Automatic obstacle avoidance method and device for aircraft

Abstract

The embodiment of the invention discloses an automatic obstacle avoidance method for an aircraft. The automatic obstacle avoidance method for an aircraft includes the steps: receiving the distance, from the aircraft to an obstacle, detected by ultrasonic distance-measuring equipment on the aircraft, and the orientation from the obstacle to the aircraft; when the distance is smaller than the safety distance, acquiring the flight direction according to the orientation; according to the flight direction and a target flight position, determining the movement locus, wherein the movement locus does not coincides with the obstacle; and controlling the aircraft to fly to the target flight position according to the movement locus. The embodiment of the invention also provides a flight obstacle avoidance apparatus. The automatic obstacle avoidance method and apparatus for an aircraft can prevent the obstacle from crashing the aircraft during the flying process of the aircraft so that the safety during the flying process can be guaranteed; and at the same time, as the ultrasonic distance-measuring equipment is used to measure the distance, the power consumption is low; the cruising power is strong; the interference immunity is high; and the accuracy for distance measuring can be improved.

Description

technical field [0001] The invention relates to the technical field of intelligent aircraft, in particular to an automatic obstacle avoidance method and device for an aircraft. Background technique [0002] The unmanned aircraft is referred to as "aircraft" for short, and the aircraft is an unmanned aircraft that utilizes radio remote control telemetry equipment and its own program control device. There is no cockpit on board, but equipment such as navigation flight control system, program control device, power and power supply are installed. The personnel of the ground remote control telemetry station track, locate, remote control, telemetry and digital transmission through data link and other equipment. [0003] In practical applications, in order to ensure smooth flight, the aircraft needs to avoid obstacles. There are mainly two existing methods for autonomously avoiding obstacles through ranging: [0004] One is: binocular ranging and autonomous obstacle avoidance. Th...

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Problems solved by technology

[0006] In the process of realizing the above autonomous obstacle avoidance through ranging, the inventors found that there are at least the following problems in the prior art: in the first solution, the binocular camera needs to perform a large amount of image analysis, and the image analysis requires a large amount of computer resources , so the processor requirements for flight control are high, resulting in increased cost and increased power consumption; in the second solution, the radar measurement process is easily affected by external influences, such as weather, etc., resulting in inaccurate ranging results

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