Obstacle avoidance system for swarm aircraft based on laser radar

Abstract

The present invention is applicable to the field of aircraft obstacle avoidance technology, and in particular to a cluster aircraft obstacle avoidance system based on laser radar, the system comprising: a dynamic calibration device, a route planning device and a cluster coordination device; the dynamic calibration device is used to divide the mission area of ​​the cluster aircraft, use the laser radar to scan the distribution of obstacles in the mission area, and integrate the preset environmental level division rules, in the mission area, calibrate at least one environmental level, and construct a dynamic adjustment mechanism for the environmental level. The present invention can simplify obstacle detection, improve obstacle avoidance accuracy and flight safety by slicing the mission area, and can further optimize the obstacle avoidance path and enhance mission control by determining the detour area, detour starting point and detour end point. By creating a linked list, the collaborative efficiency of cluster aircraft can be improved, which is convenient for centralized resource management and greatly enhances flight safety.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft obstacle avoidance, and in particular to a laser radar-based cluster aircraft obstacle avoidance system. Background Art

[0002] LiDAR-based swarm aircraft obstacle avoidance technology refers to the use of LiDAR for high-precision environmental perception, generating real-time three-dimensional maps by scanning the surrounding environment, thereby detecting and identifying obstacles in the flight path. However, LiDAR detection also has its limitations. In areas with dense obstacles, point cloud data may become very dense, resulting in a very small distance between points, complicating data processing and making it difficult to distinguish closely arranged obstacles.

[0003] Horizontal slicing of the flight area can effectively solve the above-mentioned technical problems. This can help cluster aircraft accurately identify obstacles in the area and avoid obstacle avoidance difficulties caused by uneven distribution of obstacles. It can also reduce the possibility of missed detection or misjudgment. Therefore, "how to slice the mission area and guide cluster aircraft" is the technical problem that the present invention needs to solve. Summary of the invention

[0004] The purpose of the present invention is to provide a laser radar-based swarm aircraft obstacle avoidance system to solve the problem of "how to slice the mission area and guide the swarm aircraft" raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A laser radar-based swarm aircraft obstacle avoidance system, the system comprising:

[0007] Dynamic calibration equipment, route planning equipment and cluster coordination equipment;

[0008] The dynamic calibration device is used to divide the mission area of ​​the swarm aircraft, use the laser radar to scan the distribution of obstacles in the mission area, and integrate the preset environment level division rules to calibrate at least one environment level in the mission area, and construct a dynamic adjustment mechanism for the environment level;

[0009] The route making device is used to divide the mission area horizontally into a plurality of slices and determine the thickness of the slices, wherein the higher the environmental level, the smaller the slice thickness, map obstacles into the slices to obtain a detour area, mark mission points in the mission area, and make a flight route. If the flight route passes through the detour area, insert a detour start point and a detour end point on the edge side of the detour area, embed a jump mechanism, and update the flight route;

[0010] The cluster coordination device is used to transfer the cluster aircraft to the slice, configure the minimum safety distance for each aircraft, select the pilot aircraft, establish nodes corresponding to the slices one by one, and transfer the flight parameters of the pilot aircraft in each slice to the corresponding node, integrate all the nodes, generate a linked list, and hang the cluster aircraft on the linked list.

[0011] Furthermore, the dynamic calibration device includes:

[0012] A scanning module is used to determine the boundary of the task area, divide the depth, and scan the obstacles within each depth;

[0013] The determination module is used to collect point cloud data of obstacles using laser radar and determine surface data of obstacles, wherein the surface data at least includes: spatial coordinates, height and width.

[0014] Furthermore, the dynamic calibration device includes:

[0015] Establishing a module for vertically dividing the area into a number of blocks, marking the priority of each block, and determining the density of obstacles in each block;

[0016] The integration module is used to configure the mapping relationship between the density and the environmental level, compare the changes of obstacles in the task area, and dynamically adjust the environmental level.

[0017] Furthermore, the route planning device includes:

[0018] A correction module, used to determine the risk coefficient of the blocks in each slice and correct the flight parameters;

[0019] The offset module is used to extract the blocks containing obstacles and insert the anti-collision warning grid and the waypoints. When the aircraft passes over the anti-collision warning grid, the flight path of the aircraft is offset by using the waypoints.

[0020] Furthermore, the route planning device includes:

[0021] A comparison module, used for collecting attribute data of the slices and constructing a comparison table of slice thickness, wherein the comparison table at least includes: a position item, a density item, an environmental level item and a thickness item;

[0022] The adjustment module is used to query the reference table to obtain the thickness of the slice when the density of the obstacle in the block is calculated, and adjust the thickness of each slice according to the surface data of the obstacle.

[0023] Furthermore, the route planning device also includes:

[0024] A construction module is used to divide the flight route into a plurality of segments with the slices as intervals, and to construct a transition zone between the segments and the starting point of the circumvention flight;

[0025] The correction module is used to obtain the device attributes of the cluster aircraft, embed the motion restrictions into the slices, and use the motion restrictions to correct the segments and flight parameters in the slices.

[0026] Furthermore, the cluster coordination device includes:

[0027] A classification module, used for clustering the cluster aircraft into groups based on the equipment attributes of the cluster aircraft, and classifying each of the groups into different slices;

[0028] A synchronization module is used to synchronize the flight route to the group.

[0029] Furthermore, the offset module includes:

[0030] An adjustment unit, used for constructing a transition route between the slices, integrating the fly-around start point and the fly-around end point into the transition route, and adjusting the transition route;

[0031] An updating unit is used to monitor the moving objects in the slice and update the transition route and the flight route.

[0032] Furthermore, the adjustment module includes:

[0033] A numbering unit, used for numbering the slices;

[0034] The segmentation unit is used to determine the thickness difference between two adjacent slices, and if the thickness difference is greater than a preset threshold, the two adjacent slices are re-segmented.

[0035] Furthermore, the correction module includes:

[0036] The establishing unit is used to adjust the number of motion restrictions in the slice and establish a communication link between the motion restrictions and each cluster aircraft.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] By constructing environmental levels, the mission area is divided, which helps to optimize obstacle avoidance strategies, improve path planning, and greatly improve the safety of obstacle crossing. By slicing the mission area, obstacle detection can be simplified, obstacle avoidance accuracy and flight safety can be improved. By determining the detour area, detour starting point and detour end point, the obstacle avoidance path can be further optimized and mission control can be enhanced. By creating a linked list, the collaborative efficiency of cluster aircraft can be improved, which facilitates centralized resource management and greatly enhances flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A block diagram of the laser radar-based swarm aircraft obstacle avoidance system provided in an embodiment of the present invention;

[0040] Figure 2 A block diagram of the composition of a dynamic calibration device in a laser radar-based swarm aircraft obstacle avoidance system provided in an embodiment of the present invention;

[0041] Figure 3 A block diagram of the composition of a route planning device in a laser radar-based swarm aircraft obstacle avoidance system provided in an embodiment of the present invention;

[0042] Figure 4 A block diagram of the composition of a cluster coordination device in a cluster aircraft obstacle avoidance system based on laser radar provided in an embodiment of the present invention;

[0043] Figure 5 A block diagram of the composition of an offset module in a laser radar-based swarm aircraft obstacle avoidance system provided in an embodiment of the present invention;

[0044] Figure 6 A block diagram of the composition of an adjustment module in a laser radar-based swarm aircraft obstacle avoidance system provided in an embodiment of the present invention;

[0045] Figure 7 A block diagram of the composition of a correction module in a laser radar-based swarm aircraft obstacle avoidance system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0047] Figure 1 The structure block diagram of the laser radar-based swarm aircraft obstacle avoidance system provided in an embodiment of the present invention is shown. The laser radar-based swarm aircraft obstacle avoidance system 1 includes: a dynamic calibration device, a route planning device and a swarm coordination device;

[0048] The dynamic calibration device 11 is used to divide the mission area of ​​the cluster aircraft, use laser radar to scan the distribution of obstacles in the mission area, and integrate preset environment level division rules to calibrate at least one environment level in the mission area and construct a dynamic adjustment mechanism for the environment level.

[0049] Determine the mission area of ​​the integrated aircraft, use laser radar to scan the mission area, determine the distribution of obstacles in the mission area, and divide the environment level in the mission area; the specific environment level division rule can be to divide the mission area into several sub-areas, determine the area of ​​each sub-area, and calculate the number and density of obstacles in the sub-area. Each density corresponds to an environment level. The higher the density of obstacles, the higher the environment level.

[0050] For example, there are lakes, forests, etc. in a certain area. According to common sense, there are fewer obstacles near the lakes, but more obstacles near the forests. The environmental level near the lakes is lower than that near the forests.

[0051] Several environmental levels are calibrated in the mission area, and the environmental levels are dynamically adjusted according to the changes in obstacles in the mission area.

[0052] The route making device 12 is used to divide the mission area horizontally into a plurality of slices and determine the thickness of the slices, wherein the higher the environmental level, the smaller the slice thickness, and map obstacles into the slices to obtain a detour area, mark mission points in the mission area, and make a flight route. If the flight route passes through the detour area, a detour starting point and a detour end point are inserted on the edge side of the detour area, and a jump mechanism is embedded to update the flight route.

[0053] The mission area is divided horizontally into multiple slices. If the environmental level of a sub-area is higher, the slice thickness should be lower, otherwise it should be higher. For example, the slice thickness at the lake should be larger, while the slice thickness at the woods should be smaller. Obstacles are mapped to the slices, and the obstacle detour zone in each slice is determined. According to the tasks performed by the cluster aircraft, the mission points are marked in the mission area and the flight route is generated.

[0054] Determine whether the flight route passes through the detour area; if it does, it is necessary to insert the detour start point and detour end point on the edge side of the detour area in each slice, and embed the jump mechanism, which is the way the cluster aircraft jumps in the slice, and update the flight route at the same time.

[0055] For example, in a certain mission area, sub-area A is divided into three slices of 0-3m, 4-5m, and 6-12m, and sub-area B is divided into a slice of 0-12m. There are obstacles such as buildings, high-voltage lines, and trees in area A. Determine the detour zones of the obstacles in these three slices, insert the detour starting point and detour end point in the detour zone, determine the jump mechanism of the cluster aircraft between 3-4m and 5-6m, and update the flight route.

[0056] The cluster coordination device 13 is used to transfer the cluster aircraft to the slice, configure the minimum safety distance for each aircraft, select the pilot aircraft, establish nodes corresponding to the slices one by one, and transfer the flight parameters of the pilot aircraft in each slice to the corresponding node, integrate all the nodes, generate a linked list, and hang the cluster aircraft on the linked list.

[0057] The cluster aircraft are transferred into the slices, the minimum safety distance of each cluster aircraft is determined, and the pilot aircraft is found from the cluster aircraft, where the pilot aircraft is used to guide other aircraft to navigate along the predetermined route; all cluster aircraft are classified into different slices so that the cluster aircraft can work in different slices at the same time, thereby improving the working efficiency of the cluster aircraft, the flight parameters of the pilot aircraft in each slice are determined, and the flight parameters in each slice are transferred to a node, all the nodes are integrated, a linked list is generated, the cluster aircraft is mounted on the linked list, and the flight parameters in the linked list are used to control the cluster aircraft to perform tasks.

[0058] Figure 2 The structure block diagram of the laser radar-based cluster aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the dynamic calibration device 11 includes:

[0059] The scanning module 111 is used to determine the boundary of the task area, divide the depth, and scan the obstacles in each depth.

[0060] Determine the boundaries of the mission area, locate the length and width of the boundaries, and scan out obstacles within the mission area.

[0061] The determination module 112 is used to collect point cloud data of obstacles using laser radar and determine surface data of obstacles, wherein the surface data at least includes: spatial coordinates, height and width.

[0062] Collect point cloud data of obstacles in the mission area and determine the surface data of obstacles, where the surface data of obstacles includes: spatial coordinates, height and width, etc. The determination of surface data can provide data support for the obstacle avoidance of cluster aircraft and improve the safety of obstacle avoidance.

[0063] Figure 2 The structure block diagram of the laser radar-based cluster aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the dynamic calibration device 11 includes:

[0064] A module 113 is established to divide the area vertically into a number of blocks, mark the priority of each block, and determine the density of obstacles in each block.

[0065] Divide the area vertically into several blocks and mark the priority of each block. By dividing the area horizontally and vertically, several blocks can be obtained. Since some blocks contain obstacles, it is necessary to increase the priority of these blocks and delete the remaining blocks. In other words, only the blocks containing obstacles are retained. If a block contains multiple obstacles, the density of the obstacles in the block also needs to be determined.

[0066] The integration module 114 is used to configure the mapping relationship between the density and the environmental level, compare the changes of obstacles in the task area, and dynamically adjust the environmental level.

[0067] According to the density of obstacles in the block, the environmental level is refined to determine the environmental level of each block. In actual production, some obstacles may change, such as felled trees, new high-voltage towers, etc. At this time, the environmental level needs to be dynamically adjusted according to the changes in the obstacles.

[0068] Figure 3 The structure block diagram of the laser radar-based swarm aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the route planning device 12 includes:

[0069] The correction module 121 is used to determine the risk coefficient of each block in each slice and correct the flight parameters.

[0070] According to the density of obstacles in the block, the risk factor of each block is determined, and the flight parameters are adjusted. The determination of the risk factor requires querying a preset risk factor comparison table. The risk factor comparison table is pre-prepared by the staff and consists of density items and risk factor items. The more obstacles there are in a block, the greater the corresponding density and the higher the risk factor.

[0071] The risk factor is used to correct the flight parameters; specific correction methods include, but are not limited to, correcting the position, altitude, and flight attitude of the cluster aircraft; for example, the higher the risk factor, the higher the altitude and speed of the cluster aircraft need to be reduced accordingly.

[0072] The offset module 122 is used to extract the blocks containing obstacles and insert the anti-collision warning grid and the waypoints. When the aircraft passes over the anti-collision warning grid, the flight path of the aircraft is offset by using the waypoints.

[0073] Anti-collision warning grids and waypoints are embedded in the blocks containing obstacles. If the cluster aircraft enters the area formed by the anti-collision warning grids, the cluster aircraft route is modified to point the route to the waypoint.

[0074] Figure 3The structure block diagram of the laser radar-based swarm aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the route planning device 12 includes:

[0075] The comparison module 123 is used to collect the attribute data of the slice and construct a comparison table of slice thickness, wherein the comparison table at least includes: a position item, a density item, an environmental level item and a thickness item.

[0076] Collect the attribute data of the slice, where the attribute data includes: the height and position of the slice, etc., establish the corresponding relationship between height, density and thickness, and establish a comparison table.

[0077] The adjustment module 124 is used to query the reference table to obtain the thickness of the slice when the density of the obstacle in the block is calculated, and adjust the thickness of each slice according to the surface data of the obstacle.

[0078] After calculating the density of obstacles in a certain block, the thickness of the slice can be determined by querying the comparison table. At the same time, the thickness of the slice can be adjusted according to the surface data of the obstacles in the slice.

[0079] Figure 3 The structure block diagram of the laser radar-based cluster aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the route planning device 12 also includes:

[0080] The construction module 125 is used to divide the flight route into a plurality of segments with the slices as intervals, and to construct transition zones between the segments and the starting point of the fly-around.

[0081] By using slices, the flight route is divided into several segments. According to the position of obstacles in the slices, the segments are adjusted and transition zones are established. The transition zones are from the segments to the starting point of the detour within the slices. By generating transition zones, the flight routes of cluster aircraft within the slices can be made smoother, thus ensuring the stability of cluster aircraft.

[0082] The correction module 126 is used to obtain the device attributes of the cluster aircraft, embed the motion restrictions into the slices, and use the motion restrictions to correct the segments and flight parameters in the slices.

[0083] Determine the device properties of the swarm aircraft and the motion limits of the swarm aircraft in each slice, where the motion limits are the maximum pitch angle, speed, etc. of the swarm aircraft. Use these motion limits to correct the segments, transition zones, and flight parameters in the slices.

[0084] Figure 4 The structure block diagram of the laser radar-based cluster aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the cluster coordination device 13 includes:

[0085] The classification module 131 is used to cluster the cluster aircraft into groups based on the equipment attributes of the cluster aircraft, and classify each of the groups into different slices.

[0086] According to the equipment attributes of the cluster aircraft, the cluster aircraft are classified into several groups, and each group is transferred to a different slice, so that each group can perform tasks in different slices at the same time.

[0087] The synchronization module 132 is used to synchronize the flight route to the group.

[0088] At the same time, the flight route of each group is determined. The advantage of this is that it can ensure that the cluster aircraft can perform tasks in parallel in different slices, avoid collisions, and improve the safety of the cluster aircraft.

[0089] Figure 5 The structure block diagram of the laser radar-based cluster aircraft obstacle avoidance system provided in an embodiment of the present invention is shown, and the offset module 122 includes:

[0090] The transition unit 1221 is used to construct a transition route between the slices, integrate the fly-by starting point and the fly-by end point into the transition route, and adjust the transition route.

[0091] According to the segments and transition zones, the swarm aircraft's jump routes between slices are determined, and the jump routes are adjusted using the fly-around starting point and fly-around end point.

[0092] The updating unit 1222 is used to monitor the moving objects in the slice and update the transition route and flight route.

[0093] Identify moving objects in the slice and make corrections to jump paths and flight paths.

[0094] Figure 6 The structure block diagram of the laser radar-based cluster aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the adjustment module 124 includes:

[0095] The numbering unit 1241 is used to number the slices.

[0096] The segmentation unit 1242 is used to determine the thickness difference between two adjacent slices, and if the thickness difference is greater than a preset threshold, the two adjacent slices are segmented again.

[0097] The slices are numbered, and the thickness difference between two adjacent slices is determined. It is also judged whether the thickness difference is greater than a preset threshold. If it is, the flight path of the cluster aircraft may not be smooth enough, affecting the flight stability. In this case, the thickness of the slices needs to be re-determined.

[0098] Figure 7 The structure block diagram of the laser radar-based cluster aircraft obstacle avoidance system provided by an embodiment of the present invention is shown, and the correction module 126 includes:

[0099] The establishing unit 1261 is used to adjust the number of motion restrictions in the slice and establish a communication link between the motion restrictions and each cluster aircraft.

[0100] Determine all motion constraints in the slice, and adjust each cluster aircraft via the communication link to ensure the flight stability of each cluster aircraft.

[0101] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser radar-based swarm aircraft obstacle avoidance control system, characterized in that: The system comprises: Dynamic calibration equipment, route planning equipment and cluster coordination equipment; The dynamic calibration device is used to divide the mission area of ​​the swarm aircraft, use the laser radar to scan the distribution of obstacles in the mission area, and integrate the preset environment level division rules to calibrate at least one environment level in the mission area, and construct a dynamic adjustment mechanism for the environment level; The dynamic calibration device comprises: Establishing a module for vertically dividing the area into a number of blocks, marking the priority of each block, and determining the density of obstacles in each block; An integration module, used to configure the mapping relationship between the density and the environmental level, compare the changes of obstacles in the task area, and dynamically adjust the environmental level; The route making device is used to divide the mission area horizontally into a plurality of slices and determine the thickness of the slices, wherein the higher the environmental level, the smaller the slice thickness, map obstacles into the slices to obtain a detour area, mark mission points in the mission area, and make a flight route. If the flight route passes through the detour area, insert a detour start point and a detour end point on the edge side of the detour area, embed a jump mechanism, and update the flight route; The cluster coordination device is used to transfer the cluster aircraft to the slice, configure the minimum safety distance for each aircraft, select the pilot aircraft, establish nodes corresponding to the slices one by one, and transfer the flight parameters of the pilot aircraft in each slice to the corresponding node, integrate all the nodes, generate a linked list, and hang the cluster aircraft on the linked list.

2. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 1, characterized in that: The dynamic calibration device comprises: A scanning module is used to determine the boundary of the task area, divide the depth, and scan the obstacles within each depth; The determination module is used to collect point cloud data of obstacles using laser radar and determine surface data of obstacles, wherein the surface data at least includes: spatial coordinates, height and width.

3. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 1, characterized in that: The route making device comprises: A correction module, used to determine the risk coefficient of the blocks in each slice and correct the flight parameters; The offset module is used to extract the blocks containing obstacles and insert the anti-collision warning grid and the waypoints. When the aircraft passes over the anti-collision warning grid, the flight path of the aircraft is offset by using the waypoints.

4. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 3, characterized in that: The route making device comprises: A comparison module, used for collecting attribute data of the slices and constructing a comparison table of slice thickness, wherein the comparison table at least includes: a position item, a density item, an environmental level item and a thickness item; The adjustment module is used to query the reference table to obtain the thickness of the slice when the density of the obstacle in the block is calculated, and adjust the thickness of each slice according to the surface data of the obstacle.

5. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 4, characterized in that: The route making device also includes: A construction module is used to divide the flight route into a plurality of segments with the slices as intervals, and to construct a transition zone between the segments and the starting point of the circumvention flight; The correction module is used to obtain the device attributes of the cluster aircraft, embed the motion restrictions into the slices, and use the motion restrictions to correct the segments and flight parameters in the slices.

6. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 1, characterized in that: The cluster coordination device includes: A classification module, used for clustering the cluster aircraft into groups based on the equipment attributes of the cluster aircraft, and classifying each of the groups into different slices; A synchronization module is used to synchronize the flight route to the group.

7. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 5, characterized in that: The offset module comprises: A transition unit, used for constructing a transition route between the slices, integrating the fly-around start point and the fly-around end point into the transition route, and adjusting the transition route; An updating unit is used to monitor the moving objects in the slice and update the transition route and the flight route.

8. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 4, characterized in that: The adjustment module comprises: A numbering unit, used for numbering the slices; The segmentation unit is used to determine the thickness difference between two adjacent slices, and if the thickness difference is greater than a preset threshold, the two adjacent slices are re-segmented.

9. The laser radar-based swarm aircraft obstacle avoidance control system according to claim 5, characterized in that: The correction module comprises: The establishing unit is used to adjust the number of motion restrictions in the slice and establish a communication link between the motion restrictions and each cluster aircraft.

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