Unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision

Abstract

The invention relates to an unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision. The unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision are characterized in that the system comprises a binocular visual system, other sensor modules and a flight control system which are mounted on an unmanned aerial vehicle; the method comprises the steps that the binocular visual system acquires visual information of the flight environment of the unmanned aerial vehicle, and obstacle information is obtained through processing; other sensor units acquire state information of the unmanned aerial vehicle; the flight control system receives the obstacle information and the state information of the unmanned aerial vehicle, establishes a flight path and generates a flight control instruction to send to the unmanned aerial vehicle; the unmanned aerial vehicle flies by avoiding obstacles according to the flight control instruction. According to the unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision, the vision information is fused with other sensor information, the flight environment information is perceived, flight path control and path planning are conducted to avoid the obstacles, the problem of vision obstacle avoidance of the unmanned aerial vehicle is effectively solved, and the capacity of completing vision obstacle avoidance by means of a vehicle-mounted camera is achieved.

Description

technical field [0001] The invention belongs to the technical field of drones, in particular to a binocular vision-based autonomous obstacle detection system and method for drones. Background technique [0002] With the continuous development of aircraft-related technologies and the complexity of its application scenarios, higher requirements are put forward for its environmental perception capabilities. Vision-based navigation technology has the advantages of wide detection range and large information capacity. In addition, it has the characteristics of quick capture and sharp response to changes in the flight environment. Therefore, it has received more and more attention in the research of aircraft guidance and navigation. [0003] Vision-based environmental perception is a passive measurement method. Compared with active measurement methods such as laser, radar, and ultrasound, it can reduce the mutual interference of multiple measurement devices during the detection pro...

AI Technical Summary

Problems solved by technology

[0013] To sum up, although many scholars in the UAV field at home and abroad have carried out a lot of research on the UAV obstacle avoidance system, the environmental information is completely processed onboard, and on the premise of ensuring the measurement accuracy, the current obstacle avoidance system is still Unable to meet the requirements of small size, low power and low weight, and then realize the function of completely local autonomous flight of drones

Images