UAV obstacle avoidance method and UAV

Abstract

The present invention discloses a UAV obstacle avoidance method and a UAV. The method includes: acquiring the stereo disparity map of a current environment image by a binocular camera and clustering pixels in the stereo disparity map to obtain clustering areas; based on each clustering area, calculating the flight distance from an environment area corresponding to each clustering area to the UAV; by determining whether the flight distance between each environment area and the UAV is greater than a distance threshold, enabling the UAV to select any one diversion area from the environment areas with flight distance greater than the distance threshold and calculate the rotation angle that the UAV turns to the any one diversion area, and controlling the UAV to fly around according to the rotation angle. The UAV obstacle avoidance method realizes the autonomous obstacle avoidance and diversion of the UAV and improves flight efficiency.

Description

technical field [0001] The invention belongs to the field of electronic technology, and in particular relates to an obstacle avoidance method for an unmanned aerial vehicle and an unmanned aerial vehicle. Background technique [0002] With the rapid development of drone technology, drones have been widely used in aerial photography, cargo delivery, resource exploration, route survey and other fields. Since there is no special personnel to control the flight of the UAV during the flight, the UAV needs to fly autonomously according to the planned route, because it is difficult to avoid the obstacles encountered in the actual flight when planning the route. [0003] The drone owner can avoid obstacles encountered in flight based on the video-based autonomous obstacle avoidance method. The method uses the camera carried by the UAV to capture images of the surrounding environment, and based on the captured images, analyzes whether there is an obstacle ahead that prevents the fli...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention provides a UAV obstacle avoidance method and a UAV, which solves the technical problem of the low flight efficiency of the UAV, and realizes the UAV autonomous obstacle avoidance and flying around, which can greatly improve the flight efficiency

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