Flight equipment anti-collision method, equipment and security system based on position discrimination by listening

Abstract

The invention belongs to the technical field of flight security, in particular relates to a flight equipment anti-collision method, device and security system based on position discrimination by listening, and aims to solve the effective obstacle avoidance problem when flight equipment encounters a non-cooperative dynamic obstacle while flying in the air. The system in the invention comprises a processor, an auditory module, a flight power module, a visual module and a navigation module; the auditory module comprises a sound collection module, a noise processing module, a sound source locating module and a speed vector module; and the visual module comprises an image acquisition module and an image identification module. According to the flight equipment anti-collision method, equipment and security system based on position discrimination by listening in the invention, the sound information of the dynamic obstacle is detected through the auditory module; the flight state of the dynamic obstacle is processed and determined; then, with the help of information assistance of the visual module, the navigation module and the like, the processor determines whether collision will occur or not according to an anti-collision algorithm; therefore, for the purpose of avoiding collision of the dynamic obstacle, the flight scheme of the flight equipment is adjusted; and in addition, unmanned flight equipment effectively realizes obstacle avoidance of the non-cooperative dynamic obstacle.

Description

technical field [0001] The invention belongs to the technical field of flight safety, and in particular relates to an anti-collision method and equipment and a safety system for flight equipment based on audio position identification. Background technique [0002] In recent years, unmanned aerial vehicles (UAVs) have been widely used in civilian fields, and have been widely used in public safety, emergency search and rescue, forestry, environmental protection, transportation, communications, meteorology, film and television, aerial photography and other fields. In some dull, dirty or dangerous tasks, drones often play an important role. They can replace people to complete tasks that many people cannot complete. It is widely used in many industries, both military and civilian. [0003] With the rapid development of UAV technology, UAV flying in the whole airspace has become an inevitable trend of its application. However, when UAVs fly in non-segregated airspace, various dy...

AI Technical Summary

Problems solved by technology

However, the detection field of view of radar and EO / IR sensors is limited, and the detection performance is affected by the attitude of the drone, so there are blind spots. For example, when turning on a slope, the field of view will rotate on the horizontal plane with the roll angle, resulting in many intrusion targets being undetectable.

Although binocular vision detection is not affected by the attitude of the UAV, the effective detection distance is too short, far from the safe distance for aircraft collision avoidance, and the detection distance is too short, so that the UAV cannot detect intruding aircraft in time and effectively avoid noncooperative dynamic disorder

At the same time, binocular vision detection has relatively strict requirements on light, and it cannot detect the external field of view well in places with strong light or dark

Moreover, the air environment is complex and changeable, UAVs may be subject to unpredictable aerodynamic interference, and the conditions for good image acquisition are relatively harsh

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