Unmanned aerial vehicle autonomous obstacle avoidance method and system based on single-line laser radar

A single-line laser radar, laser radar technology, applied in radio wave measurement system, electromagnetic wave re-radiation, utilization of re-radiation and other directions, can solve the problem of not realizing single-line laser load and UAV communication, unable to single-line laser control data transmission and other problems

Pending Publication Date: 2021-09-10
GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD
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AI Technical Summary

Problems solved by technology

[0005] However, the current single-line laser radar on the market is to modify the drone, and the single-line laser is directly fixed on the drone by physical means. This method does not realize the communication between the single-line laser load and the drone. Unable to control and transmit data to single-line laser

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  • Unmanned aerial vehicle autonomous obstacle avoidance method and system based on single-line laser radar
  • Unmanned aerial vehicle autonomous obstacle avoidance method and system based on single-line laser radar
  • Unmanned aerial vehicle autonomous obstacle avoidance method and system based on single-line laser radar

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Embodiment Construction

[0041] see figure 1 , is a flow chart of the autonomous obstacle avoidance method for the single-line laser radar UAV according to the embodiment of the present invention;

[0042] An autonomous obstacle avoidance method for a drone based on a single-line laser radar according to an embodiment of the present invention includes:

[0043] S1 obtains the laser beam emitted by the lidar, changes the spatial projection direction of the laser beam through the scanning module, and emits the laser beam to the target object;

[0044] S2 receiving the light signal reflected by the target object by the receiving module, and sending it to the detector;

[0045] S3: The detector transmits the optical signal to the controller for data processing, obtains the distance information and angle information from the target object to the laser radar, and compares the distance information with the set threshold distance;

[0046] S4 If the distance information is less than the set threshold distan...

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Abstract

The invention discloses an unmanned aerial vehicle autonomous obstacle avoidance method based on a single-line laser radar. The method comprises the following steps: calculating the spatial distance between an unmanned aerial vehicle and an obstacle through combining the time interval of laser beam transmitting and receiving of the laser radar with the light velocity, presetting the obstacle avoidance flight modes of the unmanned aerial vehicle in different distance ranges, clustering the data returned by the laser radar through a nearest neighbor clustering method, and judging the surface continuity of the obstacle. Autonomous obstacle avoidance in the flight process of the unmanned aerial vehicle is achieved, the inspection efficiency of the unmanned aerial vehicle is improved, and real-time communication between the laser radar and the unmanned aerial vehicle is achieved.

Description

technical field [0001] The present invention relates to the field of radar communication technology and the field of UAV remote real-time monitoring technology, in particular to a method and system for autonomous obstacle avoidance of UAV based on single-line laser radar. Background technique [0002] UAV sensors are divided into active sensors and passive sensors. Active sensors perceive objects through the energy emitted by themselves, and can obtain real-time and accurate depth information, and are less affected by the outside world, mainly including laser radar, millimeter-wave radar, ultrasonic sensors, etc.; passive sensors have low power consumption, large amount of information It is fast and large, but its information is mainly obtained from the outside world and is greatly affected by the external environment. It mainly includes stereo vision, infrared cameras, and visible light cameras. [0003] At present, lidar is generally used in environmental perception resea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/933
CPCG01S17/933
Inventor 梁国开罗林欢代晓丰童锐白徐欢夏铭聪肖铭杰陈守阔陈旭东李学超熊国锟
Owner GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD
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