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Cable obstacle avoidance method and system for unmanned aerial vehicle and unmanned aerial vehicle

A drone and cable technology, applied in control/regulation systems, vehicle position/route/height control, instruments, etc., can solve the problems of low practicality, poor obstacle avoidance effect, low cable recognition, etc., to achieve The effect of high flight obstacle avoidance ability, avoid collision or entanglement, and high obstacle avoidance ability

Active Publication Date: 2021-01-29
SZ DJI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Practice has found that due to the low degree of cable recognition, the UAV vision system can only recognize the cable when it is very close to the cable. At this time, the UAV is often too late to dodge. The solution has poor obstacle avoidance effect and low practicability

Method used

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  • Cable obstacle avoidance method and system for unmanned aerial vehicle and unmanned aerial vehicle
  • Cable obstacle avoidance method and system for unmanned aerial vehicle and unmanned aerial vehicle
  • Cable obstacle avoidance method and system for unmanned aerial vehicle and unmanned aerial vehicle

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other Embodiment approach

[0054] In other implementation manners, other ways can also be used to identify the support, and the specific identification way is not limited herein.

[0055] After the UAV identifies the support, it further takes the identified support as a node; and obtains node information of each node. The node information includes at least one of the following: the size of the node, the position of the node, and the orientation of the node.

[0056] Among them, multiple methods can be used to identify the direction of the node.

[0057] In one implementation manner, using a visual system to identify includes: identifying the beam; and determining a direction perpendicular to the beam as an orientation of the node according to the identified beam. Specifically, take the support as an example of a transmission tower, such as Figure 2-3 As shown, the transmission tower is usually provided with a beam, and the beam is generally provided with an insulator for fixing cables, and the direct...

other Embodiment approach

[0059] In other implementation manners, other ways may also be used to identify the orientation of the support, and the specific identification ways are not limited herein.

[0060] The UAV further obtains information such as the size and position of the nodes, that is, the supports. The method for obtaining the size and position may include: according to the image pixel changes of the support identified by the UAV at different flight positions, combined with a positioning system (such as GPS, English full name: Global Positioning System) data, calculate the size and position of the node or the support, the size of the node includes the height and width of the support, and the position of the node includes longitude and latitude.

[0061] Specifically, the UAV can identify the support in front of it periodically or regularly. Since the UAV is in flight and its position is constantly changing, it can identify the support at different flight positions. Take the use of visual sys...

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Abstract

A cable obstacle avoidance method and system for an unmanned aerial vehicle and an unmanned aerial vehicle, so as to improve the ability of the unmanned aerial vehicle to avoid obstacles to cables. In some feasible implementations of the present invention, the method includes: during the flight of the UAV, identify the support in front, and use the identified support as a node; obtain the node information of each node; The node information of the above-mentioned nodes is used to construct virtual fences between adjacent nodes; and the flight path is adjusted according to the virtual fences to avoid obstacles to the cables.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a cable obstacle avoidance method and system for an unmanned aerial vehicle and an unmanned aerial vehicle. Background technique [0002] Transmission lines are widely distributed in low altitudes outdoors. Due to their imperceptible features, they pose a great threat to drones that are widely used in outdoor scenes such as aerial photography, surveying and mapping, and plant protection. For a long time, the obstacle avoidance of UAVs on power transmission lines has mostly relied on the experience of operators, which not only has a high failure rate, but also is only effective when operating within the line of sight. [0003] The existing UAV technology that can realize automatic obstacle avoidance for transmission lines mainly uses the visual system to perform graphic recognition on the cables of the transmission line itself, and then feeds back to the flight co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/106
Inventor 陶冶王庶
Owner SZ DJI TECH CO LTD