Multi-rotor unmanned aerial vehicle cloud deck obstacle avoidance system and method based on binocular vision

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle cloud deck obstacle avoidance system and method based on binocular vision. The method comprises the following steps that a binocular camera and eight paths of ultrasonic waves are started at the same time; the binocular camera is installed on a cloud deck to obtain an image in front of an unmanned aerial vehicle, and the cloud deck is used for compensating the pitch angle, the roll angle and the yaw angle all the time, so that the binocular camera is kept in the position consistent with the horizontal and flying directions; if an obstacle is detected in front, the depth value of the obstacle is obtained by utilizing the parallax image; the vertical distance of the obstacle is obtained according to the pitch angle, the roll angleand the depth value of the unmanned aerial vehicle, and whether the vertical distance is larger than a threshold value or not is judged; a corresponding obstacle avoidance mode is selected accordingto the specific information of the obstacle; and at the same time, in case that the eight ultrasonic waves detect the obstacle, the cloud deck obtains the obstacle position and whether the obstacle avoidance is needed or not is judged by the binocular vision, thereby improving the safety of the system. The invention provides the unmanned aerial vehicle obstacle avoidance method capable of rapidlyjudging whether obstacle avoidance is needed or not, correcting the distance error when the unmanned aerial vehicle is inclined and avoiding ground surface and wall interference.

Description

Technical field [0001] The invention relates to the technical field of UAV obstacle avoidance, in particular to a multi-rotor UAV pan / tilt obstacle avoidance system and method based on binocular vision. Background technique [0002] With the advancement of science and technology, the use of drones has become more and more widespread, but once drones reach a complex environment or blind spots or emergencies, they are likely to be dangerous. Therefore, drone avoidance systems have come into being. Various obstacle avoidance systems, such as ultrasonic obstacle avoidance, binocular obstacle avoidance, radar obstacle avoidance, laser obstacle avoidance, etc. [0003] UAV obstacle avoidance system is very important, it largely determines the practicability of UAV. The existing obstacle avoidance system will be affected by the attitude angle of the UAV. The binocular obstacle avoidance has the advantages of long distance, wide range, high accuracy, low cost, rapid capture of changes in...

AI Technical Summary

Problems solved by technology

[0005] The technical problem solved by the patent of this invention is to judge whether the UAV needs to avoid obstacles when it encounters an obstacle, and to ignore the problem of the UAV's own tilt, and to provide a m

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