Unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision and unmanned aerial vehicle

A binocular vision system and obstacle detection technology, applied in the field of drones, can solve problems such as small size, low weight, and low power, and achieve the effects of low power consumption, low weight, and small volume

CN108594851AInactive Publication Date: 2018-09-28一飞智控(天津)科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-09-28
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to an unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision and an unmanned aerial vehicle. According to the technical features, the system comprises a binocular vision system arranged on the unmanned aerial vehicle, other sensor modules and a flight control system; the method comprises the steps that the binocular vision system obtains visual information of an unmanned aerial vehicle flight environment, and the visual information is processed to obtain obstacle information; an other sensor unit obtains unmanned aerial vehicle state information; the flight control system receives the obstacle information and the unmanned aerial vehicle state information, establishes a flight path, generates a flight control command and sendsthe flight control command to the unmanned aerial vehicle; the unmanned aerial vehicle avoids obstacles for flying according to the flight control command. The unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision and the unmanned aerial vehicle have the advantages that the visual information and other sensor information are combined, flight environment information is perceived, flight path control and path planning are performed to evade the obstacles, so that the problem of unmanned aerial vehicle visual obstacle avoidance is effectively solved, and the unmanned aerial vehicle has the ability to achieve the visual obstacle avoidance by using an airborne camera.
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Description

Technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, in particular to an autonomous obstacle detection system and method for an unmanned aerial vehicle based on binocular vision and an unmanned aerial vehicle. Background technique

[0002] With the continuous development of aircraft-related technologies and the complication of application scenarios, higher requirements are put forward for their environmental perception capabilities. Vision-based navigation technology has the advantages of wide detection range and large information capacity. In addition, it has the characteristics of rapid capture of flight environment changes and sensitive response, so it has received more and more attention in the research of aircraft guidance and navigation.

[0003] Vision-based environmental perception is a passive measurement method. Compared with active measurement methods such as laser, radar, and ultrasound, it can reduce the mutual interference o...

Examples

Embodiment Construction

[0056] The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings:

[0057] A UAV autonomous obstacle detection system based on binocular vision, such as figure 1 Shown, including:

[0058] Binocular vision system (101): includes two airborne cameras (1011) and a vision acquisition and processing unit (1012). The two airborne cameras (1011) obtain the environmental visual information of the drone (106), and combine The data is transmitted to the visual acquisition and processing unit (1012), the visual acquisition and processing unit (1012) understands and analyzes the visual information, and finally obtains environmental information, and at the same time judges and gives obstacle information, which is passed through the CAN bus (107) Send to the flight control system (103).

[0059] Other sensor units (102): including inertial measurement unit IMU (1021), global positioning system GPS (1022), magnetic compass (1023...