Unmanned aerial vehicle automatic obstacle avoidance flight system based on panoramic stereo imaging device

Abstract

The invention discloses an unmanned aerial vehicle automatic obstacle avoidance flight system based on a panoramic stereo imaging device. The unmanned aerial vehicle automatic obstacle avoidance flight system comprises an image acquisition module, a navigation module, a central processing unit module and a flight controller module, wherein the image acquisition module is used for collecting omni-directional stereoscopic scenes through the refraction and reflection type panoramic stereo imaging device; the navigation module is used for providing geographical coordinate information; the central processing unit module is used for conducting obstacle point detection and judgment and extraction of effective flight path obstacle points on the omni-directional stereoscopic scenes obtained by the image acquisition module according to the geographical coordinate information provided by the navigation module and designing an optimal fight path; the flight controller module is used for controlling an execution mechanism module on an unmanned aerial vehicle to conduct corresponding flight actions in real time according to the optimal fight path designed by the central processing unit module. The unmanned aerial vehicle automatic obstacle avoidance flight system based on the panoramic stereo imaging device can effectively plan the optimal fight path for the unmanned aerial vehicle in a three-dimensional environment.

Description

technical field [0001] The invention relates to the field of autonomous control of unmanned aerial vehicles, in particular to an automatic obstacle-avoiding flight system for unmanned aerial vehicles based on panoramic stereoscopic imaging equipment. Background technique [0002] When the UAV is flying, in order to achieve the expected detection and avoidance of obstacles, it is necessary to conduct situational analysis and threat assessment of the flight environment, plan a reasonable track path, and then let the micro-rotor UAV designate accordingly Fly or fly over points of interest along the trajectory path of the aircraft in order to complete a given mission. However, if the micro-rotor UAV wants to complete the predetermined task, it can only be realized by flying along the planned track path. Given the flight control structure of the micro-rotor UAV, precise mathematical modeling and planning control are required for the motion state and flight trajectory of the micr...

AI Technical Summary

Problems solved by technology

At present, the UAV path planning technology of two-dimensional plane has achieved fruitful results and wide application, but there is no good system that can effectively plan the optimal track path in the three-dimensional environment

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