Omnidirectional barrier avoidance device, holder, holder control method, and barrier avoidance control method
A control method and obstacle avoidance technology, which are applied in the control using feedback, 3D position/channel control, vehicle position/route/altitude control, etc., which can solve the problem of large amount of data of multi-mode cameras, easy to be interfered, and poor ultrasonic accuracy, etc. problems, to achieve the effect of rich data, lower costs, and a wide field of vision
Pending Publication Date: 2017-08-18
PRODRONE TECH (SHENZHEN) CO LTD
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Problems solved by technology
For omnidirectional obstacle avoidance, ultrasonic waves have defects such as poor accuracy, susceptibility to interference, and short distance; radar ranging equipment is often relatively expensive; visual ranging with multi-mode cameras has always been plagued by problems such as large amount of data and low computing efficiency.
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[0023] The present invention will be described below according to the embodiments shown in the accompanying drawings. It can be thought that embodiment disclosed this time is an illustration in every point, and is not restrictive. The scope of the present invention is not limited by the description of the following embodiments but only by the scope of the claims, and includes the same meaning as the scope of the claims and all modifications within the scope of the claims.
[0024] The present invention provides an omnidirectional obstacle avoidance device. The omnidirectional obstacle avoidance device is arranged on a flying device and adopts a group of non-fixed binocular camera components. The module can realize synchronous acquisition of images with a certain parallax, so that the distance measurement can be realized by the method of stereo matching. The so-called non-fixed means that the orientation of the binocular camera assembly can be changed through control, thereby ...
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The invention provides an omnidirectional barrier avoidance device. The omnidirectional barrier avoidance device is characterized by including a binocular camera assembly for synchronously acquiring the two images of a target in the view field; and a two-axis rotary assembly for controlling the overall rotation of the binocular camera assembly. The binocular camera assembly is mounted on the two-axis rotary assembly, and the actual distance of the target distance flight device is calculated in real time by the two images acquired by the binocular camera assembly in real time. The invention further provides a holder, a holder control method, and a barrier avoidance control method, which can realize the omnidirectional barrier avoidance effect under the premises that the cost is reduced and the data calculating amount is not increased.
Description
technical field [0001] The invention relates to the field of autonomous obstacle avoidance, in particular to an omnidirectional obstacle avoidance device and an obstacle avoidance method based on binocular ranging. Background technique [0002] Autonomous obstacle avoidance mainly solves the problem of sensing the distance of obstacles in the surrounding environment, and then responds accordingly according to the distance. How to obtain the obstacle distance in the surrounding environment is the key to solve the obstacle avoidance problem. At present, the main obstacle avoidance methods include ultrasonic ranging, radar ranging, and visual ranging. For omnidirectional obstacle avoidance, ultrasonic waves have defects such as poor accuracy, susceptibility to interference, and short distance; radar ranging equipment is often relatively expensive; visual ranging with multi-mode cameras has always been plagued by problems such as large amount of data and low computing efficienc...
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Login to View More IPC IPC(8): G05D1/10G05D3/12
CPCG05D1/101G05D3/12G05D1/106
Inventor 黄立于国星陈继洋别瑜王效杰顾兴刘华斌
Owner PRODRONE TECH (SHENZHEN) CO LTD