Obstacle avoidance control method for unmanned aerial vehicle, flight controller and unmanned aerial vehicle

Abstract

Embodiments of the invention provide an obstacle avoidance control method for an unmanned aerial vehicle, a flight controller and the unmanned aerial vehicle. The method comprises the steps of acquiring a distance between the unmanned aerial vehicle (100) and a front object in a flight direction of the unmanned aerial vehicle; and according to the distance, controlling a flight height of the unmanned aerial vehicle (100). Through the distance between the unmanned aerial vehicle (100) and the front object, the flight height of the unmanned aerial vehicle (100) is controlled; the distance between the unmanned aerial vehicle (100) and the front object is increased along with the increase of the flight height; and along with forward flight of the unmanned aerial vehicle (100), when the distance between the unmanned aerial vehicle (100) and the front object is smaller than a safe distance, the flight height of the unmanned aerial vehicle (100) is increased, so that the flight height of theagricultural unmanned aerial vehicle can be increased along with the increase of the terrain in environments of hills, sloping fields, terraced fields and the like, and the normal operation of the agricultural unmanned aerial vehicle can be ensured.

Description

[0001] This application is a divisional application of the invention patent with application number 201680002598.5 submitted on November 22, 2016. technical field [0002] Embodiments of the present invention relate to the field of unmanned aerial vehicles, and in particular to an obstacle avoidance control method for an unmanned aerial vehicle, a flight controller and an unmanned aerial vehicle. Background technique [0003] In the prior art, unmanned aerial vehicles are usually equipped with radars. For agricultural plant protection drones, the operating height is usually below 4m, and the working environment in the farmland is complex. Obstacle avoidance radar has become a necessary equipment for agricultural plant protection drones. [0004] However, agricultural plant protection drones sometimes work in environments such as hills, slopes, and terraces. Due to the complexity of terrain such as hills, slopes, and terraces, when agricultural plant protection drones fly forw...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, unmanned aerial vehicles are usually equipped with radar. For agricultural plant protection drones, the operating height is usually below 4m, and the working environment in the farmland is complex. Obstacle avoidance radar has become a necessary equipment for agricultural plant protection drones.

[0004] However, agricultural plant protection drones sometimes work in environments such as hills, slopes, and terraces. Due to the complexity of terrain such as hills, slopes, and terraces, when agricultural plant protection drones fly forward at the same height, the radar long-distance detection The obstacles in front of the UAV may be higher hills, slopes or terraced fields. If the ground in front of the agricultural plant protection UAV is used as an obstacle to trigger the UAV’s obstacle avoidance function, such as stopping forward flight, then As a result, agricultural plant protection drones cannot work normally in environments such as hills, slopes, and terraced fields

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