Unmanned aerial vehicle route obstacle avoidance planning system and planning method thereof
By designing a UAV route obstacle avoidance planning system, we automatically collect obstacle data and generate the optimal flight route, and solve the problem of poor performance and inability to select the optimal route in the existing technology, and achieve efficient and safe drone route planning.
Patent Information
- Application Number
- CN202311491765.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-10
- Publication Date
- 2025-05-13
AI Technical Summary
The existing drone route obstacle avoidance planning system has the problem of poor avoidance performance and inability to choose the optimal route, which may cause detours of drones and waste of resources.
A drone route obstacle avoidance planning system is designed, including acquisition module, generation module, planning module and operation module. By automatically collecting obstacle data, the current operating route and obstacle avoidance route of the drone are automatically generated, the optimal flight route is planned, and the drone is encouraged to fly according to the optimal route.
It improves the evasion ability and safety of the drone, and can automatically select the optimal route, avoid detours, save resources, and reduce the flight distance of the drone.
Smart Images
Figure CN119987385A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) application technology, and in particular to an unmanned aerial vehicle (UAV) route obstacle avoidance planning system and a planning method thereof. Background Art
[0002] Unmanned aircraft, referred to as "drones", are unmanned aircraft controlled by radio remote control equipment and self-contained program control devices. Drones are actually a general term for unmanned aerial vehicles. From a technical point of view, they can be divided into several categories: unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned paragliders. With the development of drone technology, drones are becoming more and more widely used. Drone cruising is one of the applications of drones. When drones are cruising, they will inevitably encounter obstacles. Therefore, obstacles need to be automatically avoided to ensure the safety of drones. The existing technology can only perform simple avoidance, with poor avoidance performance and potential safety hazards. It is also impossible to choose the optimal route, which will cause the drone to take a detour, which will cause a waste of resources. For this reason, we propose a drone route obstacle avoidance planning system and its planning method. Summary of the invention
[0003] The purpose of the present invention is to solve the shortcomings of the prior art, such as poor avoidance performance and inability to select the optimal route, and to propose a UAV route obstacle avoidance planning system and a planning method thereof.
[0004] In order to achieve the above object, the present invention adopts the following technical solutions:
[0005] A UAV route obstacle avoidance planning system comprises a main control room, a connection module and a UAV, wherein the UAV comprises a processing module, a collection module, a calculation module, a generation module, a planning module, an establishment module, a storage module, a comparison module and an operation module, wherein the main control room is electrically connected to the processing module through the connection module, the collection module is electrically connected to the calculation module, the calculation module is electrically connected to the processing module, the processing module is electrically connected to the generation module, the generation module is electrically connected to the planning module, the planning module, the storage module and the comparison module are all electrically connected to the establishment module, and the comparison module is electrically connected to the operation module.
[0006] Preferably, the establishment module is capable of establishing a drone operation route data map.
[0007] Preferably, the acquisition module includes a horizontal ranging unit, a longitudinal ranging unit and a vertical ranging unit, the horizontal ranging unit and the longitudinal ranging unit are electrically connected, and the longitudinal ranging unit and the vertical ranging unit are electrically connected.
[0008] Preferably, the acquisition module is capable of collecting data on the length, width, and height of the obstacle as well as the distance data between the obstacle and the drone.
[0009] Preferably, the generation module can automatically generate the current running route of the drone and the running routes of the drone to avoid obstacles when running upward, downward, left, and right.
[0010] Preferably, the generating module includes a current running line, an up running line, a down running line, a left running line and a right running line, the current running line is electrically connected to the up running line, the up running line is electrically connected to the down running line, the down running line is electrically connected to the left running line, and the left running line is electrically connected to the right running line.
[0011] Preferably, the operation module includes a flight unit and a steering unit, and the flight unit and the steering unit are electrically connected.
[0012] Preferably, the data receiving unit is electrically connected to the generating module, and the data sending unit is electrically connected to the establishing module.
[0013] Preferably, the planning module includes a data receiving unit, a data integration unit, a line planning unit and a data sending unit, the data receiving unit and the data integration unit are connected by a single line, the data integration unit and the line planning unit are electrically connected, and the line planning unit and the data sending unit are electrically connected.
[0014] The present invention also proposes a planning method for a UAV route obstacle avoidance planning system, comprising the following steps:
[0015] S1: The acquisition module automatically collects the length, width, and height data of the obstacle and the horizontal, longitudinal, and vertical distance data between the obstacle and the UAV. The calculation module automatically calculates the shape of the obstacle and the distance between the obstacle and the UAV. The processing module organizes the data of the calculation module and sends the data to the generation module. The generation module automatically generates the current running route of the UAV and determines whether the UAV will collide with the obstacle. If the UAV will collide with the obstacle, it automatically generates a straight running route for the UAV to run upward, downward, left, and right to avoid the obstacle.
[0016] S2: The planning module plans the actual operation route of the UAV to avoid obstacles according to the straight operation route generated by the generation module. The establishment module establishes the operation route planned by the planning module into an operation route map. The comparison module compares multiple routes in the operation route map to determine the optimal flight route of the UAV.
[0017] S3: The operation module prompts the UAV to fly along the optimal flight route and complete the cruise mission.
[0018] In the present invention, the beneficial effects of the unmanned aerial vehicle route obstacle avoidance planning system and the planning method thereof are as follows: the acquisition module can automatically acquire obstacle data, and then automatically generate an operation route map according to the acquired data, the unmanned aerial vehicle can fly according to the operation route, which can improve the unmanned aerial vehicle's avoidance capability and has high safety; the comparison module can automatically compare and select the optimal route, which can avoid the unmanned aerial vehicle from detouring and save resources.
[0019] The present invention can automatically generate an optimal flight route, has good avoidance performance, can reduce the flight distance of the UAV, and can save resources. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 This is a working principle block diagram of a first embodiment of a UAV route obstacle avoidance planning system and a planning method thereof proposed by the present invention;
[0021] Figure 2 This is a principle block diagram of the acquisition module of a UAV route obstacle avoidance planning system and its planning method proposed by the present invention;
[0022] Figure 3 This is a principle block diagram of a generation module of a UAV route obstacle avoidance planning system and a planning method thereof proposed by the present invention;
[0023] Figure 4 This is a principle block diagram of a planning module of a UAV route obstacle avoidance planning system and a planning method thereof proposed by the present invention;
[0024] Figure 5 This is a block diagram of the working principles of Embodiment 2 of a UAV route obstacle avoidance planning system and a planning method thereof proposed by the present invention. DETAILED DESCRIPTION
[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.
[0026] Embodiment 1
[0027] Reference Figure 1 A UAV route obstacle avoidance planning system includes a main control room, a connection module and a UAV, the UAV includes a processing module, a collection module, a calculation module, a generation module, a planning module, an establishment module, a storage module, a comparison module and an operation module, the main control room is electrically connected to the processing module through the connection module, the collection module is electrically connected to the calculation module, the calculation module is electrically connected to the processing module, the processing module is electrically connected to the generation module, the generation module is electrically connected to the planning module, the planning module, the storage module and the comparison module are all electrically connected to the establishment module, and the comparison module is electrically connected to the operation module.
[0028] Reference Figure 2 The acquisition module includes a horizontal ranging unit, a longitudinal ranging unit and a vertical ranging unit. The horizontal ranging unit and the longitudinal ranging unit are electrically connected, and the longitudinal ranging unit and the vertical ranging unit are electrically connected.
[0029] Reference Figure 3 The generation module includes a current running line, an up running line, a down running line, a left running line and a right running line. The current running line is electrically connected to the up running line, the up running line is electrically connected to the down running line, the down running line is electrically connected to the left running line, and the left running line is electrically connected to the right running line.
[0030] Reference Figure 4 The planning module includes a data receiving unit, a data integration unit, a line planning unit and a data sending unit. The data receiving unit and the data integration unit are connected by a single line, the data integration unit and the line planning unit are electrically connected, and the line planning unit and the data sending unit are electrically connected.
[0031] Reference Figure 1 The operation module includes a flight unit and a steering unit. The flight unit and the steering unit are electrically connected. The setting of the operation module can ensure the stable flight of the drone.
[0032] Reference Figure 2 The acquisition module can collect the length, width, and height data of obstacles and the distance data between obstacles and drones, and can collect the shape, number, and distance data between obstacles and drones.
[0033] Reference Figure 1-Figure 4 , the data receiving unit is electrically connected to the generating module, and the data sending unit is electrically connected to the establishing module.
[0034] Reference Figure 1 , the establishment module can establish the drone operation route data map.
[0035] Reference Figure 3 ,The generation module can automatically generate the current running route of the UAV and the running routes of the UAV up, down, left and right to avoid obstacles.
[0036] The present invention also proposes a planning method for a UAV route obstacle avoidance planning system, comprising the following steps:
[0037] S1: The acquisition module automatically collects the length, width, and height data of the obstacle and the horizontal, longitudinal, and vertical distance data between the obstacle and the UAV. The calculation module automatically calculates the shape of the obstacle and the distance between the obstacle and the UAV. The processing module organizes the data of the calculation module and sends the data to the generation module. The generation module automatically generates the current running route of the UAV and determines whether the UAV will collide with the obstacle. If the UAV will collide with the obstacle, it automatically generates a straight running route for the UAV to run upward, downward, left, and right to avoid the obstacle.
[0038] S2: The planning module plans the actual operation route of the UAV to avoid obstacles according to the straight operation route generated by the generation module. The establishment module establishes the operation route planned by the planning module into an operation route map. The comparison module compares multiple routes in the operation route map to determine the optimal flight route of the UAV.
[0039] S3: The operation module prompts the UAV to fly along the optimal flight route and complete the cruise mission.
[0040] Embodiment 2
[0041] Reference Figure 5 The difference between this embodiment and the first embodiment is that: the operating module is electrically connected to the sensing module, and the sensing module is electrically connected to the alarm module. When the drone is installed with the optimal route for flight, if the flight route is due to an error or a drone failure, causing the drone to be close to an obstacle during flight, when the sensing module senses that the drone may collide with the obstacle, the alarm module automatically alarms. At this time, the main control room can adjust the flight route of the drone according to the situation to ensure the flight safety of the drone.
[0042] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.
Claims
1. A drone route obstacle avoidance planning system, comprising a main control room, a connection module and a drone, characterized in that: The drone includes a processing module, a collection module, a calculation module, a generation module, a planning module, an establishment module, a storage module, a comparison module and an operation module. The main control room is electrically connected to the processing module through a connection module, the collection module is electrically connected to the calculation module, the calculation module is electrically connected to the processing module, the processing module is electrically connected to the generation module, the generation module is electrically connected to the planning module, the planning module, the storage module and the comparison module are all electrically connected to the establishment module, and the comparison module is electrically connected to the operation module.
2. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 1, characterized in that: The acquisition module includes a horizontal distance measuring unit, a vertical distance measuring unit and a vertical distance measuring unit. The horizontal distance measuring unit and the vertical distance measuring unit are electrically connected, and the vertical distance measuring unit and the vertical distance measuring unit are electrically connected.
3. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 1, characterized in that: The generation module includes a current running line, an up running line, a down running line, a left running line and a right running line. The current running line is electrically connected to the up running line, the up running line is electrically connected to the down running line, the down running line is electrically connected to the left running line, and the left running line is electrically connected to the right running line.
4. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 1, characterized in that: The planning module includes a data receiving unit, a data integration unit, a line planning unit and a data sending unit. The data receiving unit and the data integration unit are connected by a single line, the data integration unit and the line planning unit are electrically connected, and the line planning unit and the data sending unit are electrically connected.
5. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 1, characterized in that: The operation module includes a flight unit and a steering unit, and the flight unit and the steering unit are electrically connected.
6. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 1, characterized in that: The acquisition module can collect obstacle length, width, height data and distance data between the obstacle and the drone.
7. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 4, characterized in that: The data receiving unit is electrically connected to the generating module, and the data sending unit is electrically connected to the establishing module.
8. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 1, characterized in that: The establishment module can establish a drone operation route data map.
9. The unmanned aerial vehicle route obstacle avoidance planning system according to claim 3, characterized in that: The generation module can automatically generate the current running route of the drone and the running routes of the drone running upward, downward, left, and right to avoid obstacles.
10. A planning method for a drone route obstacle avoidance planning system, characterized in that: The following steps are involved: S1: The acquisition module automatically collects the length, width, and height data of the obstacle and the horizontal, longitudinal, and vertical distance data between the obstacle and the UAV. The calculation module automatically calculates the shape of the obstacle and the distance between the obstacle and the UAV. The processing module organizes the data of the calculation module and sends the data to the generation module. The generation module automatically generates the current running route of the UAV and determines whether the UAV will collide with the obstacle. If the UAV will collide with the obstacle, it automatically generates a straight running route for the UAV to run upward, downward, left, and right to avoid the obstacle. S2: The planning module plans the actual operation route of the UAV to avoid obstacles according to the straight operation route generated by the generation module. The establishment module establishes the operation route planned by the planning module into an operation route map. The comparison module compares multiple routes in the operation route map to determine the optimal flight route of the UAV. S3: The operation module prompts the UAV to fly along the optimal flight route and complete the cruise mission.