Unmanned plane obstacle avoidance device and obstacle avoidance method based on millimeter wave radar and vision fusion

Abstract

The invention relates to an unmanned plane obstacle avoidance device based on millimeter wave radar and vision fusion. The unmanned plane obstacle avoidance device based on millimeter wave radar and vision fusion is arranged on an unmanned plane, wherein a radar module is used for emitting millimeter wave, and sending the data which is obtained after N point sampling to an information fusion processing module, after receiving the barrier millimeter wave reflected from the obstacle in the detection range; a vision module is used for acquiring the data of two different obstacle vision images inthe detection range of the unmanned plane at the t time, and then sending the data of two different obstacle vision images to the information fusion processing module; an electronic compass module isused for acquiring the three-dimensional inclination angle information of the unmanned plane, and sending the three-dimensional inclination angle information to the information fusion processing module; the information fusion processing module is used for obtaining the obstacle three-dimensional stereo information in the detection range of the unmanned plane according to the data after N point sampling, and then sending the obstacle three-dimensional stereo information to a flight control module; the flight control module is used for keeping away from the obstacle according to the obstacle three-dimensional stereo information in the detection range of the unmanned plane; and t represents the time variable.

Description

technical field [0001] The invention belongs to the field of UAV obstacle avoidance applications, in particular to an UAV obstacle avoidance device and obstacle avoidance method based on millimeter wave radar and vision fusion, which are suitable for obtaining three-dimensional information of obstacles. Background technique [0002] Radar actively emits electromagnetic waves and receives reflected waves of targets within the detection range to detect targets, and the radar has a long range, high reliability, and is not affected by weather, haze, etc., and has the advantage of working all-weather and all-day. With the rapid development of millimeter-wave chips, the size and weight of millimeter-wave radars are smaller, and the resolution and detection accuracy are getting higher and higher; however, a single millimeter-wave radar can only obtain the distance information of obstacles, but cannot obtain the orientation information of obstacles. . [0003] The current mainstrea...

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Problems solved by technology

[0002] Radar actively emits electromagnetic waves and receives reflected waves of targets within the detection range to detect targets, and the radar has a long range, high reliability, and is not affected by weather, haze, etc., and has the advantage of working all-weather and all-day. With the rapid development of millimeter-wave chips, the size and weight of millimeter-wave radars are smaller, and the resolution and detection accuracy are getting higher and higher; however, a single millimeter-wave radar can only obtain the distance information of obstacles, but cannot obtain the orientation information of obstacles.

[0003] The current mainstream method of UAV obstacle avoidance is to use optical sensors. A single optical sensor can only obtain the orientation information of obstacles, but cannot obtain the distance information of obstacles; while the system using multiple optical sensors can obtain three-dimensional information of obstacles. information, but in the data processing stage, the processor performance is very high. It is difficult for the current embedded processor to complete the data processing tasks of multiple optical sensors in real time.

[0004] In the current method based on the fusion of millimeter-wave radar and visual sensor, multiple millimeter-wave radars are usually used to obtain three-dimensional information of obstacles, and visual sensors play an auxiliary role, or multiple optical sensors are used to obtain three-dimensional information of obstacles The radar plays an auxiliary role, but the fusion of multiple optical sensors has heavy data processing tasks, which increases the requirements of the obstacle avoidance system for the processor performance, and cannot guarantee the flight safety of the UAV.

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