A drone intelligent obstacle avoidance and positioning system

Abstract

This invention discloses an intelligent obstacle avoidance and positioning system for unmanned aerial vehicles (UAVs). It can automatically identify flight paths based on preset flight parameters and environmental requirements, autonomously learn and save characteristics of unknown environments, including obstacle positions, distance parameters, and navigation path planning. The system can connect to a ground control center via a communication module for real-time data monitoring and flight mission configuration management. This system improves the flight management of UAVs in complex environments, reduces flight risks, and enhances the safety, flexibility, and mission adaptability of UAVs. It aligns with the trend of intelligent and automated UAVs and has broad application prospects. This invention achieves intelligent flight management of UAVs by collecting and analyzing real-time data on the flight environment, determining the adaptability of flight paths, and optimizing obstacle avoidance strategies.

Description

Technical Field

[0001] This invention relates to the field of intelligent control and navigation of unmanned aerial vehicles (UAVs), specifically a high-precision autonomous obstacle avoidance and positioning system for UAVs. Background Technology

[0002] Existing UAV navigation systems mostly rely on a single satellite navigation signal. However, when satellite signals are blocked or interfered with, positioning accuracy and stability decrease significantly, affecting the UAV's autonomous flight and mission execution. In addition, traditional obstacle avoidance methods often use a single sensor, which is difficult to adapt to complex and dynamic environments and poses certain safety hazards, especially in densely built-up areas, woodlands, or other complex terrains.

[0003] Current drone obstacle avoidance technologies typically rely on single sensors such as vision and infrared, which struggle to provide comprehensive and accurate environmental perception. Traditional technologies have limitations in obstacle recognition and real-time path planning, resulting in slow obstacle avoidance response times and increasing the risk of flight safety issues. Furthermore, existing systems have weak path planning capabilities in unknown environments, making real-time dynamic adjustments difficult and limiting drone applications in complex environments. Therefore, this paper proposes a multi-sensor fusion intelligent obstacle avoidance and high-precision positioning system to enhance the autonomous flight capabilities of drones and improve their mission efficiency and safety in complex environments. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent obstacle avoidance and high-precision positioning system for unmanned aerial vehicles (UAVs) to improve the autonomous flight capability of UAVs in complex environments and solve the problems of insufficient positioning and obstacle avoidance in the prior art.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] The present invention discloses an intelligent obstacle avoidance and high-precision positioning system for unmanned aerial vehicles (UAVs), comprising a microcontroller module, an inertial navigation module, a vision sensor module, a 3D reconstruction module, a path planning module, a communication module, and a power supply module.

[0007] Preferably, the microcontroller module is a high-performance microcontroller connected to an external memory, a watchdog reset circuit, a USB-to-serial circuit, an LED circuit, and a button circuit to achieve stable system control and data processing.

[0008] Preferably, the inertial navigation module includes a MEMS inertial sensor for collecting the acceleration and angular velocity of the UAV, which is then combined with a satellite navigation system using a Kalman filter algorithm to provide high-precision positioning information.

[0009] Preferably, the visual sensor module is used to collect environmental image data, detect the position and distance of obstacles through image processing algorithms, realize obstacle recognition, and provide support for obstacle avoidance.

[0010] Preferably, the 3D reconstruction module performs 3D modeling on images acquired by a visual sensor to generate a 3D map of the environment, providing a basis for path planning.

[0011] Preferably, the path planning module is based on a dynamic path planning algorithm, combines a three-dimensional environment map to generate a safe flight path, and adjusts the flight path in real time when encountering obstacles.

[0012] Preferably, the communication module is a data transmission radio module, which is connected to the ground control center to realize real-time data transmission and remote monitoring between the UAV and the ground control station.

[0013] Preferably, the power supply module includes an AC-DC conversion module and a DC-DC regulator to provide a stable power supply for each module of the system.

[0014] The advantages of this invention are:

[0015] 1. The intelligent obstacle avoidance and high-precision positioning system for unmanned aerial vehicles (UAVs) provided by this invention achieves high-precision positioning through the fusion of inertial navigation and visual sensors, thereby enhancing the autonomous flight capability of UAVs.

[0016] 2. This invention, through path planning and 3D reconstruction modules, enables efficient obstacle avoidance in complex environments, thereby improving the flight safety and mission adaptability of UAVs. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0018] Figure 1 This is a schematic diagram of the structure of the unmanned aerial vehicle (UAV) intelligent obstacle avoidance and high-precision positioning system described in this invention;

[0019] Figure 2 This is a schematic diagram illustrating the workflow of the UAV intelligent obstacle avoidance and high-precision positioning system in the embodiment.

[0020] Figure 3 This is a schematic diagram of the microcontroller system structure in the embodiment;

[0021] Figure 4 This is a schematic diagram illustrating the fusion of the inertial navigation module and the satellite navigation module in this embodiment.

[0022] Figure 5 This is a schematic diagram of the structure of the vision sensor module in the embodiment;

[0023] Figure 6This is a schematic diagram of the operation of the 3D reconstruction module in the embodiment;

[0024] Figure 7 This is a schematic diagram of path generation in the path planning module of the embodiment;

[0025] Figure 8 This is a schematic diagram of the communication module in the embodiment;

[0026] Figure 9 This is a schematic diagram of the power module in the embodiment. Detailed Implementation

[0027] To more clearly illustrate the present invention, the technical solution of the present invention will be further described below in conjunction with embodiments and accompanying drawings.

[0028] like Figure 1 The intelligent obstacle avoidance and high-precision positioning system for unmanned aerial vehicles (UAVs) of the present invention includes a microcontroller module, an inertial navigation module, a visual sensor module, a 3D reconstruction module, a path planning module, a communication module, and a power supply module.

[0029] like Figure 2 The diagram shows the workflow of the UAV intelligent obstacle avoidance and high-precision positioning system. After power-on, each module initializes. Upon takeoff, the inertial navigation module and visual sensor module begin collecting data in real time and transmitting the information to the microcontroller module for processing. The system achieves precise positioning through the fusion of inertial and satellite navigation data and uses the visual sensor to detect obstacles in the surrounding environment. If an obstacle is detected, the system generates an obstacle avoidance path in real time. The communication module transmits flight data to the ground control center, allowing ground control personnel to monitor and adjust parameters in real time.

[0030] like Figure 3 As shown, the microcontroller system employs a high-performance microcontroller connected to external memory, a watchdog reset circuit, a communication interface, and a debugging interface. The microcontroller communicates with the Nor Flash memory via the SPI protocol, providing stable storage space for the system. A large-capacity cache is provided through an external SRAM module, suitable for real-time image processing and navigation calculations. Simultaneously, it connects to the ground station via a USB-to-serial interface for data debugging and analysis. The system's LED indicators and button interfaces facilitate system debugging and status indication.

[0031] like Figure 4 As shown, the inertial navigation module and the satellite navigation module are used in combination. The inertial navigation module collects the acceleration and angular velocity data of the UAV in real time through MEMS inertial sensors, and fuses the data with the satellite navigation system data through Kalman filtering algorithm to improve positioning accuracy and ensure stable positioning information even in environments where satellite signals are interfered with.

[0032] like Figure 5 As shown, the visual sensor module is used to acquire image data of the environment surrounding the drone and detects the position, size, and distance of obstacles using image recognition algorithms. The visual data is transmitted to the microcontroller module for analysis, providing real-time information for obstacle avoidance and path planning.

[0033] like Figure 6 As shown, the 3D reconstruction module uses multi-angle image data collected by a vision sensor to generate a 3D model of the environment. This model enables spatial modeling of the environment, providing a basis for path planning. Real-time updates of the 3D model help UAVs fly safely in complex environments.

[0034] like Figure 7 As shown, the path planning module generates a safe flight path using a dynamic path planning algorithm combined with a real-time generated 3D environment model. During flight, the path planning module automatically adjusts the path based on the position of obstacles and environmental changes to avoid collisions and maintain flight stability.

[0035] like Figure 8 As shown, the communication module includes a digital image transmission module, which is responsible for real-time communication between the UAV and the ground control center. The ground station can receive the UAV's flight status information through this module, and remotely set flight tasks or adjust navigation parameters to achieve real-time monitoring and data transmission.

[0036] like Figure 9 As shown, the power module uses an AC-DC power conversion module and a DC-DC regulator to convert the main power supply voltage into a stable operating voltage, and uses an LDO regulator to output a low-noise 3.3V power supply to ensure the stable operation of the system.

[0037] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. All modifications made according to the spirit and essence of the main technical solution of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An unmanned aerial vehicle intelligent obstacle avoidance and high-precision positioning system, characterized in that: The microcontroller module, the inertial navigation module, the visual sensor module, the three-dimensional reconstruction module, the path planning module, the communication module and the power module are included. 2.The UAV intelligent obstacle avoidance and high-precision positioning system of claim 1, wherein: The microcontroller module adopts a high-performance microcontroller, which is connected with an external memory, a watchdog reset circuit, a communication interface and a debugging interface to realize real-time data processing and control of the system. 3.The UAV intelligent obstacle avoidance and high-precision positioning system of claim 1, wherein: The inertial navigation module includes MEMS inertial sensors for collecting acceleration and angular velocity of the unmanned aerial vehicle, and improves positioning accuracy through Kalman filtering algorithm combined with satellite navigation system. 4.The UAV intelligent obstacle avoidance and high-precision positioning system of claim 1, wherein: The visual sensor module is used for collecting image data of the environment around the unmanned aerial vehicle, and detecting the position and distance of obstacles through image recognition algorithm to provide support for obstacle avoidance path generation. 5.The UAV intelligent obstacle avoidance and high-precision positioning system of claim 1, wherein: The three-dimensional reconstruction module generates a three-dimensional map of the environment through three-dimensional modeling based on multi-angle images obtained by the visual sensor, and provides support for the path planning module. 6.The UAV intelligent obstacle avoidance and high-precision positioning system of claim 1, wherein: The path planning module adopts a dynamic path planning algorithm, generates a safe flight path combined with the real-time updated three-dimensional environment map, and adjusts the path when encountering obstacles. 7.The intelligent obstacle avoidance and high-precision positioning system of UAV according to claim 1, characterized in that: The communication module adopts a digital radio transmission module, which is connected with the ground control station to transmit the positioning data, flight state and obstacle avoidance information of the unmanned aerial vehicle in real time, and realizes remote monitoring and operation. 8.The UAV intelligent obstacle avoidance and high-precision positioning system of claim 1, wherein: The power module includes an AC-DC conversion module and a DC-DC voltage stabilizer to provide stable power supply and ensure continuous operation of the system.

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