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Autonomous navigation and obstacle avoidance unmanned aerial vehicle of laser radar and depth camera fusion

A technology of laser radar and depth camera, which is applied in the field of navigation drones, can solve the problems of unfavorable mobile device positioning and obstacle avoidance applications, the inability to independently realize the obstacle avoidance function, and the inability to detect, so as to overcome the limitations of multiple superposition, overcome the The effect of excessive equipment weight and light operation

Inactive Publication Date: 2019-07-05
SHANGHAI UNIV OF ENG SCI
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Problems solved by technology

A single depth camera has a narrow field of view, and there are blind spots in close-range observation, and its accuracy is low, which is not conducive to the positioning and obstacle avoidance applications of mobile devices; LiDAR can only acquire points on one or several planes, and cannot be detected when placed horizontally Objects exceeding its height, so the obstacle avoidance function cannot be realized independently

Method used

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  • Autonomous navigation and obstacle avoidance unmanned aerial vehicle of laser radar and depth camera fusion
  • Autonomous navigation and obstacle avoidance unmanned aerial vehicle of laser radar and depth camera fusion
  • Autonomous navigation and obstacle avoidance unmanned aerial vehicle of laser radar and depth camera fusion

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Embodiment Construction

[0028] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0029] Such as image 3 As shown, an autonomous navigation and obstacle avoidance UAV fused with a laser radar 14 and a depth camera 3 includes a drone body 5, a rotor 1, a depth camera 3 and a control system 8, and also includes a laser radar 14 and a monocular camera. 2. The depth camera 3, the monocular camera 2 and the laser radar 14 are connected to the control system 8. The control system 8 analyzes the data recorded by the three, generates an obstacle avoidance route, and controls the UAV to avoid obstacles.

[0030] The power system of the invention is as figure 2 As shown,...

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Abstract

The invention relates to an autonomous navigation and obstacle avoidance unmanned aerial vehicle of laser radar and depth camera fusion. The unmanned aerial vehicle comprises a unmanned aerial vehiclebody, a rotor wing, a depth camera, a control system, a laser radar and a monocular camera. The depth camera, the monocular camera and the laser radar are connected to the control system. The controlsystem analyzes according to data recorded by the three, generates an obstacle avoidance route and makes the unmanned aerial vehicle complete avoidance of an obstacle. Compared with the prior art, the unmanned aerial vehicle of the invention has advantages of accurate positioning, autonomous navigation and obstacle avoidance, simple operation, a high safety factor and the like.

Description

technical field [0001] The invention relates to a navigation unmanned aerial vehicle, in particular to an autonomous navigation and obstacle avoidance unmanned aerial vehicle integrated with a laser radar and a depth camera. Background technique [0002] The domestic UAV market has developed for nearly 30 years, gradually expanding from the initial military field to the consumer field. At present, the domestic consumer drone market is booming. The general public’s recognition and demand for drones are gradually rising. Drone companies, financing times, number of pilots, and product uses have all increased significantly, and even exponentially. growth, the regulatory system has also been further improved. [0003] The current drones are mainly hand-controlled drones, and there are fewer drones that can fly autonomously, and most drones cannot avoid them in time when encountering obstacles, which causes the drone to collide. damaged, or can only be suspended in front of obst...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G01C21/20
CPCG01C21/206G05D1/101
Inventor 李陆君党淑雯王庆渠郝路高峰徐梦瑶张智许幸韩蕊
Owner SHANGHAI UNIV OF ENG SCI
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