Obstacle-avoiding flight device and method for quadrotor UAV based on double-layer sonar sensor

Abstract

The invention discloses a quadrotor unmanned aerial vehicle obstacle avoidance flight device and method based on a double-layered sonar sensor and belongs to the field of quadrotor unmanned aerial vehicle intelligent flight control. The flight device comprises a double-layered dynamic obstacle detector module, an obstacle avoidance flight decision module and an obstacle avoidance flight microcontroller. The double-layered dynamic obstacle detector module comprises upper and lower layers. A steering engine is installed on each layer and equipped with four uniformly distributed sonar sensors. The obstacle avoidance flight decision module comprises an obstacle avoidance speed vector generation module, a flight control input conversion module and a flight control communication module which are sequentially connected. According to the invention, through the rotation of the eight sonar sensors and the steering engines, obstacle information of 12 uniformly separated angles can be obtained; the number of the sensors is reduced and the cost is reduced; and by use of the eight paths of AD conversion ports and 2 paths of PWM output ports only, too many peripheral port resources of the obstacle avoidance flight microcontroller are prevented from being occupied.

Description

technical field [0001] The invention relates to a four-rotor unmanned aerial vehicle obstacle-avoiding flight device and method based on a double-layer sonar sensor, and belongs to the field of intelligent flight control of the four-rotor unmanned aerial vehicle. Background technique [0002] Quadrotor UAV (QuadRotor) is a new type of rotor UAV. The quadrotor UAV has the advantages of simple operation, low take-off and landing requirements, and low cost. In the past ten years, with the development of other fields, such as sensors, microprocessors, material science and technology, and flight control theory, quadrotor drones have ushered in rapid development. At present, the flight control theory of quadrotor UAV is basically mature, and the simple flight control problem has been solved. The application range of quadrotor UAV is more and more extensive, but the flight safety problem has not been well solved Solve, realize obstacle-avoiding flight is exactly a kind of method o...

AI Technical Summary

Problems solved by technology

At present, the flight control theory of quadrotor UAV is basically mature, and the simple flight control problem has been solved. The application range of quadrotor UAV is more and more extensive, but the flight safety problem has not been well solved Solve, to achieve obstacle avoidance flight is a way to improve flight safety

There are many current obstacle avoidance flight technologies, such as those based on optical flow, target features, and binocular vision. Many of these technologies are in the theoretical research stage, and the cost is relatively high and the practicability is not strong.

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