Multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and control method

Abstract

The invention discloses a multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and a control method. The system includes an environment information real-time detection module which carries out real-time detection on surrounding environment through adopting a multi-sensor fusion technology and transmits detected information to an obstacle data analysis processing module, the obstacle data analysis processing module which carries out environment structure sensing construction on the received information of the surrounding environment so as to determine an obstacle, and an obstacle avoidance decision-making module which determines an obstacle avoidance decision according to the output result of the obstacle data analysis processing module, so as to achieve obstacle avoidance of an unmanned aerial vehicle through the driving of power modules which is performed by a flight control system. According to the multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and the control method of the invention, binocular machine vision systems are arranged around the body of the unmanned aerial vehicle, so that 3D space reconstruction can be realized; and an ultrasonic device and a millimeter wave radar in an advancing direction are used in cooperation, so that an obstacle avoidance method is more comprehensive. The system has the advantages of high real-time performance of obstacle detection, long visual detection distance and high resolution.

Description

technical field [0001] The invention relates to the field of operation and maintenance of power systems, in particular to an autonomous obstacle avoidance unmanned aerial vehicle system and control method based on multi-sensor fusion. Background technique [0002] Through years of technology research and development and practical application, UAV inspection has developed into an efficient and low-cost aerial inspection technology, which is one of the important means to solve the intelligent inspection of transmission lines. Improve the power transmission and distribution operation, management and maintenance level of the power system. As far as UAVs are concerned, the automatic obstacle avoidance system is an important safety guarantee for UAVs to successfully complete flight tasks. It plays a vital role in the flight path planning ability of UAVs, which largely reflects intelligence and security. [0003] "A UAV Obstacle Avoidance Method and Its Device" with the applicati...

AI Technical Summary

Problems solved by technology

The application number is "201310036235.1" "Multiple Obstacle Avoidance Control Method for UAVs for Power Line Inspection", which combines two obstacle avoidance methods, but needs to download the transmission line electromagnetic field distribution model and transmission line in the embedded flight controller. 3D model data, the calculation implementation process is more complicated

[0004] To sum up, the UAV obstacle avoidance method in the prior art is not very effective for the UAV inspection operation, and there are still many problems to be solved.

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