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Obstacle avoidance method and device and unmanned aerial vehicle

An unmanned aerial vehicle and obstacle avoidance technology, which is applied in the field of aircraft and can solve problems affecting the normal operation of unmanned aerial vehicles.

Pending Publication Date: 2020-11-06
SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the flight speed is along the direction of the dead zone, the aircraft will hit the obstacle because it cannot see the obstacle and cannot start the obstacle avoidance, thus affecting the normal operation of the UAV

Method used

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  • Obstacle avoidance method and device and unmanned aerial vehicle
  • Obstacle avoidance method and device and unmanned aerial vehicle
  • Obstacle avoidance method and device and unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0104] see figure 2 , figure 2 is a schematic diagram of an obstacle sector provided by an embodiment of the present invention;

[0105] The unmanned aerial vehicle includes a plurality of binocular cameras, each binocular camera corresponds to a binocular vision, wherein the binocular vision is a method of simulating the principle of human vision and using a computer to passively perceive the distance. Observe an object from two or more points, obtain images from different perspectives, and obtain the three-dimensional information of the object by calculating the offset between the pixels through the principle of triangulation according to the matching relationship of pixels between the images. Specifically, the UAV includes at least five binocular cameras, which have at least five pairs of binocular vision, such as figure 2 As shown, they are respectively the front binocular, the rear binocular, the left binocular, the right binocular and the upper binocular, among whic...

Embodiment 2

[0276] see Image 6 , Image 6 is a schematic diagram of an obstacle avoidance device provided by an embodiment of the present invention;

[0277] like Image 6 As shown, the obstacle avoidance device 60 is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle includes a plurality of binocular cameras, and the device includes:

[0278] The obstacle sector unit 61 is used to obtain the binocular direction corresponding to each binocular camera, and each binocular direction corresponds to multiple obstacle sectors;

[0279] A distance detection unit 62, configured to detect the obstacle distance of each of the obstacle sectors corresponding to each binocular direction;

[0280] The obstacle distance unit 63 is configured to determine the obstacle distance of each binocular direction according to the obstacle distance of each of the obstacle sectors corresponding to each binocular direction;

[0281] The obstacle avoidance strategy unit 64 is configured to dete...

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Abstract

The invention relates to the technical field of aircrafts, and discloses an obstacle avoidance method and device and an unmanned aerial vehicle. The unmanned aerial vehicle comprises a plurality of binocular cameras. The obstacle avoidance method comprises the steps of acquiring the binocular direction corresponding to each binocular camera, and each binocular direction corresponding to a plurality of obstacle sectors; detecting the obstacle distance of each obstacle sector corresponding to each binocular direction; according to the obstacle distance of each obstacle sector corresponding to each binocular direction, determining the obstacle distance of each binocular direction; and determining an obstacle avoidance strategy according to the obstacle distance in each binocular direction incombination with the flight direction of the unmanned aerial vehicle. By determining the obstacle distance in each binocular direction and combining the flight direction of the unmanned aerial vehicle, the obstacle avoidance strategy is determined, and the obstacle avoidance success rate of the unmanned aerial vehicle can be improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of aircraft, and in particular, to an obstacle avoidance method and device, and an unmanned aerial vehicle. Background technique [0002] Unmanned Aerial Vehicle (UAV), also known as unmanned aerial vehicle, has been used more and more widely because of its advantages of small size, light weight, flexible maneuverability, fast response, unmanned driving, and low operation requirements. . [0003] For unmanned aerial vehicles, obstacle avoidance is related to safety and normal operation, and unmanned aerial vehicles often need to move in multiple directions. Therefore, whether omnidirectional obstacle avoidance can be achieved is an important condition to ensure the normal operation of unmanned aerial vehicles. [0004] Due to the occlusion of the arms and the physical limitations of the camera, there are often areas that cannot be seen visually, commonly known as dead zones. When the ...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101G05D1/106G05D1/102B64U2201/10G05D1/0202G05D1/0816B64U2201/00B64U20/87B64U10/14B64U2101/30
Inventor 张添保
Owner SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD