UAV obstacle avoidance control method, flight controller and unmanned aerial vehicle

Abstract

An embodiment of the present invention provides a UAV obstacle avoidance control method, a flight controller, and an unmanned aerial vehicle. The method includes: acquiring the distance between the unmanned aerial vehicle (100) and the object in front of it in the flight direction; controlling the UAV (100) according to the distance The flight altitude of the UAV (100). The embodiment of the present invention controls the flying altitude of the unmanned aerial vehicle (100) through the distance between the unmanned aerial vehicle (100) and the object in front. As the flight altitude increases, the distance between the unmanned aerial vehicle (100) and the object in front Increase thereupon, along with the unmanned aerial vehicle (100) flies forward, when the distance between the unmanned aerial vehicle (100) and the object in front is less than the safety distance, improve the flight height of the unmanned aerial vehicle (100), so that the agricultural In environments such as hills, slopes, and terraced fields, the unmanned aerial vehicle can increase its flight height as the terrain rises, ensuring the normal operation of agricultural unmanned aerial vehicles.

Description

Technical field [0001] The embodiment of the present invention relates to the field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle obstacle avoidance control method, a flight controller and an unmanned aerial vehicle. Background technique [0002] In the prior art, unmanned aerial vehicles are usually equipped with radars. For agricultural plant protection drones, their operating height is usually below 4m, and the working environment in farmland is complicated. Obstacle avoidance radar has become a necessary equipment for agricultural plant protection drones. [0003] However, agricultural plant protection drones sometimes work in hills, slopes, terraces and other environments. Due to the complexity of the hills, slopes, terraces and other terrains, when the agricultural plant protection drones fly forward at the same height, the radar detects the distance. The obstacles in front of the drone may be higher hills, slopes or terraced ground. If the grou...

AI Technical Summary

Problems solved by technology

[0002] In the prior art, unmanned aerial vehicles are usually equipped with radar. For agricultural plant protection drones, the operating height is usually below 4m, and the working environment in the farmland is complex. Obstacle avoidance radar has become a necessary equipment for agricultural plant protection drones.

[0003] However, agricultural plant protection drones sometimes work in environments such as hills, slopes, and terraces. Due to the complexity of terrain such as hills, slopes, and terraces, when agricultural plant protection drones fly forward at the same height, the radar long-distance detection The obstacles in front of the UAV may be higher hills, slopes or terraced fields. If the ground in front of the agricultural plant protection UAV is used as an obstacle to trigger the UAV’s obstacle avoidance function, such as stopping forward flight, then As a result, agricultural plant protection drones cannot work normally in environments such as hills, slopes, and terraced fields

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