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Unmanned aerial vehicle obstacle avoidance control system and obstacle avoidance control method, and unmanned aerial vehicle

A control system and control method technology, applied in the field of unmanned aerial vehicles, can solve the problems such as the lack of adaptability of the obstacle avoidance system, and achieve the effects of improved endurance, simple use and maintenance, and low manufacturing cost

Inactive Publication Date: 2018-05-15
CHANGZHOU INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The so-called autonomous obstacle avoidance function of the UAV is that when the UAV aircraft encounters obstacles during flight, it can automatically identify and effectively avoid obstacles in advance to achieve the effect of safe flight. There are three main types of rotor UAV obstacle avoidance systems, namely ultrasonic, TOF, and a relatively more complex composite method consisting of a variety of ranging methods and visual image processing, but no matter which method is only for a specific flight control system , without understanding the software and hardware architecture of the flight control system, facing external interference factors such as sound waves and light waves, the existing obstacle avoidance system does not have good adaptability and has certain limitations

Method used

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  • Unmanned aerial vehicle obstacle avoidance control system and obstacle avoidance control method, and unmanned aerial vehicle
  • Unmanned aerial vehicle obstacle avoidance control system and obstacle avoidance control method, and unmanned aerial vehicle
  • Unmanned aerial vehicle obstacle avoidance control system and obstacle avoidance control method, and unmanned aerial vehicle

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Embodiment 1

[0040] figure 1 It shows an obstacle avoidance control system 100 for a UAV according to an embodiment of the present invention, including an embedded monocular vision ranging unit 110 , an ultrasonic ranging unit 120 , a fusion processor 130 and a flight controller 140 .

[0041] The embedded monocular ranging unit 110 is used to obtain visual ranging information in the flight direction, and may include a monocular camera 111 and an embedded visual processor 112 . The embedded monocular distance measuring unit 110 can obtain three-dimensional position information. When measuring distance, it first collects monocular time-sharing images, performs image processing and feature point extraction on the collected images, and performs real-time depth calculation after stereo matching. Depth information can be obtained by using motion parallax to obtain image sequences at different angles, for example, it can be obtained through the following steps:

[0042] 1) Set the suspected obs...

Embodiment 2

[0059] figure 2 A schematic flowchart of the UAV obstacle avoidance control method in Embodiment 2 is shown. figure 2 The shown UAV obstacle avoidance control method includes:

[0060] In step S210, according to the received monocular vision distance measurement information and ultrasonic distance measurement information in the direction of flight, the multi-dimensional information fusion method is used to perform data fusion to obtain the corrected distance to the obstacle in the direction of flight, said The monocular vision ranging information is obtained through the embedded monocular vision ranging unit. For example, the fusion processor 130 acquires the visual ranging information and ultrasonic ranging information in the direction of flight from the embedded monocular visual ranging unit 110 and the ultrasonic ranging unit 120. Location information is more accurate.

[0061] During the flight of the UAV, the monocular vision ranging unit 110 and the ultrasonic rangi...

Embodiment 3

[0075] image 3 A schematic diagram of an unmanned aerial vehicle including an obstacle avoidance control system for an unmanned aerial vehicle according to an embodiment of the present invention is shown. Figure 4 show image 3 Schematic partial bottom view of the drone shown.

[0076] exist image 3 with 4 The UAV shown includes: ultrasonic sensors 2, 3, 4 and 5 distributed under the rotors, and in the state of looking down, the ultrasonic sensors 2, 3, 4 and 5 are located between the angles formed by adjacent rotors; and The ultrasonic sensor 6 (with detection height and obstacle avoidance function) that is arranged on the drone below; also includes a monocular camera 1, and its ranging direction is consistent with the ranging direction of the ultrasonic sensor 5. Of course, the monocular camera 1 can be installed on the gimbal, and when necessary, the monocular camera 1 can be turned to other directions for visual distance measurement, and the visual distance measurem...

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Abstract

The invention relates to an unmanned aerial vehicle obstacle avoidance control system and obstacle avoidance control method, and an unmanned aerial vehicle. The unmanned aerial vehicle obstacle avoidance control system comprises an embedded monocular vision ranging unit, an ultrasonic ranging unit, a fusion processor for acquiring a correction distance according to the visual ranging information and the ultrasonic ranging information in the flying direction, a flight controller for comparing the corrected distance with a first safety threshold distance; and if the correction distance is smaller than the first safety threshold distance, the visual ranging information of the obstacle is acquired; when the distance from the obstacle in the flight direction is smaller than the second safety threshold distance, the ultrasonic ranging information of the obstacle in the flight direction and the obstacle in other directions is acquired; and the obstacle avoidance flight is carried out according to the distance from the obstacles in the flight direction and other directions. According to the technical scheme, the obstacle avoidance can be guaranteed successfully, so that the unmanned aerialvehicle can fly along the predetermined air route as much as possible in the flying process of the unmanned aerial vehicle instead of excessively deviating from the air route.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an obstacle avoidance control system, an obstacle avoidance control method and an unmanned aerial vehicle. Background technique [0002] With the rapid development of UAV technology, multi-rotor aircraft has become a research hotspot in many countries or scientific research institutions due to its simple mechanical structure, good maneuverability, hovering gaze, fixed-point suspension photography, and vertical take-off and landing. It also has broad application prospects in military and civilian fields. However, with the continuous acceleration of civilian use of UAVs, more and more security issues have emerged in the face of complex scenarios and cost control requirements. UAV collisions are common, which effectively improves the safety of UAVs. It is imminent. [0003] The UAV autonomous obstacle avoidance system can effectively avoid collisions and injuries ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 冯春周正旺周叙荣郑杨
Owner CHANGZHOU INST OF TECH