CN107076826B

CN107076826B - Ultra-broadband ranging method and apparatus, barrier-avoiding method and avoidance equipment

Info

Publication number: CN107076826B
Application number: CN201680003246.1A
Authority: CN
Inventors: 方文钊
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-11-15
Filing date: 2016-11-15
Publication date: 2019-04-23
Anticipated expiration: 2036-11-15
Also published as: WO2018090181A1; CN107076826A

Abstract

A kind of ultra-broadband ranging method applied in loose impediment, comprising: broadcast ultra-broadband ranging request signal；Receive the ultra-broadband ranging response signal broadcasted by movable object, the ultra-broadband ranging response signal include movable object first time for broadcasting the ultra-broadband ranging response signal and receiving between the ultra-broadband ranging request signal it is poor；Determine the second time difference received between the ultra-broadband ranging response signal and the broadcast ultra-broadband ranging request signal；The distance of the loose impediment to the movable object is determined according to the 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.The embodiment of the present invention can be improved the range accuracy between multiple loose impediments, and can be improved the avoidance performance between loose impediment.

Description

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

Technical field

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

Background technique

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

Carrying out ranging to two loose impediments in the prior art is usually to install the whole world in two loose impediments to determine Position system (GPS, Global Positioning System), to obtain the GPS signal of the two loose impediments, and according to Latitude and longitude coordinates information in two GPS signals calculates the linear distance between the two loose impediments.But GPS believes Number be easy the case where being influenced by weather and ambient enviroment, being easy to happen dropout, and GPS signal precision itself compared with Low, general positioning accuracy is several meters to tens meters, it is difficult to meet the requirement under existing application scenarios for range accuracy.

Summary of the invention

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

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

According to some embodiments of the present invention, a kind of ultra-broadband ranging method applied in movable object is provided, is wrapped It includes: receiving the ultra-broadband ranging request signal broadcasted by loose impediment；Determine broadcast ultra-broadband ranging response signal and reception It is poor to the first time between the ultra-broadband ranging request signal；Ultra-broadband ranging response signal is broadcasted, the ultra wide band is surveyed Away from response signal include the first time it is poor.

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

According to some embodiments of the present invention, a kind of ultra-broadband ranging equipment applied in movable object is provided, It is characterized in that, comprising: 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: determining broadcast ultra-broadband ranging response signal and receives the ultra-wide It is poor with the first time between distance measurement request signal；Ultra-broadband signal transmitter, for broadcasting ultra-broadband ranging response signal, institute State ultra-broadband ranging response signal include the first time it is poor.

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

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

According to some embodiments of the present invention, a kind of unmanned vehicle system is provided, comprising: above-mentioned avoidance equipment is used for Indicate avoidance operation；And power-equipment, for driving the unmanned vehicle to carry out avoidance according to the instruction.

The technical solution of embodiment according to the present invention in loose impediment and is moved by using ultra-broadband signal Ranging is carried out between target, improves the avoidance performance between range accuracy and loose impediment.

Detailed description of the invention

Described in detail below, the above and other objects, features and advantages general of the embodiment of the present invention by referring to accompanying drawing It becomes more clearly understood from.In the accompanying drawings, by by example and it is unrestricted in a manner of multiple embodiments of the invention are said It is bright, in which:

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

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

Fig. 3 be another embodiment of the present invention provides the process of the ultra-broadband ranging method applied in movable object show It is intended to；

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

Interaction when Fig. 5 is the loose impediment that one embodiment of the invention provides and movable object progress ultra-broadband ranging Schematic diagram；

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

Fig. 7 is the schematic diagram when unmanned vehicle that one embodiment of the invention provides is interacted with ground progress alarm signal；

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

Fig. 9 is the structural schematic diagram for the unmanned vehicle system that one embodiment of the invention provides.

Specific embodiment

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.

It should be understood that the following examples, which are not intended to limit the step of method that the present invention is protected, executes sequence.This Each step of the method for invention with any possible sequence and can execute in a circulating manner.

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

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

Embodiment 1

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

Fig. 1 is the flow diagram of the ultra-broadband ranging method provided in this embodiment applied in loose impediment.

As shown in Figure 1, ultra-broadband ranging method provided in this embodiment, comprising:

S101, broadcast ultra-broadband ranging request signal.

Specifically, any way in the prior art, which can be used, in loose impediment broadcasts ultra-broadband ranging request into environment Signal.For example, loose impediment can broadcast ultra-broadband ranging request signal into environment by ultra-broadband signal transmitter.

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

Preferably, ultra-broadband ranging request signal is broadcasted, comprising: broadcast includes in the ultra-broadband ranging request signal Request device number and request serial number.

For example, loose impediment is unmanned vehicle, when the unmanned vehicle to movable object (such as the second frame nobody Aircraft) carry out ranging when, can be carried when broadcasting ultra-broadband ranging request signal the machine request device number (such as 1#), and, the request serial number (such as Serial No. 1) of ultra-broadband ranging request signal.That is, by above-mentioned request device number and Request serial number is modulated in ultra-broadband ranging request signal.In this way, can inform sky by the ultra-broadband ranging request signal In the movable object equipment that sends the ultra-broadband ranging request signal be 1# unmanned vehicle, and inform its movable object Need to respond unmanned vehicle sending Serial No. 1 ultra-broadband ranging request signal, rather than the unmanned vehicle issue The ultra-broadband ranging request signal of other sequences number is surveyed to improve the specific aim of ultra-broadband ranging request signal to improve Away from efficiency.

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

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

Surpassed specifically, loose impediment can be received by any way in the prior art by what movable object was broadcasted Broadband ranging response signal.For example, loose impediment can be connect from environment by the ultra-broadband signal receiver installed thereon Receive the ultra-broadband ranging response signal being broadcast to by movable object.

In further example, loose impediment can be unmanned vehicle, be equipped with ultra wide band on the unmanned vehicle Signal receiver, the signal that above-mentioned ultra-broadband signal is picked in device detection environment are broadcast in environment with receiving by movable object Ultra-broadband ranging response signal.In addition, above-mentioned ultra-broadband signal transmitter can be what the machine carried, it is also possible to individually pacify In the machine.

It is appreciated that movable object is in the ultra-broadband ranging request signal for receiving loose impediment and being sent in environment Certain processing time is needed to broadcasting ultra-broadband ranging response signal into environment again, and this time is in the present embodiment It is poor at the first time to be defined as.Certainly, movable object can by any way in the prior art by above-mentioned first when Between difference record, and ultra-broadband ranging response signal is loaded into be sent to ring by usual manner in the prior art In border, so as to receive above-mentioned first time from environment poor for the ultra-broadband signal receiver of movable object.

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

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

Preferably, described to receive the ultra-broadband ranging response signal broadcasted by movable object, comprising: reception is included in institute State the request device number in ultra-broadband ranging request signal, the request serial number and with response apparatus number, to adapt to ring There is the case where multiple loose impediments in border, shorten the time of ranging, improves ranging efficiency, and promote the reliability of ranging.

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

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

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

S104, determine that the loose impediment is moved to described according to the first time poor and described second time difference The distance of target.

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

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

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

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

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

Further, the present embodiment can with the following steps are included:

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

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

By taking the two frame unmanned vehicles to fly in the sky carry out ranging as an example, first unmanned vehicle is every the T1 time (such as can be 1s) is to ultra-broadband ranging request signal of air broadcast.The the second frame unmanned flight to fly in the airspace Device also just will receive a ultra-broadband ranging request signal every the T1 time accordingly, after treatment, also can be every T1 The ultra wide band that time is responded to the ultra-broadband ranging request signal that air broadcast once sends first unmanned vehicle Ranging response signal.First unmanned vehicle also will receive the second frame unmanned vehicle broadcast every the T1 time Ultra-broadband ranging response signal, to calculate the distance of first unmanned vehicle and the second frame unmanned vehicle.That is, the One frame unmanned vehicle will obtain the first unmanned vehicle and the second frame unmanned vehicle of a update every the T1 time The distance between.

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

Preferably, the distance of loose impediment described in each period to the movable object is recorded；According to being recorded Distance determine the kinematic parameter of the movable object.Due to periodically have recorded loose impediment and movable object it Between distance, can obtain the distance between movable object and loose impediment variation qualitative, quantitative data, thus can To determine the kinematic parameter of movable object.For example, can by by movable object and loose impediment whithin a period of time Distance carry out line, to obtain the motion profile of movable object.In another example being existed by movable object and loose impediment Range difference in one determining time can calculate the movement velocity of movable object.For another example by calculating removable mesh The speed of mark different time can further calculate out the acceleration of movable object.

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

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

Embodiment 2

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

Fig. 2 is the structural schematic diagram of the ultra-broadband ranging equipment provided in this embodiment applied in loose impediment.

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

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

Ultra-broadband signal receiver 15, it is described for receiving the ultra-broadband ranging response signal broadcasted by movable object Ultra-broadband ranging response signal includes that the movable object is broadcasted the ultra-broadband ranging response signal and received described super First time between the distance measurement request signal of broadband is poor；

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

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

Meanwhile the processor 11 of the present embodiment can be the logic electricity that can be realized calculation processing function in the prior art Road, integrated circuit or chip, single-chip microcontroller etc. do not do specific restriction to it at this yet.

In addition, the ultra-broadband ranging method that the ultra-broadband ranging equipment in the present embodiment uses is same as Example 1, specifically It can be found in above-described embodiment 1, details are not described herein.

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

Embodiment 3

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

Fig. 3 is the flow diagram of the ultra-broadband ranging method provided in this embodiment applied in movable object.

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

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

In further example, movable object can be unmanned vehicle, be equipped with ultra wide band on the unmanned vehicle Signal receiver, above-mentioned ultra-broadband signal receiver detect the signal in environment to receive in environment by loose impediment broadcast Ultra-broadband ranging request signal, to be responded to ultra-broadband ranging request signal.In addition, above-mentioned ultra-broadband signal transmitter can To be that the machine is included, it is also possible to be arranged separately in the machine.

It preferably, may include: the request equipment for broadcasting ultra-broadband ranging request signal in ultra-broadband ranging request signal Number and request serial number.

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

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

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

Specifically, when movable object receives the ultra-broadband ranging that loose impediment in above-mentioned steps is sent in environment It after request signal, needs first to handle the ultra-broadband ranging request signal, to determine the need for surveying the ultra wide band It is responded away from request signal.If you need to respond, then generates ultra-broadband ranging corresponding with the ultra-broadband ranging request signal and ring Induction signal, will pass through the ultra-broadband signal sending module on movable object (such as ultra-broadband signal transmitter) for the ultra-wide Band ranging response signal is broadcast in environment.It can be seen from the above, movable object is arrived in the processing ultra-broadband ranging request signal It sends ultra-broadband ranging response signal and needs a period of time, it is poor at the first time to be defined as this period in the present embodiment.

For example, above-mentioned first time poor can determine in the following manner:

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

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

Specifically, any way in the prior art, which can be used, in movable object broadcasts ultra-broadband ranging request into environment Signal.For example, movable object can broadcast ultra-broadband ranging response signal into environment by ultra-broadband signal transmitter.

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

Preferably, the ultra-broadband ranging response signal is broadcasted, can also include: that broadcast is included in ultra-broadband ranging request Request device number, request serial number and response apparatus number in signal, thus adapt to have the case where multiple loose impediments in environment, Shorten the time of ranging, improves ranging efficiency, and promote the reliability of ranging.

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

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

Embodiment 4

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

Fig. 4 is the structural schematic diagram of the ultra-broadband ranging equipment provided in this embodiment applied in movable object.

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

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

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

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

Meanwhile the processor 31 of the present embodiment can be the logic electricity that can be realized calculation processing function in the prior art Road, integrated circuit or chip, single-chip microcontroller etc. do not do specific restriction to it at this yet.

In addition, the ultra-broadband ranging method that the ultra-broadband ranging equipment in the present embodiment uses is same as Example 3, specifically It can be found in above-described embodiment 3, details are not described herein.

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

Embodiment 5

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

Interaction signal when Fig. 5 is loose impediment provided in this embodiment and movable object progress ultra-broadband ranging Figure.

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

Firstly, ultra-broadband ranging request signal is broadcasted in loose impediment into environment.Then, the movable object in environment After receiving the ultra-broadband ranging request signal, broadcasts and ring into environment again after the processing of (poor at the first time) through after a period of time The ultra-broadband ranging response signal of above-mentioned ultra-broadband ranging request signal is answered, that is, movable object is receiving ultra wide band survey It is poor at the first time away from the time between request signal and broadcast ultra-broadband ranging response signal.Subsequently, loose impediment connects After receiving the ultra-broadband ranging response signal, calculates and send ultra-broadband ranging request signal and receive ultra-broadband ranging response The time it takes (the second time difference) between signal.Finally, according to above-mentioned second time difference, at the first time poor can calculate The distance between loose impediment and movable object out may use ultra-broadband signal in the environment when calculating certainly This constant of spread speed, and this speed be to those skilled in the art it is well known, can pass through and inquire related skill Art handbook obtains.

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

Further, loose impediment can periodically broadcast ultra-broadband ranging letter into environment at predetermined intervals Number, that is, ultra-broadband ranging request signal sequence is continuously broadcasted in loose impediment into environment, and continuously receive removable mesh The ultra-broadband ranging response signal responded to each ultra-broadband ranging request signal being broadcast in environment is marked, with continuous Acquisition loose impediment and the distance between movable object, so as to obtain between loose impediment and movable object Distance change trend.It is understood that movable object may not be that can survey to the ultra wide band of each request serial number It is all responded away from request signal, for example the movable object progresses into ranging range or is gradually distance from ranging range, again Or movable object is seriously blocked at a certain moment and can not receive certain requests that loose impediment is broadcast in environment The ultra-broadband ranging request signal of serial number.Certainly, above description is applied equally to loose impediment and receives ultra-broadband ranging sound The process of induction signal.

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

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

Embodiment 6

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

Fig. 6 is the flow diagram of the barrier-avoiding method provided in this embodiment based on ultra-broadband ranging.

As shown in fig. 6, ultra-broadband ranging method provided in this embodiment, comprising:

S301, broadcast ultra-broadband ranging request signal.

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

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

S304, determine that the loose impediment is moved to described according to the first time poor and described second time difference The distance of barrier.

Specifically, the movable obstruction in the present embodiment is equal to the movable object in above-described embodiment, also, walk Rapid S301 is same as the previously described embodiments to step S304, and for details, reference can be made to the detailed descriptions of above-described embodiment, and details are not described herein.

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

Specifically, can determine according to this distance can after measuring the distance of loose impediment and movable obstruction The avoidance of mobile object operates, to evade the movable obstruction.For example, change loose impediment movement routine, speed or Person direction etc..Further by taking unmanned vehicle as an example, after being measured to the distance between unmanned vehicle and movable obstruction, The unmanned vehicle of straight trip can be made to be angularly offset toward a direction, or also can reduce the speed of the unmanned vehicle Degree, for example current location is hovered over, to evade movable obstruction.Certainly, loose impediment can be only according to above-mentioned distance It directly determines to carry out avoidance to movable obstruction, the avoidance to movable obstruction can also be determined in conjunction with other content. Such as can in conjunction with the other information of loose impediment itself, such as the speed, acceleration of loose impediment, moving direction or Height etc., to determine the avoidance to movable obstruction.

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

Preferably, the barrier-avoiding method further include:

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

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

From the above description, it can be seen that passing through the barrier-avoiding method for periodically executing above-described embodiment, so that it may grasp in real time The variation tendency of distance between loose impediment and movable obstruction provides better foundation for avoidance operation.

Preferably, the distance of loose impediment described in each period to the movable obstruction is recorded；According to being remembered The distance of record determines the kinematic parameter of the movable obstruction.Due to periodically having recorded loose impediment and removable barrier Hinder the distance between object, the distance between movable obstruction and loose impediment variation qualitative, quantitative data can be obtained, To be assured that the kinematic parameter of movable obstruction.For example, can be by by movable obstruction and loose impediment Distance whithin a period of time carries out line, to obtain the motion profile of movable obstruction.In another example by moving obstacle The range difference of object and loose impediment within one determining time can calculate the movement velocity of movable obstruction.Example again Such as, the acceleration of movable obstruction can be further calculated out by calculating the speed of movable obstruction different time.

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

Embodiment 7

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

In response to the distance less than the first safe distance, indicate that the loose impediment sends barrier and reminds.

Specifically, at a distance from the loose impediment being calculated with movable obstruction compared with the first safe distance after It was found that both distance when being less than first safe distance, then an alarm signal can be issued by loose impediment with can to this Moving obstacle is reminded.Furthermore, it is understood that the alarm signal can be destined to the warning device of loose impediment itself, It is also possible to be sent to for controlling warning device set on the mobile control device of the loose impediment.In other words, Alarm operation can be the warning device alarm of control loose impediment itself assembly, be also possible to loose impediment toward individually Warning device send alarm signal, to be alarmed by this individual warning device.

Referring to Fig. 7, Fig. 7 is signal when unmanned vehicle provided in this embodiment is interacted with ground progress alarm signal Figure, by taking unmanned vehicle as an example: when unmanned vehicle 51 calculate its at a distance from movable obstruction less than first safety away from From when, then its remote controler 53 that can be held to operator or earth station 55 send an alarm signal.Remote controler 53 or After earth station 55 receives the alarm signal, text or image can carried out by display screen, indicator light or loudspeaker Alarm, light warning either audio alert.Certainly, the unmanned vehicle 51 itself can also be carried out by light or voice Alarm.

Embodiment 8

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

In response to the distance less than the second safe distance, the position of the movable obstruction is determined；

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

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

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

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

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

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

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

Further, on the basis of the above embodiments, above-mentioned barrier-avoiding method further include:

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

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

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

By getting the posture of loose impediment, speed, the position of acceleration and movable obstruction can will These informixes determine the avoidance route of loose impediment together.

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

When first unmanned vehicle detected by ultra-wide band sensor its at a distance from the second frame unmanned vehicle When within the second safe distance, and the acceptance angle by receiving the ultra-broadband ranging response signal that the second frame unmanned vehicle is sent While degree has determined the position of the second frame unmanned vehicle or later, it can be installed by first unmanned vehicle itself Inertial sensor obtain itself flight attitude, speed and acceleration, thus rule of the design to the second frame unmanned vehicle Keep away route.For example, slowing down when first unmanned vehicle, and the degree that reduces of its speed be insufficient to allow first nobody When aircraft loads onto the second frame unmanned vehicle, then it can continue to fly according to former flight path.When first unmanned vehicle Speed quickly or when acceleration is very big, when first unmanned vehicle and the second frame unmanned vehicle can collide, then It can be by changing the flight angle of first unmanned vehicle, to change its flight wirelessly, to carry out avoidance.In addition, working as The information that first unmanned vehicle can collide with the second frame unmanned vehicle, but get from inertial sensor is this The flight attitude of first unmanned vehicle is when drawing high or diving, and above-mentioned first unmanned vehicle flies Walking along the street line will cause it and collide with the second frame unmanned vehicle, then can deceleration, hovering or underriding, draw high by way of change The flight path for becoming first unmanned vehicle, to realize the purpose of avoidance.

Obtain the obstacle information detected by obstacle avoidance sensor；

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

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

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

Also, due to the information for obtaining the same barrier by different obstacle avoidance sensors, so that it may by each sensing The obstacle information that device obtains is calibrated, and obtains more accurate barrier at a distance from loose impediment and position to obtain Information, and then optimize the avoidance route of loose impediment.

By taking unmanned vehicle as an example, due to not only there is other unmanned vehicles in the air, there are also other obstacles such as trees, wall Object, but also there may be the unmanned vehicles for being fitted without ultra-broadband ranging module, are sensed by ultra-broadband ranging and avoidance The mode that device detection obstacle information combines is that unmanned vehicle plans suitable avoidance route in complex environment when flight, To improve the obstacle avoidance ability of unmanned vehicle, unmanned vehicle and barrier is avoided to collide and the danger of air crash occur.

Embodiment 9

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

Fig. 8 is the structural schematic diagram of the avoidance equipment provided in this embodiment based on ultra-broadband ranging.

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

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

Ultra-broadband signal receiver 75, it is described for receiving the ultra-broadband ranging response signal broadcasted by movable object Ultra-broadband ranging response signal includes that the movable object is broadcasted the ultra-broadband ranging response signal and received described super First time between the distance measurement request signal of broadband is poor；

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

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

Meanwhile the processor 71 of the present embodiment can be the logic electricity that can be realized calculation processing function in the prior art Road, integrated circuit or chip, single-chip microcontroller etc. do not do specific restriction to it at this yet.In addition, the processor of the present embodiment can With individual or be wholely set.

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

Further, the processor 71 is also used to:

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

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

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

Further, above-mentioned avoidance equipment further includes obstacle avoidance sensor, the obstacle information for detection.Specifically, keeping away Hindering sensor may include: one of visual sensor, infrared sensor, ultrasonic sensor and radar sensor or more Kind.Preferably, processor 71 is also used to keep away according to the determination of the position of the obstacle information and the movable obstruction Hinder route.

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

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

The flight control system of first unmanned vehicle controls ultra-broadband ranging transmitter and asks to the aerial ultra-broadband ranging that sends Seek signal.Then, after the ultra-broadband ranging receiver of the second frame unmanned vehicle receives the ultra-broadband ranging request signal, warp The processing for crossing flight control system sends ultra-broadband ranging response signal to aerial by ultra-broadband ranging transmitter.First nobody fly After the ultra-broadband ranging receiver of row device receives the ultra-broadband ranging response signal, by flight control system calculate this two frame nobody The distance of aircraft, and the second frame unmanned vehicle is calculated relative to the by receiving angle to ultra-broadband ranging response signal The pitch angle and horizontal angle of one frame unmanned vehicle, and the second frame is further calculated by above-mentioned pitch angle and horizontal angle The position of unmanned vehicle.While receiving ultra-broadband ranging response signal, before or after, first unmanned flight Device can also pass through the information for the obstacle avoidance sensor barrier being arranged thereon, wherein obstacle avoidance sensor can for infrared sensor, One or more of ultrasonic sensor in visual sensor, radar sensor and ultrasonic sensor, and hinder Object information is hindered to can be one or more of information and movable obstruction information of fixed obstacle.In addition, first Unmanned vehicle can also get flight attitude, the speed of first unmanned vehicle by the inertial sensor being arranged thereon And acceleration.In this manner it is possible to the first unmanned vehicle and the second frame unmanned vehicle that are obtained according to ultra-broadband ranging Distance, the information and obstacle avoidance sensor got in conjunction with the position of the second frame unmanned vehicle, inertial sensor detect Obstacle information can plan the flight path of unmanned vehicle preferably to avoid unmanned vehicle and nobody fly other Row device and other aerial fixed obstacles and movable obstruction collide, to improve the flight peace of unmanned vehicle Quan Xing.It should be noted that information and the avoidance sensing that the position of the second frame unmanned vehicle, inertial sensor are got The obstacle information that device detects not is to be necessary to unmanned progress avoidance operation, can be in above three type when specifically used Information in arbitrarily select and combined at a distance from being measured by ultra-broadband signal to improve the avoidance precision of unmanned vehicle.

Embodiment 10

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

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

As shown in figure 9, unmanned vehicle system 9 provided in this embodiment, including the avoidance equipment 91 in above-described embodiment, It is used to indicate avoidance operation；And power-equipment 93, for driving unmanned vehicle to be kept away according to the instruction of avoidance equipment Barrier.

Specifically, the structure of the avoidance equipment 91 of the present embodiment, principle and its effect are same as the previously described embodiments, specifically may be used With referring to above-described embodiment, details are not described herein.

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

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

Technical solution, technical characteristic in above each embodiment with can be independent in this conflicting situation, or Person is combined, as long as belonging to the equivalent reality in the application protection scope without departing from the cognitive range of those skilled in the art Apply example.

In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong Other modes are crossed to realize.For example, the apparatus embodiments described above are merely exemplary, for example, the module or list Member division, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or Component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point is shown The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or unit Coupling or communication connection are connect, can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words It embodies, which is stored in a storage medium, including some instructions are used so that computer disposal Device 101 (processor) performs all or part of the steps of the method described in the various embodiments of the present invention.And storage medium above-mentioned It include: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), the various media that can store program code such as disk or CD.

The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills Art field, is included within the scope of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims

1. a kind of barrier-avoiding method based on ultra-broadband ranging characterized by comprising

Ultra-broadband ranging request signal is broadcasted, the ultra-broadband ranging request signal includes: request device number and request serial number；

Receive the ultra-broadband ranging response signal broadcasted by multiple movable obstructions, the ultra-broadband ranging response signal packet Include: the movable obstruction broadcast the ultra-broadband ranging response signal and receive the ultra-broadband ranging request signal it Between first time is poor, the request device number, the request serial number and response apparatus number；

When determination receives second between the ultra-broadband ranging response signal and the broadcast ultra-broadband ranging request signal Between it is poor；

According to the first time is poor, second time difference and the response apparatus number determine loose impediment to sending It include the distance of the movable obstruction of the response apparatus number in the ultra-broadband ranging response signal；

Indicate that the loose impediment executes avoidance operation according to the distance, wherein described according to the distance instruction Loose impediment executes avoidance operation, comprising:

In response to the distance less than the second safe distance, the position of the movable obstruction is determined；Wherein, the determining institute State the position of movable obstruction, comprising:

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

It can according to the determination of the distance of the pitch angle, horizontal angle and the loose impediment to the movable obstruction Position of the moving obstacle relative to the loose impediment；

Obtain the obstacle information detected by obstacle avoidance sensor；

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

2. barrier-avoiding method according to claim 1, which is characterized in that described to indicate the mobile article according to the distance Body executes avoidance operation, comprising:

3. barrier-avoiding method according to claim 1, which is characterized in that the barrier-avoiding method further include:

According to the determination of the position of the posture, speed, acceleration, the avoidance object information and the movable obstruction Avoidance route.

4. barrier-avoiding method according to claim 3, which is characterized in that described to obtain the barrier detected by obstacle avoidance sensor Information, comprising:

It obtains by the barrier of at least one detection in visual sensor, infrared sensor, ultrasonic sensor and radar sensor Hinder object information.

5. barrier-avoiding method according to any one of claims 1 to 4, which is characterized in that at predetermined intervals periodically Ground executes the barrier-avoiding method.

6. a kind of avoidance equipment based on ultra-broadband ranging characterized by comprising

Ultra-broadband signal transmitter, for broadcasting ultra-broadband ranging request signal, the ultra-broadband ranging request signal includes: to ask Ask device number and request serial number；

Ultra-broadband signal receiver, it is described for receiving the ultra-broadband ranging response signal broadcasted by multiple movable obstructions Ultra-broadband ranging response signal includes: that the movable obstruction is broadcasted the ultra-broadband ranging response signal and received described First time between ultra-broadband ranging request signal is poor, the request device number, the request serial number and response apparatus number；

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

Indicate that the loose impediment executes avoidance operation according to the distance；Wherein, described according to the distance instruction Loose impediment executes avoidance operation, comprising:

Obtain the obstacle information detected by obstacle avoidance sensor；

7. avoidance equipment according to claim 6, which is characterized in that the processor is also used to:

8. avoidance equipment according to claim 6, which is characterized in that the avoidance equipment further include:

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

9. avoidance equipment according to claim 8, which is characterized in that the processor is also used to:

10. according to the described in any item avoidance equipment of claim 6 to 9, which is characterized in that the obstacle avoidance sensor, comprising: view Feel at least one in sensor, infrared sensor, ultrasonic sensor and radar sensor.

11. a kind of unmanned vehicle system characterized by comprising

The avoidance equipment according to any one of claim 6 to 10 is used to indicate avoidance operation；

Power-equipment, for driving the unmanned vehicle to carry out avoidance according to the instruction.