Unmanned aerial vehicle path planning management system based on millimeter wave radar

Abstract

The invention discloses an unmanned aerial vehicle path planning management system based on a millimeter wave radar, and the system comprises a GPS navigation unit which cooperates with a built-in positioning management unit of an unmanned aerial vehicle, and is used for providing the flight navigation of the unmanned aerial vehicle in the horizontal direction; the satellite map management unit is used for providing navigation path planning of the GPS navigation unit and marking obstacles with a certain height in the charging supply unit and the path; and the millimeter wave radar detection unit is used for detecting obstacle information in a specified radius range of the marked obstacle and guiding the unmanned aerial vehicle to increase or reduce the flight height. The unmanned aerial vehicle path planning management system can better match the environment to complete autonomous flight and effectively avoid height obstacles in the flight path.

Description

Technical Field

[0001] The present invention relates to an unmanned aerial vehicle system, and in particular to an unmanned aerial vehicle path planning and management system based on millimeter wave radar. Background Art

[0002] The UAV path planning management system is used to complete the autonomous flight of the UAV, plan the path reasonably during the flight, and plan the charging and supply, etc. The existing UAV path planning management system only plans the path at the horizontal distance level, but ignores the planning of the spatial height distance, which leads to the following problems: on the one hand, the power planning will not be consistent with the actual situation due to the existence of a very high altitude, and on the other hand, it will not be able to avoid in time when flying at low altitude, causing damage to the UAV. Summary of the invention

[0003] The purpose of the present invention is to provide a UAV path planning and management system based on millimeter wave radar, which can better match the environment to complete autonomous flight and effectively avoid high obstacles in the flight path.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a UAV path planning and management system based on millimeter wave radar, which includes: a GPS navigation unit, which cooperates with the built-in positioning management unit of the UAV to provide flight navigation in the horizontal direction of the UAV; a satellite map management unit, which is used to provide navigation path planning for the GPS navigation unit, and is used to mark charging and supply units and obstacles with a certain height in the path; a millimeter wave radar detection unit, which is used to detect obstacle information within a specified radius of the marked obstacle, and guide the UAV to increase or decrease its flight altitude.

[0005] Preferably, the millimeter wave radar detection unit includes a radar wave transmitting unit, a radar wave receiving unit, a filter and a processor. The radar wave transmitting unit transmits millimeter radar waves forward and downward, which are received by the radar wave receiving unit after reflection, and then filtered by the filter before transmitting the filtered waveform to the processor, which sends an execution instruction to the drone through the processor.

[0006] Preferably, the processor calculates in real time the actual distance information of the obstacle when the reflected radar wave arrives based on the distance information of the obstacle detected when the radar wave is emitted, and issues an execution instruction to the drone based on the actual distance information of the obstacle.

[0007] Preferably, it also includes: a power control unit, which is used to estimate the flight distance of the remaining power, and the flight distance includes the horizontal distance, the vertical distance and the forced safe landing distance.

[0008] Preferably, it also includes: a charging supply unit, used to provide charging supplies to the drone; a wireless signal transmitting module, arranged on the charging supply unit, for transmitting a charging request to the drone; a wireless signal receiving module, arranged on the drone, for receiving charging request information, and choosing to accept or reject the charging request according to the power information and the distance information of the next charging supply unit.

[0009] Preferably, a plurality of the wireless signal transmitting modules are arranged around the charging and supply unit.

[0010] According to the above technical solution, the UAV path planning and management system in the present invention can better match the environment to complete autonomous flight and effectively avoid high obstacles in the flight path.

[0011] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0013] Figure 1 It is a schematic diagram of a preferred implementation of a UAV path planning and management system;

[0014] Figure 2 is a schematic diagram of a preferred implementation of a millimeter wave radar detection unit;

[0015] Figure 3 This is a detection diagram of the drone when it encounters an obstacle in front of it. DETAILED DESCRIPTION

[0016] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0017] In the present invention, unless otherwise stated, directional words contained in terms such as "up, down, left, right, front, back, inside, outside" merely represent the orientation of the terms in normal usage, or are common names understood by those skilled in the art, and should not be regarded as limitations on the terms.

[0018] See also Figure 1-3The millimeter-wave radar-based UAV path planning and management system shown includes: a GPS navigation unit, which cooperates with the built-in positioning management unit of the UAV to provide flight navigation in the horizontal direction of the UAV; a satellite map management unit, which is used to provide navigation path planning for the GPS navigation unit, and to mark the charging supply unit and obstacles with a certain height in the path; a millimeter-wave radar detection unit, which is used to detect obstacle information within a specified radius of the marked obstacle, and guide the UAV to increase or decrease its flight altitude.

[0019] Through the implementation of the above technical solution, the satellite map management unit provides the UAV flight path, and under the navigation of the GPS navigation unit, the UAV provides horizontal flight navigation in the flight path. When it is necessary to perform low-altitude flight missions, there will be obstacles of a certain height in the flight path. At this time, the millimeter-wave radar detection unit is used to maintain a certain height distance from the obstacles during the flight, so that the UAV can safely perform the flight mission.

[0020] In this embodiment, in order to further provide a millimeter radar wave detection unit, the millimeter wave radar detection unit includes a radar wave transmitting unit, a radar wave receiving unit, a filter and a processor. The radar wave transmitting unit transmits millimeter radar waves forward and downward, which are received by the radar wave receiving unit after reflection, and then filtered by the filter and the filtered waveform is transmitted to the processor, and the execution instruction is issued to the drone through the processor.

[0021] In this embodiment, the processor calculates the actual distance information of the obstacle when the reflected radar wave arrives in real time based on the distance information of the obstacle detected when the radar wave is emitted, and sends an execution instruction to the drone based on the actual distance information of the obstacle. Since the drone will continue to fly forward during the process of detecting the distance, the measurement accuracy is avoided to obtain a more accurate detection distance. The drone performs the lifting action based on the actual distance information and performs the low-altitude flight mission when it passes the obstacle.

[0022] In this embodiment, it also includes: a power control unit, which is used to estimate the flight distance of the remaining power, and the flight distance includes the horizontal distance, the vertical distance and the forced safe landing distance. In this way, the power can be controlled more accurately, and accurate power planning can be achieved to avoid the shutdown of the drone during the flight operation due to power shortage.

[0023] In this embodiment, it also includes: a charging supply unit for providing charging supply to the drone; a wireless signal transmitting module, which is arranged on the charging supply unit, transmitting a charging request to the drone; and a wireless signal receiving module, which is arranged on the drone, for receiving the charging request information, and choosing to accept or reject the charging request according to the power information and the distance information of the next charging supply unit. In this way, the drone does not need to frequently transmit signals to scan the nearby charging supply units, but instead transmits the charging request through the charging supply unit, and the drone can choose to agree or reject it, which can save a certain amount of energy consumption of the drone and extend the flight time and distance of the drone.

[0024] In this embodiment, a plurality of wireless signal transmitting modules are arranged around the charging supply unit. Through such arrangement, the wireless signal transmitting module can transmit charging requests in multiple directions, so that drones in multiple directions can receive the request.

[0025] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0026] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0027] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A UAV path planning and management system based on millimeter wave radar, characterized in that: The UAV path planning and management system comprises: The GPS navigation unit, in conjunction with the drone's built-in positioning management unit, is used to provide the drone with horizontal flight navigation; A satellite map management unit, used to provide navigation path planning for the GPS navigation unit, and to mark the charging and supply unit and obstacles with a certain height in the path; The millimeter wave radar detection unit is used to detect obstacle information within a specified radius of the marked obstacle and guide the drone to increase or decrease its flight altitude.

2. The UAV path planning and management system based on millimeter wave radar according to claim 1 is characterized in that: The millimeter wave radar detection unit includes a radar wave transmitting unit, a radar wave receiving unit, a filter and a processor. The radar wave transmitting unit transmits millimeter radar waves forward and downward, which are received by the radar wave receiving unit after reflection, and then filtered by the filter and the filtered waveform is transmitted to the processor, and the execution instruction is issued to the drone through the processor.

3. The UAV path planning and management system based on millimeter wave radar according to claim 2 is characterized in that: The processor calculates the actual distance information of the obstacle when the reflected radar wave arrives in real time based on the distance information of the obstacle detected when the radar wave is emitted, and sends an execution instruction to the drone based on the actual distance information of the obstacle.

4. The UAV path planning and management system based on millimeter wave radar according to claim 1 is characterized in that: Also includes: A power control unit is used to estimate the flight distance of the remaining power, and the flight distance includes the horizontal distance, the vertical distance and the forced safe landing distance.

5. The UAV path planning and management system based on millimeter wave radar according to claim 4 is characterized in that: Also includes: A charging and supply unit, used to provide charging and supply to the drone; A wireless signal transmission module is provided on the charging supply unit to transmit a charging request to the drone; The wireless signal receiving module is arranged on the drone and is used to receive charging request information and choose to accept or reject the charging request according to the power information and the distance information of the next charging supply unit.

6. The UAV path planning and management system based on millimeter wave radar according to claim 5 is characterized in that: A plurality of wireless signal transmitting modules are arranged around the charging and supply unit.

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