CN111554129B - Unmanned aerial vehicle rail system based on indoor location - Google Patents

Abstract

The invention relates to the technical field of unmanned aerial vehicles, relates to the control of the movement area of unmanned aerial vehicles, and specifically relates to an indoor positioning-based unmanned aerial vehicle fence, including: several positioning base stations, and the space area calibrated by the limit coordinates of the positioning base stations is the unmanned aerial vehicle The flight area, the flight buffer area includes the internal active area and the external buffer area; the positioning label is used to detect the current positioning of the drone; the direction sensor is used to detect the current attitude of the drone; the acceleration sensor is used to detect the drone The current acceleration of the drone; the processor is used to process the current flight data of the drone; the communication module is used to send the current flight data of the drone and receive control instructions; the server exchanges data with the drone through the communication module, accepts and processes The flight data of the UAV and generate corresponding control instructions. In the present invention, the UAV can fly freely in the inner activity area, and the UAV can only move towards the inner space area when it enters the outer buffer area.

Description

A UAV fence system based on indoor positioning

technical field

The invention relates to the technical field of unmanned aerial vehicles, relates to the movement area control of unmanned aerial vehicles, and in particular relates to an indoor positioning-based unmanned aerial vehicle fence.

Background technique

The electronic fence applied to the UAV field is mainly used to determine the relative position of the UAV. During the flight of the UAV, it will give real-time feedback whether the UAV is within the predetermined range and mark the position of the UAV. . When the drone is in the fence, the electronic fence system feedback is normal, and when the drone is outside the fence, the electronic system will prompt.

Due to the large flight range of UAVs, electronic fences are mainly set up in outdoor environments for the approximate positioning of UAVs, but cannot restrict the movement of UAVs. When the UAV flies in a small space with a relatively limited range of motion, the current electronic fence cannot play a timely restrictive role. When the UAV moves beyond the boundaries of the electronic fence, it is difficult to avoid collision accidents.

Therefore, aiming at the deficiencies of the existing electric fence system, it is necessary to propose a more reasonable technical solution to solve the technical problems existing in the prior art.

Contents of the invention

The invention provides an indoor positioning-based UAV fence system, through which the motion range of the UAV is divided into an internal activity area and an external buffer area, and the UAV can fly freely in the internal activity area. After the area, it will hover and can only fly to the internal activity area. This restricts the behavior of the drone after it leaves the electronic fence, which can effectively reduce the damage of the drone and improve the safety of the drone flight.

In order to realize above-mentioned effect, the present invention adopts technical scheme as:

A drone fence system based on indoor positioning, including:

A number of positioning base stations, the positioning base stations are set in space and keep a distance from the indoor walls, each positioning base station limits the limit coordinates of one direction, the space area marked by the limit coordinates of the positioning base station is the drone flight area, and the flight buffer area includes the interior active area and external buffer area;

Positioning tags, set on the UAV and used to detect the current location of the UAV;

The direction sensor is arranged on the UAV and is used to detect the current attitude of the UAV;

The acceleration sensor is arranged on the drone and is used to detect the current acceleration of the drone;

The processor is arranged on the drone and is used to process the current flight data of the drone;

The communication module is set on the drone and is used to send the current flight data of the drone and receive control instructions;

The server exchanges data with the drone through the communication module, accepts and processes the flight data of the drone and generates corresponding control instructions.

The UAV fence system disclosed above can effectively limit the limit area of UAV flight by setting the outer fence of the positioning base station to limit the area where the UAV flies. The outer fence is used as the boundary of the flight buffer area; The internal activity area is delineated, and the internal activity area is the area where drones fly freely. After the system is started, the position of the drone is detected and updated in real time. When the drone is confirmed to be in the internal activity area, it can fly freely. When the drone is confirmed to leave the internal activity area and enter the external buffer area, no one will The aircraft loses the right to fly freely and can only fly to the internal activity area.

Further, the above-mentioned fence system discloses the composition of the system. The flight area of the UAV is determined by the positioning base station, and the layout of the positioning base station will directly affect the flight area of the UAV. There are many ways to determine the flight area of the UAV by positioning the base station, and the shapes of the flight area are also different. As an option, the present invention optimizes the layout of the positioning base station, and enumerates the following feasible solutions. The number of positioning base stations is four. Taking one of the positioning base stations as the reference point, the other three positioning base stations are respectively set in the x, y and z directions. The four positioning base stations form a spatial Cartesian coordinate system, and the four positioning base stations will have no The flight area of man and machine is limited to a cube area. When setting in this way, by setting four positioning base stations indoors, the reference point is set at a corner, and the other three positioning base stations are respectively set at the adjacent corners of the reference point, so that the drone flight area can be delineated.

Furthermore, the relative positions of the external buffer area and the internal activity area are not fixed. According to different indoor structures, the external buffer area and the internal activity area can be set in a way of being adjacent to each other and surrounding them. As an option, the positional relationship between the two is limited, and the following feasible schemes are given: the outer buffer area is located outside the inner activity area, and the inner activity area is a cube area, and the center of the inner activity area is connected to the flight area. The centers coincide, and the length of each edge of the inner active area corresponds to the length of the edge of the flight area is reduced in the same proportion.

Furthermore, the flight area is defined by the spatial Cartesian coordinate system established by the positioning base station, and each position in the flight area is calibrated by point coordinates. Therefore, each position of the internal active area and the external buffer area is determined by a unique point The coordinates are correspondingly determined. When determining the internal active area and the external buffer area, the boundary surface of the internal active area and the boundary surface of the external buffer area are recorded and stored in the server by means of point coordinate sets, and the boundary surface of the internal active area The points of correspond to the points on the boundary surface of the outer buffer region.

Furthermore, to determine whether the UAV enters the outer activity area from the inner activity area, it is only necessary to determine the relationship between the UAV and the boundary surface. When the UAV is located on the boundary surface of the inner flight area and the outer buffer area, the coordinate value (x, y, z) of the UAV just belongs to the point coordinate set of the boundary surface. When the UAV coordinate value (x, y ,z) when any two terms are corresponding to a point on the boundary surface, the positional relationship of the UAV can be judged by the size relationship of the remaining coordinate parameter value.

其中为V₀为无人机进入外部缓冲区域时的最大速度，a为无人机减速时的最小加速度，t₁为服务器发出控制指令到无人机接收控制指令的延迟时间，t₂为无人机接到控制指令到实现悬停所需的时间。在这种方案中，无人机的最大速度由服务器预先设定，最小加速度指无人机仅受空气阻力时的加速度。Furthermore, the above scheme explains the relative positional relationship between the internal activity area and the external buffer area. The fundamental significance of setting the external buffer area is to provide a deceleration space for the UAV. When the UAV leaves the internal activity area, it can Sufficient deceleration to hover within the buffer zone. Therefore, the width of the outer buffer area needs to meet the width of the football that the UAV decelerates to hover with minimum acceleration at maximum speed. Specifically, here is a feasible solution: the interval width of the external buffer area is

Among them, _V0 is the maximum speed when the UAV enters the external buffer area, a is the minimum acceleration when the UAV decelerates, _t1 is the delay time from the server sending the control command to the UAV receiving the control command, and _t2 is no The time required for the human-machine to receive the control command to realize the hovering. In this scheme, the maximum speed of the UAV is preset by the server, and the minimum acceleration refers to the acceleration when the UAV is only subjected to air resistance.

Furthermore, the external buffer area is the limit boundary of the UAV movement. In order to improve the safety of the UAV flight area, a certain distance is reserved between the location of the positioning base station and the indoor wall. As an option, here A feasible scheme is proposed, and the interval is at least 1m. The interval width is determined according to the speed of the drone. The greater the maximum speed of the drone, the greater the interval setting.

Further, the system monitors the movement direction of the UAV in real time. One is to judge the movement trajectory of the UAV through the movement position of the UAV, and the other is to provide the movement direction through the direction sensor of the UAV itself. Specifically, as a feasible As an option, the present invention proposes the following feasible solution: the direction sensor uses a gyroscope.

Still further, to optimize the positioning base station, the present invention proposes the following feasible solution: the positioning base station adopts a UWB (Ultra Wide Band, UWB, ultra-wideband) module.

Further, to optimize the positioning tag, the present invention proposes the following feasible solution: the positioning tag uses a UWB module.

When the above-mentioned fence system is running, the UAV provides its own coordinates to the server in real time through the positioning tag, and the server confirms the location of the UAV; Judging the attitude and movement trend of the drone. When the drone is in the internal activity area, it can move freely in all directions, and the server does not restrict the movement of the drone; when the drone leaves the internal activity area and enters the external buffer area, the server restricts the movement direction of the drone. Instructions for drones to stay away from internal activity areas are restricted, and drones are only allowed to execute instructions towards internal activity areas.

Compared with prior art, the beneficial effect of the present invention is:

The invention determines the flight area of the UAV by positioning the base station, and divides the flight area into an internal activity area and an external buffer area. The position of the UAV is monitored in real time. When the UAV is in the internal activity area, the system allows no The man-machine is free to fly. When the drone leaves the internal activity area and enters the external buffer area, the system restricts the free flight of the drone and only allows the drone to move towards the internal space area.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some of the embodiments of the present invention, and therefore should not As a limitation of the scope, those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Figure 1 is a schematic diagram of the composition of the drone fence system.

Detailed ways

The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but are not intended to limit the present invention. Specific structural and functional details disclosed herein are for purposes of describing example embodiments of the invention only. However, the invention may be embodied in many alternative forms and should not be construed as limited to the embodiments set forth herein.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprises", "comprises", "comprises", and/or "comprises" when used herein designate the presence of stated features, integers, steps, operations, elements and/or components and does not exclude the existence or addition of one or more other features, quantities, steps, operations, units, components and/or combinations thereof.

It should also be noted that in some alternative implementations, the functions/acts may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently or may sometimes be executed in the reverse order, depending upon the functions/acts involved.

In the following description specific details are provided to facilitate a thorough understanding of example embodiments. However, it would be understood by those of ordinary skill in the art that example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other embodiments, well-known processes, structures and techniques may not be shown in unnecessary detail in order not to obscure the example embodiments.

Example 1

As shown in Figure 1, this embodiment discloses a fence system for drones based on indoor positioning, including:

A number of positioning base stations, the positioning base stations are set in space and keep a distance from the indoor walls, each positioning base station limits the limit coordinates of one direction, the space area marked by the limit coordinates of the positioning base station is the drone flight area, and the flight buffer area includes the interior active area and external buffer area;

Positioning tags, set on the UAV and used to detect the current location of the UAV;

The direction sensor is arranged on the UAV and is used to detect the current attitude of the UAV;

The acceleration sensor is arranged on the drone and is used to detect the current acceleration of the drone;

The processor is arranged on the drone and is used to process the current flight data of the drone;

The communication module is set on the drone and is used to send the current flight data of the drone and receive control instructions;

The server exchanges data with the drone through the communication module, accepts and processes the flight data of the drone and generates corresponding control instructions.

The UAV fence system disclosed above can effectively limit the limit area of UAV flight by setting the outer fence of the positioning base station to limit the area where the UAV flies. The outer fence is used as the boundary of the flight buffer area; The internal activity area is delineated, and the internal activity area is the area where drones fly freely. After the system is started, the position of the drone is detected and updated in real time. When the drone is confirmed to be in the internal activity area, it can fly freely. When the drone is confirmed to leave the internal activity area and enter the external buffer area, no one will The aircraft loses the right to fly freely and can only fly to the internal activity area.

The above-mentioned fence system discloses the composition of the system. The flight area of the drone is determined by the positioning base station, and the layout of the positioning base station will directly affect the flight area of the drone. There are many ways to determine the flight area of the UAV by positioning the base station, and the shapes of the flight area are also different. As an option, the present invention optimizes the layout of the positioning base station, and enumerates the following feasible solutions. The number of positioning base stations is four. Taking one of the positioning base stations as the reference point, the other three positioning base stations are respectively set in the x, y and z directions. The four positioning base stations form a spatial Cartesian coordinate system, and the four positioning base stations will have no The flight area of man and machine is limited to a cube area. When setting in this way, by setting four positioning base stations indoors, the reference point is set at a corner, and the other three positioning base stations are respectively set at the adjacent corners of the reference point, so that the drone flight area can be delineated.

In this embodiment, the relative positions of the outer buffer area and the inner activity area are not fixed. According to different indoor structures, the outer buffer area and the inner activity area can be set in a way of being adjacent to each other and surrounding them. As an option, the positional relationship between the two is limited, and the following feasible schemes are given: the outer buffer area is located outside the inner activity area, and the inner activity area is a cube area, and the center of the inner activity area is connected to the flight area. The centers coincide, and the length of each edge of the inner active area corresponds to the length of the edge of the flight area is reduced in the same proportion.

The flight area is delimited by the spatial Cartesian coordinate system established by the positioning base station, and each position in the flight area is calibrated by point coordinates. Therefore, each position of the internal active area and the external buffer area is determined by a uniquely determined point coordinate . When determining the internal active area and the external buffer area, the boundary surface of the internal active area and the boundary surface of the external buffer area are recorded and stored in the server by means of point coordinate sets, and the boundary surface of the internal active area The points of correspond to the points on the boundary surface of the outer buffer region.

To judge whether the UAV enters the outer activity area from the inner activity area, it is only necessary to judge the relationship between the UAV and the boundary surface. When the UAV is located on the boundary surface of the inner flight area and the outer buffer area, the coordinate value (x, y, z) of the UAV just belongs to the point coordinate set of the boundary surface. When the UAV coordinate value (x, y ,z) when any two terms are corresponding to a point on the boundary surface, the positional relationship of the UAV can be judged by the size relationship of the remaining coordinate parameter value.

其中为V₀为无人机进入外部缓冲区域时的最大速度，a为无人机减速时的最小加速度，t₁为服务器发出控制指令到无人机接收控制指令的延迟时间，t₂为无人机接到控制指令到实现悬停所需的时间。在这种方案中，无人机的最大速度由服务器预先设定，最小加速度指无人机仅受空气阻力时的加速度。The above scheme explains the relative positional relationship between the internal activity area and the external buffer area. The fundamental significance of setting the external buffer area is to provide deceleration space for the UAV. When the UAV leaves the internal activity area, it can be in the external buffer area. Slow down enough to hover. Therefore, the width of the outer buffer area needs to meet the width of the football that the UAV decelerates to hover with minimum acceleration at maximum speed. Specifically, here is a feasible solution: the interval width of the external buffer area is

Among them, _V0 is the maximum speed when the UAV enters the external buffer area, a is the minimum acceleration when the UAV decelerates, _t1 is the delay time from the server sending the control command to the UAV receiving the control command, and _t2 is no The time required for the human-machine to receive the control command to realize the hovering. In this scheme, the maximum speed of the UAV is preset by the server, and the minimum acceleration refers to the acceleration when the UAV is only subjected to air resistance.

The external buffer area is the limit boundary of the UAV movement. In order to improve the safety of the UAV flight area, a certain distance is reserved between the location of the positioning base station and the indoor wall. As an option, the feasible program, the interval is at least 1m. The interval width is determined according to the speed of the drone. The greater the maximum speed of the drone, the greater the interval setting.

The system monitors the movement direction of the UAV in real time. One is to judge the movement trajectory of the UAV through the movement position of the UAV, and the other is to provide the movement direction through the direction sensor of the UAV itself. Specifically, as a feasible option, this The invention proposes the following feasible solution: the direction sensor adopts a gyroscope.

To optimize the positioning base station, the present invention proposes the following feasible solution: the positioning base station uses a UWB module.

To optimize the positioning tag, the present invention proposes the following feasible solution: the positioning tag uses a UWB module.

When the above-mentioned fence system is running, the UAV provides its own coordinates to the server in real time through the positioning tag, and the server confirms the location of the UAV; Judging the attitude and movement trend of the drone. When the drone is in the internal activity area, it can move freely in all directions, and the server does not restrict the movement of the drone; when the drone leaves the internal activity area and enters the external buffer area, the server restricts the movement direction of the drone. Instructions for drones to stay away from internal activity areas are restricted, and drones are only allowed to execute instructions towards internal activity areas.

The above are the embodiments listed by the present invention, but the present invention is not limited to the above-mentioned optional embodiments, and those skilled in the art can obtain other various embodiments by combining the above-mentioned methods arbitrarily, anyone under the inspiration of the present invention Various other forms of implementation are possible. The above specific implementation methods should not be construed as limiting the protection scope of the present invention. The protection scope of the present invention should be defined in the claims, and the description can be used to interpret the claims.

Claims (5)

1. An unmanned aerial vehicle rail system based on indoor location, its characterized in that includes:

the system comprises a plurality of positioning base stations, wherein the positioning base stations are arranged in space and keep intervals with an indoor wall, each positioning base station limits a limit coordinate in one direction, a space area calibrated by the limit coordinates of the positioning base stations is an unmanned aerial vehicle flight area, the unmanned aerial vehicle flight area comprises an internal moving area and an external buffer area, the internal moving area is an area where the unmanned aerial vehicle flies freely, after the system is started, the position of the unmanned aerial vehicle is detected and updated in real time, the unmanned aerial vehicle can fly freely when being confirmed to be located in the internal moving area, and after the unmanned aerial vehicle is confirmed to leave the internal moving area and enter the external buffer area, the unmanned aerial vehicle loses the permission of free flight and can only fly to the internal moving area;

the positioning tag is arranged on the unmanned aerial vehicle and used for detecting the current positioning of the unmanned aerial vehicle;

the direction sensor is arranged on the unmanned aerial vehicle and used for detecting the current posture of the unmanned aerial vehicle;

the acceleration sensor is arranged on the unmanned aerial vehicle and used for detecting the current acceleration of the unmanned aerial vehicle;

the processor is arranged on the unmanned aerial vehicle and used for processing the current flight data of the unmanned aerial vehicle;

the communication module is arranged on the unmanned aerial vehicle and used for sending current flight data of the unmanned aerial vehicle and receiving a control command;

the server exchanges data with the unmanned aerial vehicle through the communication module, receives and processes flight data of the unmanned aerial vehicle and generates a corresponding control instruction;

the number of the positioning base stations is four, one positioning base station is taken as a reference point, the other three positioning base stations are respectively arranged in the x direction, the y direction and the z direction, the four positioning base stations form a space Cartesian rectangular coordinate system, and the four positioning base stations limit the flight area of the unmanned aerial vehicle to be a cubic area;

the outer buffer area is positioned at the outer side of the inner active area, the inner active area is a cubic area, the center of the inner active area is superposed with the center of the flying area, and each edge length of the inner active area is reduced by the same proportion corresponding to the edge length of the flying area;

the boundary surface of the internal activity area and the boundary surface of the external buffer area are recorded and stored in the server in a point coordinate set mode, and points on the boundary surface of the internal activity area correspond to points on the boundary surface of the external buffer area;

the interval width of the external buffer area is

Wherein is V ₀ For maximum speed when the unmanned aerial vehicle enters the external buffer area, a is the minimum acceleration when the unmanned aerial vehicle decelerates, t ₁ Delay time, t, from sending control command to receiving control command by UAV for server ₂ The time required for the unmanned aerial vehicle to receive the control instruction and realize hovering is saved.

2. The indoor positioning-based drone fencing system of claim 1, wherein: the spacing is at least 1m.

3. An indoor positioning based drone pen system according to claim 1, characterized by: the direction sensor adopts a gyroscope.

4. The indoor positioning-based drone fencing system of claim 1, wherein: the positioning base station adopts a UWB module.

5. The indoor positioning-based drone fencing system of claim 1, wherein: the positioning tag adopts a UWB module.

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