An unmanned aerial vehicle obstacle avoidance method embedded with multiple sensors

Abstract

The application relates to an unmanned aerial vehicle obstacle avoidance method embedded with multiple sensors, and relates to the technical field of unmanned aerial vehicles. A terminal obtains real-time environment data through a camera and a millimeter wave transmitter, an environment scanning system processes the data into an obstacle map and calculates gap coverage, the terminal calculates the roll angle of the unmanned aerial vehicle according to the environment scanning system of the unmanned aerial vehicle, calculates the required compensation angle of the unmanned aerial vehicle according to the roll angle, determines the expected flight path of the unmanned aerial vehicle to be flown according to the obstacle map scanned by the environment scanning system, and controls corresponding motors according to the expected rotating speed of multiple rotors to make the unmanned aerial vehicle fly along the expected flight path. Through the dynamic scanning of an inverted truncated cone reflecting element and an electromagnet compensation mechanism, the technical problems of scanning blind area and high dynamic interference are solved, the scanning blind area is reduced, and the small obstacle detection rate is improved through time average effect coverage and non-linear angle compensation.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to an obstacle avoidance method for UAVs that incorporates multiple sensors. Background Technology

[0002] Existing drone obstacle avoidance systems often face challenges such as incomplete environmental perception and insufficient dynamic interference compensation. Traditional single-sensor solutions (such as vision or radar) are prone to failure in complex scenarios: vision systems are significantly affected by lighting and weather, millimeter-wave radar static scanning has inherent blind spots and cannot compensate for flight attitude disturbances in real time. Especially under strong wind interference, the drone's roll angle fluctuations cause the scanning beam to deviate from the target, resulting in a sharp increase in the missed detection rate. Although multi-sensor fusion has been attempted, it suffers from heavy computational burden and poor real-time performance, making it difficult to deploy on lightweight platforms. In addition, signal interruptions caused by scanning gaps and low detection rates of small obstacles further restrict obstacle avoidance reliability. Therefore, there is an urgent need for a dynamic compensation mechanism with high coverage and low power consumption to achieve omnidirectional continuous perception in complex environments. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a drone obstacle avoidance method that embeds multiple sensors. By using dynamic scanning with a beveled truncated reflector and an electromagnet compensation mechanism, it solves the problems of scanning blind spots and high dynamic interference. Furthermore, by using time averaging effect to cover the aperture gap and nonlinear angle compensation, it reduces scanning blind spots and improves the detection rate of small obstacles.

[0004] This invention provides an implementation environment for an obstacle avoidance method for unmanned aerial vehicles (UAVs) embedded with multiple sensors. This implementation environment includes a terminal, or it includes both a terminal and an obstacle avoidance platform. The terminal can connect to the obstacle avoidance platform via a wireless network or a wired network. The terminal is the main body of the UAV. The terminal has real-time positioning, real-time data acquisition, flight, and obstacle avoidance functions, and can also perform tasks such as industrial pipeline monitoring, rescue and search, and geographical survey. The obstacle avoidance platform includes at least one of a server, multiple servers, a cloud computing platform, and a virtualization center. The obstacle avoidance platform is used to provide backend services for the drone obstacle avoidance application. The obstacle avoidance platform undertakes the primary or secondary processing tasks, and the terminal undertakes the secondary or primary processing tasks. Alternatively, the obstacle avoidance platform and the terminal can collaboratively compute and process the primary and secondary tasks. The obstacle avoidance platform includes at least one server and a storage database. The storage database contains obstacle avoidance algorithms or route planning models, and provides data services to the at least one server. The server can be a standalone physical server, a server cluster composed of multiple physical servers, or a distributed system. It can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The terminal can be a smartphone, tablet, laptop, desktop computer, etc., but is not limited to these. Those skilled in the art will understand that the number of terminals and servers described above can be more or less, and the embodiments of the present invention do not limit the number of terminals or servers or the type of equipment; This invention provides a drone obstacle avoidance system with an embedded multi-sensor obstacle avoidance method. The drone obstacle avoidance system includes an environmental scanning system and a data collection and execution system. The beneficial effects of this invention are: The S101 terminal obtains real-time environmental data of the drone collected by the sensors installed on the drone through the drone's environmental scanning system. The S102 terminal uses the environmental scanning system of the UAV to scan an obstacle map based on the real-time environmental data collected, and calculates the gap coverage of the scanned obstacle map. When the gap coverage does not meet the preset value, the corresponding sensor parameters are readjusted and the scan is recalculated. The S103 terminal calculates the roll angle of the UAV based on its environmental scanning system, calculates the required compensation angle based on the roll angle, verifies the error after compensation, and rescans. If the error meets the standard after compensation, the original scan data is used. The S104 terminal uses the obstacle map scanned by the drone's environmental scanning system to determine the expected flight path of the drone. The S105 terminal, through the drone's data collection and execution system, determines the desired rotational speeds of multiple rotors of the drone based on the expected flight path, and controls the corresponding motors according to the desired rotational speeds of the multiple rotors to enable the drone to fly along the expected flight path.

[0005] Preferably, the sensor includes a camera and a millimeter-wave transmitter. The millimeter-wave transmitter emits millimeter waves that pass through and reflect, and receives the reflected signals from the target through a millimeter-wave radar antenna and front-end circuitry, thereby achieving accurate perception of the object's distance, speed, angle, and motion state. The images captured by the camera are then combined with the scanned obstacle map for processing.

[0006] Preferably, the environmental scanning system adjusts the angle of millimeter wave reflection in real time by changing the roll angle of the UAV, and calculates the adjusted compensation angle using a nonlinear model.

[0007] Preferably, the data collection and execution system is responsible for task execution. It generates corresponding instructions to adjust the speed, heading, and altitude of the UAV by scanning the obstacle avoidance map through the camera and millimeter-wave transmitter of the environmental scanning system.

[0008] The drone in S101 includes a drone body with wing rods on all four sides of its outer edge, and rotors rotatably connected to the ends of the wing rods. A camera is located on the top of the drone body, near one end face. A roll angle sensor is installed inside the drone body. Auxiliary rods are symmetrically arranged along the outer edge of the wing rods. A radar scanning assembly is located at the other end of the auxiliary rods. The radar scanning assembly includes a micromotor fixed to the other end of the auxiliary rod, an L-shaped mounting platform fixed to the output end of the micromotor, a reflector with multiple reflective holes on its surface, and a millimeter-wave transmitter. The reflector is an inverted truncated pyramid shape with an open top, a hollow interior, and a closed circular bottom. An electromagnet is installed on the hollow bottom surface of the reflector. The reflector also includes a magnet. The radar scanning assembly also includes a guide rail ring fixed to one edge of an L-shaped mounting platform, with the reflector rotatably connected to the bottom of the guide rail ring; the millimeter-wave transmitter is fixed to the lower end of the guide rail ring by multiple diagonal rods, and the millimeter-wave transmitter does not contact the guide rail ring; the bottom of the guide rail ring has a guide rail groove; the top of the reflector is fixed with a rotating component, the outer edge of which is provided with teeth, and the reflector is rotatably connected to the guide rail groove through the rotating component; A motor is mounted on the top of the L-shaped fixed platform, and the output end of the motor is equipped with a gear that matches the teeth of the rotating component. The reflector consists of a truncated pyramid frame and a reflector plate. The four sides of the truncated pyramid frame are provided with reflector plates that are elastically connected by an elastic body. The reflector holes are opened on the reflector plates and are evenly distributed. The magnet is fixed on the side of the reflector plate facing the electromagnet and is close to the hollow bottom surface. The rotational angular velocity of the reflector The width d of the reflective aperture gap 211 and the scanning period T satisfy the gap coverage. ,in Defined by the following formula: Formula 1 R is the radius of the bottom surface of the reflector (210); like Then according to Dynamic adjustment ( This is the proportional gain coefficient. The electromagnet (230) compensation angle Calculated using a nonlinear model: Formula 2 (where k is the sigmoid function) Formula 3 Where k is the nonlinear compensation coefficient. For the roll angle of the drone, As the attenuation factor, (Adaptive decay); when hour, Compensated verification error ,Require . Attached Figure Description

[0009] Figure 1 A schematic diagram of the implementation environment for an obstacle avoidance method for unmanned aerial vehicles (UAVs) embedded with multiple sensors; Figure 2 A schematic diagram of a drone obstacle avoidance system that incorporates multiple sensors for obstacle avoidance. Figure 3 A flowchart of an obstacle avoidance method for unmanned aerial vehicles (UAVs) with embedded multiple sensors; Figure 4 A three-dimensional structural diagram of a drone structure for an obstacle avoidance method for drones with embedded multiple sensors; Figure 5 A three-dimensional structural diagram of a radar scanning component for an obstacle avoidance method for unmanned aerial vehicles (UAVs) embedded with multiple sensors; Figure 6 A partial cross-sectional view of a rotating component in an obstacle avoidance method for unmanned aerial vehicles (UAVs) with embedded multi-sensors; Figure 7 A schematic diagram showing the disassembled rotating component of a multi-sensor-embedded drone obstacle avoidance method; Figure 8 A schematic diagram of the elastic body position in a multi-sensor-embedded drone obstacle avoidance method; Figure 9 A schematic diagram of the reflector angle change in a multi-sensor-embedded drone obstacle avoidance method.

[0010] The attached diagram lists the components represented by each number as follows: 100. UAV body; 110. Wing mast; 120. Rotor; 130. Camera; 140. Auxiliary rod; 200. Radar scanning assembly; 201. Micro motor; 202. L-shaped mounting platform; 203. Millimeter wave transmitter; 204. Guide rail ring; 205. Diagonal rod; 206. Guide rail groove; 207. Motor; 210. Reflector; 211. Reflector aperture; 212. Rotating component; 213. Beveled frustum frame; 220. Reflector plate; 221. Elastomer; 230. Electromagnet; 231. Magnet. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0013] In the description of this application, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0014] Example 1 The implementation environment of this invention will be described below.

[0015] Figure 1 This invention provides a schematic diagram of the implementation environment for an obstacle avoidance method for unmanned aerial vehicles (UAVs) with embedded multi-sensors. The implementation environment includes a terminal, or the implementation environment includes a terminal and an obstacle avoidance platform. The terminal can be connected to the obstacle avoidance platform via a wireless network or a wired network. The terminal is the main body of the UAV.

[0016] The terminal has real-time positioning, real-time data acquisition, flight and obstacle avoidance functions, and can also perform tasks such as industrial pipeline monitoring, rescue and search, and geographical survey.

[0017] The obstacle avoidance platform includes at least one of a server, multiple servers, a cloud computing platform, and a virtualization center. The obstacle avoidance platform is used to provide background services for the application of drone obstacle avoidance. The obstacle avoidance platform undertakes the main or secondary processing work, and the terminal undertakes the secondary or main processing work. Alternatively, the obstacle avoidance platform and the terminal can cooperate to compute the main and secondary work.

[0018] The obstacle avoidance platform includes at least one server and a storage database. The storage database contains obstacle avoidance algorithms or route planning models, and provides data services to at least one server.

[0019] Servers can be standalone physical servers, server clusters composed of multiple physical servers, or distributed systems. They can be cloud servers that provide basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. Terminals can be smartphones, tablets, laptops, desktop computers, etc., but are not limited to these.

[0020] Those skilled in the art will understand that the number of terminals and servers can be more or less, and the embodiments of the present invention do not limit the number of terminals or servers or the type of equipment.

[0021] Please see Figure 2 This invention provides a drone obstacle avoidance system that incorporates a multi-sensor drone obstacle avoidance method. The drone obstacle avoidance system includes an environmental scanning system and a data collection and execution system.

[0022] Please see Figure 3 This invention provides a method for obstacle avoidance in unmanned aerial vehicles (UAVs) that incorporates multiple sensors: The S101 terminal obtains real-time environmental data of the drone collected by the sensors installed on the drone through the drone's environmental scanning system.

[0023] The S102 terminal uses the environmental scanning system of the UAV to scan an obstacle map based on the real-time environmental data collected, and calculates the gap coverage of the scanned obstacle map. When the gap coverage does not meet the preset value, the corresponding sensor parameters are readjusted and the scan is recalculated.

[0024] The S103 terminal calculates the roll angle of the UAV based on the UAV's environmental scanning system, calculates the required compensation angle for the UAV based on the roll angle, verifies the error after compensation, and rescans. If the error meets the standard after compensation, the original scanning data is used.

[0025] The S104 terminal uses the obstacle map scanned by the drone's environmental scanning system to determine the expected flight path of the drone.

[0026] The S105 terminal, through the drone's data collection and execution system, determines the desired rotational speeds of multiple rotors of the drone based on the expected flight path, and controls the corresponding motors according to the desired rotational speeds of the multiple rotors to enable the drone to fly along the expected flight path.

[0027] The sensor includes a camera and a millimeter-wave transmitter. The millimeter-wave transmitter emits millimeter waves that pass through and reflect, and receives the reflected signals from the target through a millimeter-wave radar antenna and front-end circuitry, thereby achieving accurate perception of the distance, speed, angle, and motion state of the object. The image captured by the camera is then combined with the scanned obstacle map for processing.

[0028] The environmental scanning system adjusts the angle of millimeter wave reflection in real time by changing the roll angle of the UAV, and calculates the adjusted compensation angle using a nonlinear model.

[0029] The data collection and execution system is responsible for task execution. It generates corresponding instructions to adjust the speed, heading, and altitude of the drone by scanning the obstacle avoidance map through the camera and millimeter-wave transmitter of the environmental scanning system.

[0030] Please see Figures 4 to 9 The drone in S101 includes a drone body 100, with wing rods 110 on all four sides of the outer edge of the drone body 100, and rotors 120 rotatably connected to the ends of the wing rods 110; a camera 130 is located on the top of the drone body 100 and is close to one end face of the drone body 100; a roll angle sensor is installed inside the drone body 100; auxiliary rods 140 are provided on the outer edge of the wing rods 110 and are symmetrically arranged; a radar scanning assembly 200 is provided at the other end of the auxiliary rods 140; the radar scanning assembly 200 includes a micro motor 201 fixed to the other end of the auxiliary rods 140, an L-shaped fixed platform 202 fixed to the output end of the micro motor 201, a reflector 210 with multiple reflective holes 211 on its surface, and a millimeter-wave transmitter 203; the reflector 210 is an inverted quadrangular frustum shape with an open top, hollow interior, and a circular closed bottom; an electromagnet 230 is installed on the hollow bottom surface of the reflector 210; the reflector 210 also has a magnet 231.

[0031] The radar scanning assembly 200 also includes a guide rail ring 204 fixed to one side edge of an L-shaped mounting platform 202, and a reflector 210 rotatably connected to the bottom of the guide rail ring 204; the millimeter-wave transmitter 203 is fixed to the lower end of the guide rail ring 204 by multiple inclined rods 205, and the millimeter-wave transmitter 203 does not contact the guide rail ring 204; the bottom of the guide rail ring 204 has a guide rail groove 206; a rotating member 212 is fixed to the top of the reflector 210, and the outer edge of the rotating member 212 is provided with teeth, and the reflector 210 is rotatably connected to the guide rail groove 206 through the rotating member 212.

[0032] A motor 207 is mounted on the top of the L-shaped fixed platform 202, and the output end of the motor 207 is provided with a gear that matches the teeth of the rotating component 212.

[0033] The reflector 210 is composed of a frustum frame 213 and a reflector 220. The four sides of the frustum frame 213 are provided with reflectors 220 that are elastically connected by elastic bodies 221. The reflector holes 211 are opened on the reflectors 220 and are evenly distributed. The magnets 231 are fixed on the side of the reflector 220 facing the electromagnet 230 and are close to the hollow bottom surface.

[0034] In actual operation, the steps of this embodiment are as follows: Step 1: The terminal obtains real-time environmental data of the drone from the sensors installed on the drone through the drone's environmental scanning system.

[0035] Step 2: The terminal uses the drone's environmental scanning system to scan an obstacle map based on the collected real-time environmental data, and calculates the gap coverage of the scanned obstacle map. ( When the gap coverage does not meet the preset value If necessary, increase the reflector angle by 210°, increase the velocity ω, or adjust the scanning period T, and recalculate the scan.

[0036] The terminal uses the drone's environmental scanning system to scan an obstacle map and calculates the gap coverage. : , Formula 1 Among them, the rotational angular velocity of the reflector 210 (rad / s), the gap width d (m) of the reflector hole 211, the scanning period T (s), and R (m) is the bottom radius of the reflector 210.

[0037] like Then according to Dynamic adjustment ( This is the proportional gain coefficient. , calibrable (On-site calibration is required to adapt to different drone payloads); Based on scan line speed The gap coverage loss per unit time is The integral yields the time-averaged loss rate. Therefore .

[0038] Step 3: The terminal calculates the required compensation angle for the drone based on the roll angle change (detected by the roll angle sensor), verifies the error after compensation, and rescans. If the error after compensation meets the standard, the original scan data is used. If the error after compensation does not meet the standard, the compensation gain is increased or a forced rescan is performed. When there is extreme interference, the backup hovering or speed reduction strategy is activated. The electromagnet has a 230° compensation angle. Calculated using a nonlinear model: Drone roll angle fluctuation Initial slope angle of reflector 210 compensation angle Determined by Formulas 2 and 3: Formula 2 (where k is the sigmoid function) Formula 3 Where k is the nonlinear compensation coefficient. As the attenuation factor, (Adaptive decay, 0.2 is an empirical value, +0.1 ensures) Temporal gradient smoothing improves algorithm repeatability. hour, Compensated verification error ,Require ; like If the drone rolls more than 15°, then a backup strategy (such as hovering or deceleration) will be activated to prevent compensation failure under extreme attitude conditions (drones are prone to loss of control).

[0039] Step 4: The terminal uses the obstacle map scanned by the drone's environmental scanning system to determine the expected flight path of the drone.

[0040] Step 5: The terminal uses the drone's data collection and execution system to determine the desired rotational speeds of the drone's multiple rotors based on the expected flight path, and controls the corresponding motors according to the desired rotational speeds of the multiple rotors to make the drone fly along the expected flight path.

[0041] Specific implementation: First, the drone body 100 slowly rises from the ground. At this time, the radar scanning component 200 and camera 130 of the drone body 100 collect data on the surrounding environment. The millimeter-wave beam emitted by the millimeter-wave transmitter 203 is reflected and transmitted through the reflection hole 211 on the reflector 220 (at this time, the radar scanning component 200 can collect environmental data above and below). The drone body 100 can take off by rotating, or take off in a fixed direction, or a combination of both. During the above process, the motor 207 is always running to ensure the millimeter-wave radar antenna... The front-end circuit receives the target reflection signal continuously, and the micro motor 201 can drive the L-shaped fixed platform 202 to rotate 360°, making the data collected by the reflector 210 more diverse; the environmental scanning system processes and integrates the collected data and the captured data to obtain an obstacle map; when there is strong wind interference, the roll angle of the UAV body 100 changes during the scanning process, causing the radar scanning component 200 to deviate from the scanned target. At this time, the electromagnet 230 is activated by the environmental scanning system. The electromagnet 230 attracts / repels the magnet 231 through magnetic force, which drives the reflector 220 to overcome the elasticity of the elastic body 221 and change the angle, thereby achieving dynamic compensation.

[0042] Conduct scenario simulation: The drone takes off from the ground (terminal executes S101), and the environmental scanning system is activated. Millimeter-wave transmitter 203 emits a millimeter-wave beam, which scans the surrounding environment through reflector 220 (with reflective aperture 211 on its surface) of reflector 210. Camera 130 simultaneously captures images, which are fused with the millimeter-wave data to generate a preliminary obstacle map. The terminal calculates real-time environmental data, including pipe locations and wire distribution. At this time, the initial parameters of reflector 210 are set as follows: reflective aperture gap width d = 0.005m, bottom radius R of reflector 210 R = 0.1m, rotational angular velocity ω = 2πrad / s (approximately 60 RPM), and scanning period T = 0.1s (sampling frequency fs = 10Hz).

[0043] Formula 1 for calculating gap coverage in terminal applications:

[0044] result The parameters meet the preset values, requiring no parameter adjustment. The obstacle map shows a narrow gap (0.2m wide), and the terminal determines the flight path to pass through this gap.

[0045] As the drone approached the gap in the pipe, a sudden strong wind (15 m / s) caused fluctuations to be detected by the drone's roll angle sensor. (S103) The roll angle change causes the millimeter wave beam to deviate from the target, and the scanning data jitters. The terminal recalculates the gap coverage of the obstacle map and finds that environmental disturbances cause the scanning efficiency of the reflective aperture 211 to decrease: η drops to 0.92 (below the preset value of 0.95), and the risk of missed detection increases (such as a wire with a diameter of 0.01 m not being identified).

[0046] Terminal-triggered adjustment mechanism (S102): Reapply Formula 1 to dynamically adjust the angular velocity of reflector 210°. Set the proportional gain coefficient. (Empirical value, calibrable), minimum coverage Calculate the new angular velocity: rad / s The terminal will from Increased to 6.283 rad / s (approximately 100 RPM), and rescanned and η recalculated:

[0047] It meets preset values, requires no parameter adjustment, updates the obstacle map, identifies the location of power lines, and avoids missed detections.

[0048] Strong winds persist, and roll angle fluctuations intensify. The terminal initiates the nonlinear compensation model (Formulas 2 and 3) to calculate the attenuation factor. (make sure (Time gradient smoothing), then calculate the compensation coefficient k:

[0049] Compensation Angle Terminal verification error The standard has been met.

[0050] Compensation execution: Electromagnet 230 is activated, attracting magnet 231 on reflector 220 through magnetic force, overcoming the elastic force of elastomer 221, and changing the angle of reflector 220. The millimeter wave reflection direction is adjusted in real time to compensate for beam deviation.

[0051] After compensation, the terminal rescans the obstacle map, the error meets the standard, and the original data is used.

[0052] Based on the updated obstacle map (gap coverage η=0.995, no deviation after compensation), the terminal determines the expected flight path (S104): bypassing power lines and passing through pipe gaps. The data collection execution system calculates the expected rotor speed (S105). The left front rotor speed is increased from 120 RPM to 1500 RPM, and the right rear rotor speed is reduced to 1200 RPM to counteract wind resistance. The terminal controls the motors, and the UAV flies stably along the new path, successfully avoiding all obstacles.

[0053] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: The design of multiple reflective holes 211 on the reflector 220 enables the millimeter-wave transmitter 203 to scan obstacles in the vertical direction of the drone, and the micro motor 201 can control the rotation of the L-shaped fixed platform 202, making the data collected by the reflector 210 more diverse.

[0054] The system employs a truncated bevel reflector 210 in conjunction with a rotating scanning design (motor 207), combined with a millimeter-wave transmitter 203 and a camera 130 sensor to achieve omnidirectional obstacle detection. Through the time averaging effect (Formula 1), it effectively covers the gap of the reflector aperture 211 (η ≥ 0.95), reducing the missed detection rate of small obstacles (such as wires or tree branches). Compared with traditional static radar, it reduces the scanning blind zone, making it particularly suitable for narrow scenarios such as industrial pipeline monitoring.

[0055] Based on the nonlinear compensation model of roll angle φ (Formula 3), the angle of reflector 220 is adjusted in real time by electromagnet 230 to compensate for beam deviation caused by strong wind.

[0056] The data fusion between the millimeter-wave transmitter 203 and the sensor scanned by the camera 130 allows for the supplementation of visual blind spots under low-light conditions, thereby improving the accuracy of target recognition.

[0057] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0058] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for obstacle avoidance in unmanned aerial vehicles (UAVs) embedding multiple sensors, characterized in that, include: The S101 terminal acquires real-time environmental data of the drone from the sensors installed on the drone through the drone's environmental scanning system. The S102 terminal scans an obstacle map based on the real-time environmental data collected by the UAV's environmental scanning system, and calculates the gap coverage of the scanned obstacle map. When the gap coverage does not meet the preset value, the corresponding sensor parameters are readjusted and the scanning calculation is performed again. The S103 terminal calculates the roll angle of the UAV based on the UAV's environmental scanning system, calculates the required compensation angle of the UAV based on the roll angle, verifies the error after compensation, and rescans. If the error after compensation meets the standard, the original scanning data is used. If the error after compensation does not meet the standard, the compensation gain is increased or a forced rescan is performed. When there is extreme interference, the backup hovering or speed reduction strategy is activated. The S104 terminal uses the obstacle map scanned by the drone's environmental scanning system to determine the expected flight path of the drone. The S105 terminal uses the drone's data collection and execution system to determine the desired rotational speeds of multiple rotors of the drone based on the expected flight path, and controls the corresponding motors according to the desired rotational speeds of the multiple rotors to make the drone fly along the expected flight path. The drone in S101 includes a drone body (100), with wing rods (110) on all four sides of the outer edge of the drone body (100), and rotors (120) rotatably connected to the ends of the wing rods (110); a camera (130) is located on the top of the drone body (100) and is close to one end face of the drone body (100); a roll angle sensor is installed inside the drone body (100); auxiliary rods (140) are provided on the outer edge of the wing rods (110) and are symmetrically arranged; a radar scanning component is provided at the other end of the auxiliary rods (140). 200), the radar scanning assembly (200) includes a micro motor (201) fixed to the other end of the auxiliary rod (140), an L-shaped fixing platform (202) fixed to the output end of the micro motor (201), a reflector (210) with multiple reflective holes (211) on its surface, and a millimeter-wave transmitter (203); the reflector (210) is an inverted quadrangular frustum, with an open top, hollow interior, and a circular closed bottom; an electromagnet (230) is installed on the hollow bottom surface of the reflector (210); the reflector (210) is also provided with a magnet (231); The reflector (210) is composed of a frustum frame (213) and a reflector (220). The frustum frame (213) has reflectors (220) on all four sides, which are elastically connected by an elastic body (221). The reflector holes (211) are opened on the reflector (220) and are evenly distributed. The magnet (231) is fixed on the side of the reflector (220) facing the electromagnet (230) and is close to the hollow bottom surface. The angular velocity of the reflector (210) The gap width d of the reflective aperture (211) and the scanning period T satisfy the gap coverage. ,in Defined by the following formula: Formula 1 R is the radius of the bottom surface of the reflector (210); like Then according to Dynamic adjustment , This is the proportional gain coefficient. ; The electromagnet (230) compensates for the angle Calculated using a nonlinear model: k is the sigmoid function, Formula 2 Formula 3 Where k is the nonlinear compensation coefficient. For the roll angle of the drone, As the attenuation factor, ;when hour, Verification error after compensation ,Require .

2. The obstacle avoidance method for unmanned aerial vehicles (UAVs) with embedded multi-sensors as described in claim 1, characterized in that, The sensor includes a camera and a millimeter-wave transmitter. The millimeter-wave transmitter emits millimeter waves and receives the target reflection signal through a millimeter-wave radar antenna and front-end circuitry, enabling precise perception of the object's distance, speed, angle, and motion state. The image captured by the camera is then combined with the scanned obstacle map for processing.

3. The obstacle avoidance method for unmanned aerial vehicles (UAVs) with embedded multi-sensors as described in claim 2, characterized in that, The environmental scanning system adjusts the angle of millimeter wave reflection in real time by changing the roll angle of the UAV, and calculates the adjusted compensation angle using a nonlinear model.

4. The obstacle avoidance method for unmanned aerial vehicles (UAVs) with embedded multi-sensors as described in claim 3, characterized in that, The data collection and execution system is responsible for task execution. It generates corresponding instructions to adjust the speed, heading, and altitude of the drone by scanning the obstacle avoidance map through the camera and millimeter-wave transmitter of the environmental scanning system.

5. The obstacle avoidance method for unmanned aerial vehicles (UAVs) with embedded multi-sensors as described in claim 1, characterized in that, The radar scanning assembly (200) also includes a guide ring (204) fixed to one side edge of an L-shaped mounting platform (202), and a reflector (210) rotatably connected to the bottom of the guide ring (204); the millimeter wave transmitter (203) is fixed to the lower end of the guide ring (204) by multiple inclined rods (205), and the millimeter wave transmitter (203) does not contact the guide ring (204); the bottom of the guide ring (204) has a guide groove (206); a rotating part (212) is fixed to the top of the reflector (210), and the outer edge of the rotating part (212) is provided with teeth, and the reflector (210) is rotatably connected to the guide groove (206) through the rotating part (212).

6. The obstacle avoidance method for a drone with embedded multi-sensors as described in claim 5, characterized in that, A motor (207) is mounted on the top of the L-shaped fixed platform (202), and the output end of the motor (207) is provided with a gear that matches the teeth of the rotating part (212).

Images