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Space omnidirectional obstacle avoidance method and system for an aircraft

A technology of flight control system and aircraft, applied in the direction of control/regulation system, instrument, non-electric variable control, etc., can solve limited and insufficient safety problems, achieve the effect of reducing hardware cost, processing time and energy consumption

Active Publication Date: 2021-07-09
涵涡智航科技(玉溪)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, there are currently limited solutions for applying ordinary cameras to aircraft obstacle avoidance in the industry. Most of them only consider obstacle recognition in the forward direction or in a certain two directions. It is not safe enough to fly in the environment or inside the building

Method used

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  • Space omnidirectional obstacle avoidance method and system for an aircraft
  • Space omnidirectional obstacle avoidance method and system for an aircraft
  • Space omnidirectional obstacle avoidance method and system for an aircraft

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Effect test

Embodiment 1

[0044] Embodiment 1 A space omnidirectional obstacle avoidance system for aircraft

[0045] as attached figure 1 As shown, the obstacle avoidance system includes a quadrotor unmanned aerial vehicle, and the aircraft includes a fuselage 1, four propellers 2, four motors 3, a camera, a flight control system 4 and a battery system 5.

[0046] One of the installation methods is: three groups of cameras are installed on the fuselage, the first group of cameras 601 and 602 are respectively installed at the position above the nose and the position above the tail; the second group of cameras 603 and 604 are respectively installed at The bottom of the fuselage is completely symmetrical to the installation position of the camera above the fuselage; the third group of cameras 701 and 702 are installed directly in front of the nose respectively.

[0047] Another installation method is: the first group of cameras 601 and 602 are respectively installed on the position above the nose and th...

Embodiment 2

[0055] Embodiment 2 A method for omnidirectional obstacle avoidance in aircraft space

[0056] Including the following steps:

[0057] Step 1, collect a group of images of fisheye binocular cameras;

[0058] Step 2. Input the binocular image collected in step 1 into the deep learning network model for calculating depth, and output the predicted depth map

[0059] Step 3, input the binocular image collected in step 1 to the depth stereo matching calculation module, and output the real depth map d(x, y);

[0060] Step 4. Calculate the matching loss Where W is the image width, H is the image height, and iteratively optimizes the deep learning network model to minimize the matching loss;

[0061] Step 5. Repeat steps 1 to 4 until the matching loss loss is less than the threshold ε;

[0062] Step 6. According to the spatial relationship The predicted depth map output from step 1 Each point in is projected into the 3D space, and the 3D point cloud P is output;

[0063] S...

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Abstract

The invention provides a space omnidirectional obstacle avoidance method and system for an aircraft, and belongs to the field of flight control of unmanned aerial vehicles. Three sets of cameras are installed on the aircraft body, and the first set of cameras are installed at the position above the aircraft head and the position above the aircraft tail. The second group of cameras are mounted at the bottom of the machine body and are completely symmetrical to the mounting positions of the cameras above the machine body; according to the aircraft space omni-directional obstacle avoidance method and system, 360-degree obstacle recognition of the aircraft in the three-dimensional space can be achieved through the low-cost cameras, and meanwhile obstacle information can be fed back to a flight control and navigation system; and therefore, the flight path planning of the aircraft in the front, back, left, right, up and down directions in the three-dimensional space is realized, and the aircraft automatically avoids surrounding obstacles to safely fly.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, in particular to a method and system for omnidirectional obstacle avoidance in aircraft space. Background technique [0002] In recent years, higher and higher requirements have been put forward for the automatic perception and control of UAVs, especially in terms of active obstacle avoidance, so that UAVs can fly autonomously and safely in complex environments without collisions and bombings. . At present, there are a few UAV companies that install millimeter-wave radar, ultrasonic radar, optical flow, infrared and other sensors on UAVs for obstacle avoidance applications. Unexpected situations such as missed detection and false detection are caused. Therefore, enterprises involved in the research and development of aviation technology also need to continuously innovate and invest in research and development in the obstacle avoidance of aircraft. An issue of great concern....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/106
Inventor 赵荟文张圣超何旭东
Owner 涵涡智航科技(玉溪)有限公司
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