Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera

A UAV and camera technology, applied in image communication, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problems of inability to know the distance information of obstacles, poor real-time performance of obstacle avoidance, and heavy load, etc. Achieve the effect of strong real-time algorithm, low efficiency and light weight

Pending Publication Date: 2016-07-13
WUHAN ZHUOBA SCI & TECH CO LTD
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Problems solved by technology

Ultrasonic and laser radar are both technologies for actively detecting obstacles. The advantage is that the technology is relatively mature and the detection distance accuracy is high; the disadvantage is that the load is large, the power consumption is high, and there is a detection blind spot, which requires m

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  • Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera
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  • Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera

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[0045] The present invention will be described in further detail below with reference to the drawings.

[0046] A 3D camera-based UAV obstacle avoidance technology, which consists of a 3D camera 1, a visual analysis module 2, a flight control main module 3, and an inertial navigation module 4.

[0047] During the flight of the UAV, the 3D camera 1 first takes a picture of the front of the flight at a certain frequency, which is used to perform 3D modeling of the obstacle in front, and obtain the position, shape, size and distance information of the obstacle. The 3D camera can be based on a dual visible light camera, or a visible light camera + infrared laser projector. The dual visible light camera ranging uses the parallax principle to process two images of the same scene acquired under different viewing angles, thereby recovering the three-dimensional geometric information of the object and measuring the spatial distance. The visible light camera + infrared laser projector uses ...

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Abstract

Provided are an unmanned aerial vehicle (UAV) obstacle avoidance method and device based on a 3D camera. The device comprises a 3D camera, a visual analysis module, a flight control main module and an inertial navigation module. The 3D camera is responsible for collecting image data in real time; collected image data and the UAV attitude information provided by the inertial navigation module are sent to the visual analysis module for analysis through an algorithm, and an analysis result is timely fed back to the flight control main module; the flight control main module adjusts flight parameters according to flight line adjusting parameters. The obstacle avoidance technology is based on the passive image analysis technology, and thereby the UAV obstacle avoidance device has the advantages of small size, light weight, low cost, small consumption, rapid response and high success rate, and can be applied to unmanned helicopters, and various rotor wing and fixed wing UAVs.

Description

Technical field: [0001] The present invention relates to the field of intelligent aircraft systems, in particular to a 3D camera-based unmanned aerial vehicle obstacle avoidance technology, which can be applied to automatic navigation and obstacle avoidance of various unmanned aerial vehicles. Background technique: [0002] The research of Unmanned Aerial Vehicles (UAV) has made great progress in recent years, and its application fields are becoming wider and wider. It can be used for communication relay, meteorological detection, disaster monitoring, pesticide spraying, geological survey, map surveying, Traffic control, border control and many other fields. [0003] In the field of aviation navigation applications, a set of navigation control points (waypoints) of the UAV are usually given offline, and the aircraft flies straight between the waypoints. The short-range route planning between the waypoints needs to consider the visibility between the planning points. Will it...

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Application Information

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IPC IPC(8): G05D1/10H04N13/02
CPCH04N13/275G05D1/101
Inventor 胡进蔡竞春李金辉
Owner WUHAN ZHUOBA SCI & TECH CO LTD
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