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Unmanned aerial vehicle landing obstacle avoidance method and device, and unmanned aerial vehicle

A drone and obstacle avoidance technology, applied in the field of drones, can solve problems such as inability to dodge in dangerous areas, drone crashes, etc.

Active Publication Date: 2019-05-10
SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, after the autonomous landing protection technology equipped with the UAV detects that there is a dangerous area in the area to be landed, it can only fly away or hover in the area to be landed in the dangerous area, and cannot avoid the dangerous area in the area to be landed. For low-battery drones, it is easy to cause the drone to crash after the battery is exhausted

Method used

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  • Unmanned aerial vehicle landing obstacle avoidance method and device, and unmanned aerial vehicle
  • Unmanned aerial vehicle landing obstacle avoidance method and device, and unmanned aerial vehicle
  • Unmanned aerial vehicle landing obstacle avoidance method and device, and unmanned aerial vehicle

Examples

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Embodiment 1

[0111] see figure 1 , is an unmanned aerial vehicle 100 provided by one embodiment of the present invention, including a fuselage 10, an arm 20, a power unit 30, a depth sensor 40, a landing gear 50, and a flight control system (not shown). The arm 20 , the depth sensor 40 and the landing gear 50 are all connected to the fuselage 10 , the flight control system is arranged in the fuselage 10 , and the power unit 30 is arranged on the arm 20 . Among them, the power unit 30, the depth sensor 40 and the landing gear 50 are all connected to the flight control system in communication, so that the flight control system can control the flight of the UAV 100 through the power unit 30, and can obtain the status of the UAV 100 through the depth sensor 40. The point cloud distribution map of the landing area can also control the contact between the landing gear 50 and the ground.

[0112] Preferably, the number of arms 20 is four, which are evenly distributed around the fuselage 10 for c...

Embodiment 2

[0161] see figure 2 , is a schematic flow chart of a UAV landing and obstacle avoidance method provided by one embodiment of the present invention, which is applied to a UAV, the UAV is the UAV 100 described in the above embodiment, and the implementation of the present invention The method provided by the example is executed by the above-mentioned flight control system, and is used to avoid obstacles in the area to be landed and reduce the risk of the UAV crashing. The UAV landing obstacle avoidance method includes:

[0162] S100: Obtain a point cloud distribution map of the area to be landed.

[0163] The aforementioned "area to be landed" is an area where the drone is ready to land, and the drone is located in the center of the area to be landed.

[0164] The above "point cloud distribution map" is a schematic diagram that can reflect the distribution of point clouds in the area to be landed.

[0165] In an embodiment of the present invention, acquiring the point cloud d...

Embodiment 3

[0215] The term "module" used below is a combination of software and / or hardware that can realize a predetermined function. Although the devices described in the following embodiments can be implemented in software, implementation in hardware, or a combination of software and hardware is also conceivable.

[0216] see Figure 8, is a drone landing obstacle avoidance device provided by one of the embodiments of the present invention, the device is applied to a drone, the drone is the drone 100 described in the above embodiment, and the embodiment of the present invention The functions of each module of the provided device are performed by the above-mentioned flight control system, which is used to avoid obstacles in the area to be landed and reduce the risk of UAV crashes. The UAV landing obstacle avoidance device includes:

[0217] Obtaining module 200, described obtaining module 200 is used for obtaining the point cloud distribution diagram of area to be landed;

[0218] A ...

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Abstract

The embodiment of the invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle landing obstacle avoidance method and device, and an unmanned aerial vehicle. The unmanned aerial vehicle landing obstacle avoidance method comprises the following steps that: obtaining the point cloud distribution diagram of an area to be landed; accordingto the point cloud distribution diagram, determining a safe area in the area to be landed; in the safe area, determining a target position; and controlling the unmanned aerial vehicle to move to thetarget position to enable the unmanned aerial vehicle to be far away from an obstacle in the area to be landed. Through the above way, the embodiment of the invention can evade the obstacle in the area to be landed so as to reduce a risk that the unmanned aerial vehicle crashes.

Description

technical field [0001] Embodiments of the present invention relate to the field of UAV control technology, in particular to a method and device for UAV landing and obstacle avoidance, and the UAV. Background technique [0002] A drone is an unmanned aerial vehicle operated by a radio remote control device or its own program control device. With the development of UAV-related technologies and the complex changes in its application scenarios, more and more safety problems occur during the flight of UAVs. Therefore, UAVs are equipped with autonomous landing protection technology to prevent unmanned The plane crashed when it landed in an unknown environment. [0003] At present, after the autonomous landing protection technology equipped with the UAV detects that there is a dangerous area in the area to be landed, it can only fly away or hover in the area to be landed in the dangerous area, and cannot avoid the dangerous area in the area to be landed. For low-power drones, it ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/0676B64U70/00B64U50/19B64U10/14G05D1/101B64U2201/00G05D1/106B64U2101/30
Inventor 郑欣
Owner SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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