is also applicable to the process of the movable object receiving the UWB ranging response signal.

Taking two UAVs for ranging as an example, the first UAV continuously broadcasts UWB ranging request signals with request numbers from 1 to 10 to the air for a period of time. The second unmanned aerial vehicle may have received the UWB ranging request signals of the 10 request numbers, and responded to the UWB ranging request signals of the 10 request numbers with the UWB ranging responses of 1 to 10 Signal. If the first unmanned aerial vehicle receives the UWB ranging response signals with the above 10 response numbers, it can be calculated from sending the UWB ranging request signal with the request number 1 to the UWB ranging request with the request number 10. The 10 time points of the signal are the distance between the first UAV and the second UAV, so as to obtain the change trend of the relative distance between the two. In some cases, for example, when the second UAV enters the ranging range when the first UAV sends the UWB ranging request signal with the request sequence number 5, it may only receive UWB ranging request signal. Similarly, the same situation will occur when the first UAV receives the UWB ranging response signal from the second UAV.

In the ultra-wideband ranging method of this embodiment, by using extremely narrow pulses (that is, ultra-wideband signals) to transmit the ranging request signal of the movable object and the ranging response signal of the movable object, not only the transmission speed is fast, but also the obstacle Appropriate penetrating power can reduce the impact of complex environments on distance measurement, thereby improving the reaction speed and measurement accuracy of distance measurement between movable objects and movable targets.

Example 6

This embodiment provides an obstacle avoidance method based on ultra-wideband ranging, which is used for avoiding movable obstacles and avoiding collisions with the movable obstacles.

FIG. 6 is a schematic flowchart of an obstacle avoidance method based on ultra-wideband ranging provided in this embodiment.

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

S301. Broadcast an ultra-wideband ranging request signal.

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

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

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

Specifically, the movable obstacle in this embodiment is equivalent to the movable target in the above embodiment, and step S301 to step S304 are the same as the above embodiment, for details, please refer to the detailed description of the above embodiment, which will not be repeated here repeat.

S305. Instruct the movable object to perform an obstacle avoidance operation in response to the distance.

Specifically, after the distance between the movable object and the movable obstacle is measured, the obstacle avoidance operation of the movable object may be determined according to the distance, so as to avoid the movable obstacle. For example, changing the path, speed or direction of a movable object. Taking the unmanned aerial vehicle as an example further, after measuring the distance between the unmanned aerial vehicle and the movable obstacle, the unmanned aerial vehicle that is going straight can be shifted to a certain angle in one direction, or the distance between the unmanned aerial vehicle and the movable obstacle can be reduced. Velocity, such as hovering at the current location, to avoid movable obstacles. Certainly, the movable object may directly decide to avoid the movable obstacle based on the above distance, or may determine the obstacle avoidance of the movable obstacle in combination with other content. For example, other information of the movable object itself, such as the velocity, acceleration, moving direction or height of the movable object, can be combined to determine the obstacle avoidance of the movable obstacle.

This embodiment is based on the obstacle avoidance method of ultra-wideband ranging, by using extremely narrow pulses (that is, ultra-wideband signals) to transmit the ranging request signal of the movable object and the ranging response signal of the movable obstacle, not only the transmission speed is fast, Moreover, it has a suitable penetrating power for obstacles, which can reduce the impact of complex environments on ranging, thereby improving the reaction speed and measurement accuracy of movable objects to movable obstacles, and then performing obstacle avoidance operations based on the measured distance. To improve the timeliness and accuracy of obstacle avoidance operations and ensure the safety of movable objects.

Preferably, the obstacle avoidance method also includes:

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

Specifically, the distance between the movable object and the movable obstacle is periodically measured at predetermined time intervals, and then the obstacle avoidance operation can be performed according to the distance after each distance is measured. For example, the UWB ranging request signal may be broadcast periodically, and the UWB ranging response signal returned by the movable obstacle may be received according to the same cycle, and the UWB ranging response signal may be calculated each time after receiving the UWB ranging response signal. The distance between the moving object and the movable obstacle, and then perform the obstacle avoidance operation based on this distance.

Taking two unmanned aerial vehicles flying in the air for ranging as an example, the first unmanned aerial vehicle broadcasts an ultra-wideband ranging request signal to the air every T1 time (for example, it may be 1s). The second unmanned aerial vehicle flying in this airspace will receive an ultra-wideband ranging request signal every T1 time, and after processing, it will also broadcast to the air every T1 time. An ultra-wideband ranging response signal in response to the ultra-wideband ranging request signal sent by the unmanned aerial vehicle. The first UAV will also receive the UWB ranging response signal broadcast by the second UAV every T1 time, so as to calculate the distance between the first UAV and the second UAV. That is, the first UAV will obtain an updated distance between the first UAV and the second UAV every T1 time.

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

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

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

Example 7

This embodiment provides an obstacle avoidance method based on ultra-wideband ranging, which is used for avoiding movable obstacles and avoiding collisions with the movable obstacles.

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

Instructing the movable object to send an obstacle reminder in response to the distance being less than the first safety distance.

Specifically, when the calculated distance between the movable object and the movable obstacle is compared with the first safety distance and the distance between the two is found to be smaller than the first safety distance, an alarm signal can be sent by the movable object to warn the Movable obstacles to remind. Further, the alarm signal may be sent to an alarm device of the movable object itself, or may be sent to an alarm device provided on a control device for controlling the movement of the movable object. That is to say, the alarm operation can be to control the alarm device assembled by the movable object itself to alarm, or the movable object can send an alarm signal to a separate alarm device, so that the alarm can be issued through the separate alarm device.

Please refer to Fig. 7. Fig. 7 is a schematic diagram of the interaction between the unmanned aerial vehicle and the ground for the alarm signal provided by this embodiment. Taking the unmanned aerial vehicle as an example: when the unmanned aerial vehicle 51 calculates that the distance between it and the movable obstacle is less than the first When a safe distance is reached, it can send an alarm signal to the remote controller 53 held by the operator or the ground station 55. After the remote controller 53 or the ground station 55 receives the alarm signal, it can perform a text or image alarm, a light alarm or a voice alarm through a display screen, an indicator light or a loudspeaker. Of course, the unmanned aerial vehicle 51 itself can also give an alarm through lights or voice.

Example 8

This embodiment provides an obstacle avoidance method based on ultra-wideband ranging, which is used for avoiding movable obstacles and avoiding collisions with the movable obstacles.

In this embodiment, on the basis of embodiment 6 or embodiment 7, the obstacle avoidance method is improved as follows:

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

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

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

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

Preferably, determining the position of the movable obstacle includes:

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

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

Specifically, in this embodiment, the movable object can arrange ultra-wideband signal receivers in the prior art, such as an array, to realize the acquisition of the receiving angle of the ultra-wideband ranging response signal, so as to determine the possible distance through the receiving angle. The relative position of the moving object and the movable obstacle, that is, determine the pitch angle and horizontal angle of the movable obstacle relative to the movable object. As for which array to use or other methods different from the array, how to calculate the pitch angle and horizontal angle through the receiving angle, and how to calculate the position of the movable obstacle relative to the movable object through the pitch angle, horizontal angle and distance can refer to the actual The content about the positioning of UWB technology in existing technologies will not be repeated here.

Further, on the basis of the above-mentioned embodiments, the above-mentioned obstacle avoidance method also includes:

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

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

Specifically, the attitude of the movable object includes the angle between the movable object and the horizon. Taking an unmanned aerial vehicle as an example, the attitude of the unmanned aerial vehicle refers to its flight attitude, that is, the axis of the unmanned aerial vehicle relative to the ground during flight. corner position. Usually it can be represented by three angles: pitch angle, the angle between the longitudinal axis of the body and the horizontal plane; yaw angle, the angle between the projection of the longitudinal axis of the body on the horizontal plane and the parameter line on the surface; roll angle, the UAV The angle between the plane of symmetry and the vertical plane passing through the longitudinal axis of the body.

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

Taking unmanned aerial vehicles as an example, the following briefly introduces how to integrate the information of inertial sensors and the position of movable obstacles to plan the obstacle avoidance route of unmanned aerial vehicles:

When the first unmanned aerial vehicle detects that its distance from the second unmanned aerial vehicle is within the second safe distance through the ultra-wideband sensor, and by receiving the ultra-wideband ranging response signal sent by the second unmanned aerial vehicle At the same time or after the position of the second UAV is determined, the inertial sensor installed on the first UAV can obtain its own flight attitude, speed and acceleration, so as to design the avoidance of the second UAV route. For example, when the first UAV is decelerating and its speed is not reduced enough to allow the first UAV to load the second UAV, it may continue to fly along the original flight path. When the speed of the first unmanned aerial vehicle is very fast or the acceleration is very large, when the first unmanned aerial vehicle and the second unmanned aerial vehicle will collide, the flight angle of the first unmanned aerial vehicle can be changed, thereby Change its flight radio for obstacle avoidance. In addition, when the first unmanned aerial vehicle will collide with the second unmanned aerial vehicle, but the information obtained from the inertial sensor is that the flight attitude of the first unmanned aerial vehicle is pulling up or diving, and the above-mentioned The flight path of the first UAV will cause it to collide with the second UAV, and the flight path of the first UAV can be changed by slowing down, hovering, diving, or pulling up, so as to achieve obstacle avoidance the goal of.

Further, on the basis of the above-mentioned embodiments, the above-mentioned obstacle avoidance method also includes:

Obtain obstacle information detected by the obstacle avoidance sensor;

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

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

That is to say, the movable object can also measure obstacles in the environment through, for example, one or more of infrared ranging signals, radar ranging signals, and microwave ranging signals. Taking an infrared sensor as an example, the infrared sensor may include infrared signal emitting and receiving diodes. The infrared signal emitting diode installed on the movable object emits infrared rays into the environment, and when the infrared rays irradiate obstacles in front (such as stones, trees, walls, birds, airplanes or cars, etc.), the infrared rays will be reflected back At this time, the infrared signal receiving diode installed on the movable object can capture the emitted infrared rays. In this way, obstacle information such as the distance and position of movable objects and obstacles can be calculated by calculating the time of infrared emission and reception. Then, by integrating the obstacle information measured by the infrared sensor, it is possible to further determine the moving route of the movable object or the distance and position of the fixed obstacle and the movable obstacle in the surrounding environment, thereby optimizing the distance and position of the movable object including the fixed obstacle. and obstacle avoidance routes including movable obstacles.

Moreover, since the information of the same obstacle is obtained through different obstacle avoidance sensors, the obstacle information obtained by each sensor can be calibrated, so as to obtain more accurate distance and position information between the obstacle and the movable object, and then Optimize obstacle avoidance routes for movable objects.

Taking unmanned aerial vehicles as an example, since there are not only other unmanned aerial vehicles but also other obstacles such as trees and walls in the air, and there may also be unmanned aerial vehicles without ultra-wideband ranging modules installed, through ultra-wideband ranging and obstacle avoidance sensors The combination of detection and obstacle information is used to plan suitable obstacle avoidance routes for unmanned aerial vehicles when flying in complex environments, thereby improving the obstacle avoidance capabilities of unmanned aerial vehicles and avoiding the risk of crashes caused by collisions between unmanned aerial vehicles and obstacles .

Example 9

This embodiment provides an obstacle avoidance device based on ultra-wideband ranging, which is used for avoiding movable obstacles and avoiding collisions with the movable obstacles.

FIG. 8 is a schematic structural diagram of an obstacle avoidance device based on ultra-wideband ranging provided in this embodiment.

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

UWB signal transmitter 73, used for broadcasting UWB ranging request signal;

The ultra-wideband signal receiver 75 is used to receive the ultra-wideband ranging response signal broadcast by the movable object, and the ultra-wideband ranging response signal includes the broadcasting of the ultra-wideband ranging response signal by the movable object and the reception of the ultra-wideband ranging response signal The first time difference between the UWB ranging request signals;

At least one processor 71 is used individually or jointly for: determining a second time difference between receiving the ultra-wideband ranging response signal and broadcasting the ultra-wideband ranging request signal; according to the first time difference and the The second time difference determines the distance from the movable object to the movable target; and instructs the movable object to perform an obstacle avoidance operation according to the distance.

Specifically, the ultra-wideband signal transmitter 73 in this embodiment may be any device or module in the prior art that can realize the ultra-wideband transmission function, and no limitation is made here. Similarly, the ultra-wideband signal receiver 75 in this embodiment may also be any device or module in the prior art that can realize the ultra-wideband receiving function, and no limitation is made here. Moreover, in this embodiment, the UWB signal transmitter 73 and the UWB signal receiver 75 may be two separate devices or modules, or may be integrated devices or modules.

Meanwhile, the processor 71 in this embodiment may be a logic circuit, an integrated circuit or a chip, a single-chip microcomputer, etc. capable of realizing calculation and processing functions in the prior art, and no specific limitation is made here. In addition, the processors in this embodiment may be provided independently or integrally.

In this embodiment, the obstacle avoidance device based on ultra-wideband distance measurement transmits the ranging request signal of the movable object and the ranging response signal of the movable obstacle by using a very narrow pulse (that is, an ultra-wideband signal), not only the transmission speed is fast, Moreover, it has a suitable penetrating power for obstacles, which can reduce the impact of complex environments on ranging, thereby improving the reaction speed and measurement accuracy of movable objects to movable obstacles, and then performing obstacle avoidance operations based on the measured distance. To improve the timeliness and accuracy of obstacle avoidance operations and ensure the safety of movable objects.

Further, the processor 71 is also used for:

Instructing the movable object to send an obstacle reminder in response to the distance being less than the first safety distance.

Still further, the processor 71 is also configured to determine the position of the movable obstacle in response to the distance being less than the second safety distance; determine the obstacle avoidance of the movable object according to the position of the movable obstacle route. Specifically, the position of the movable obstacle may be determined according to any prior art.

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

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

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

Finally, it should be noted that, for the obstacle avoidance method implemented by the obstacle avoidance device in this embodiment, reference may be made to the above-mentioned Embodiment 6 to Embodiment 8, which will not be repeated here.

Taking the avoidance of two unmanned aerial vehicles in the air as an example, briefly explain the working process of the obstacle avoidance device in this embodiment:

The flight control system of the first unmanned aerial vehicle controls the ultra-wideband ranging transmitter to send an ultra-wideband ranging request signal to the air. Then, after receiving the ultra-wideband ranging request signal, the ultra-wideband ranging receiver of the second unmanned aerial vehicle sends an ultra-wideband ranging response signal to the air through the ultra-wideband ranging transmitter through the processing of the flight control system. After the ultra-wideband ranging receiver of the first unmanned aerial vehicle receives the ultra-wideband ranging response signal, the flight control system calculates the distance between the two unmanned aerial vehicles, and through the reception of the ultra-wideband ranging response signal Calculate the pitch angle and horizontal angle of the second unmanned aerial vehicle relative to the first unmanned aerial vehicle, and further calculate the position of the second unmanned aerial vehicle through the aforementioned pitch angle and horizontal angle. At the same time, before or after receiving the UWB ranging response signal, the first unmanned aerial vehicle can also pass the obstacle avoidance sensor obstacle information provided on it, wherein the obstacle avoidance sensor can be an infrared sensor, a visual sensor, One or more of the radar sensor and the ultrasonic sensor in the ultrasonic sensor, and the obstacle information may be one or more of fixed obstacle information and movable obstacle information. In addition, the first unmanned aerial vehicle can also obtain the flight attitude, speed and acceleration of the first unmanned aerial vehicle through the inertial sensor provided on it. In this way, the distance between the first UAV and the second UAV obtained by ultra-wideband ranging can be combined with the position of the second UAV, the information obtained by the inertial sensor, and the detection by the obstacle avoidance sensor. Obtained obstacle information can better plan the flight route of UAVs to avoid collisions between UAVs and other UAVs as well as other fixed and movable obstacles in the air, thereby improving the flight safety of UAVs sex. It should be noted that the position of the second UAV, the information obtained by the inertial sensor, and the obstacle information detected by the obstacle avoidance sensor are not necessary for the unmanned obstacle avoidance operation. The type of information can be arbitrarily selected and combined with the distance measured by the UWB signal to improve the obstacle avoidance accuracy of the UAV.

Example 10

This embodiment provides an unmanned aerial vehicle system that can perform ranging by ultra-wideband ranging signals in flight, so as to avoid collisions with movable obstacles during flight.

Fig. 9 is a schematic structural diagram of the unmanned aerial vehicle system provided in this embodiment.

As shown in Figure 9, the unmanned aerial vehicle system 9 provided by this embodiment includes the obstacle avoidance device 91 in the above-mentioned embodiment, which is used to indicate the obstacle avoidance operation; and the power device 93, which is used to drive according to the instruction of the obstacle avoidance device Unmanned aerial vehicles perform obstacle avoidance.

Specifically, the structure, principle and effect of the obstacle avoidance device 91 of this embodiment are the same as those of the above-mentioned embodiment, and details can be referred to the above-mentioned embodiment, and will not be repeated here.

In addition, the power equipment 93 of this embodiment can use any type of power equipment used in existing unmanned aerial vehicles.

The unmanned aerial vehicle system of this embodiment transmits the ranging request signal of the unmanned aerial vehicle system and the ranging response signal of the movable obstacle by using an extremely narrow pulse (that is, an ultra-wideband signal). Objects have appropriate penetration, which can reduce the impact of complex environments on ranging, thereby improving the ranging accuracy and response speed of UAV systems to movable obstacles, and then perform obstacle avoidance operations based on the measured distance to improve the safety of the UAV system. The timeliness and accuracy of the obstacle avoidance operation of the UAV system ensure the safety of the UAV system.

The technical solutions and technical features in each of the above embodiments can be used alone or in combination if they conflict with the present invention, as long as they do not exceed the scope of cognition of those skilled in the art, they all belong to equivalent embodiments within the scope of protection of the present application .

In the several embodiments provided by the present invention, it should be understood that the disclosed related devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

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

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

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for enabling the computer processor 101 (processor) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and other media that can store program codes.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technologies fields, all of which are equally included in the scope of patent protection of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (34)

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：

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.

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：

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.

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

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

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；

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；

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：

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

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：

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.

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：

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.

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；

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

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 transmitter, for broadcasting ultra-broadband ranging request signal；

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：

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；

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.

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

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

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

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.

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

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.

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：

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

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：

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

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.