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

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.

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...

AI Technical Summary

Problems solved by technology

[0013] To sum up, although many scholars in the UAV field at home and abroad have carried out a lot of research on the UAV obstacle avoidance system, the environmental information is completely processed onboard, and on the premise of ensuring the measurement accuracy, the current obstacle avoidance system is still Unable to meet the requirements of small size, low power and low weight, and then realize the function of completely local autonomous flight of drones

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