Mooring unmanned aerial vehicle following system capable of automatically avoiding obstacles

Abstract

The invention discloses a mooring unmanned aerial vehicle following system capable of automatically avoiding obstacles. The system comprises a detection module which is used for transmitting a detection signal and receiving a return signal, a measurement module and an obstacle avoidance module, wherein the measurement module is connected with the detection module and is used for judging whether an obstacle exists above the road in the current advancing direction range or not, if so, further calculating the morphological characteristics of the outer contour of the obstacle, and calculating the position relation between the obstacle and the current road based on the morphological characteristics of the outer contour of the obstacle; the obstacle avoidance module is connected with a measurement device, the unmanned transport vehicle and the mooring unmanned aerial vehicle and used for judging whether the current obstacle meets the avoidance condition or not based on the position relation, if yes, an obstacle avoidance control instruction is generated, and the unmanned transport vehicle and the mooring unmanned aerial vehicle advance according to the obstacle avoidance control instruction to avoid the obstacle. The system is advantaged in that a problem of automatic obstacle avoidance of the mooring unmanned aerial vehicle system can be solved, the free operation radius is expanded, and the response speed is increased.

Description

technical field [0001] The invention relates to the technical field of a tethered UAV car-following system, in particular to a tethered UAV car-following system for automatic obstacle avoidance. Background technique [0002] The tethered UAV is a special form of multi-rotor UAV. It uses the ground advantage of the ground unmanned transport vehicle to transmit power to the UAV through the tethered cable, replacing the traditional on-board power supply. Prolonged hovering in the air provides a technical solution. The ground unmanned transport vehicle provides sustainable power supply and wired communication for the tethered drone through the tethered cable. The base station and RTK dual antennas are installed on the ground unmanned transport vehicle, and the RTK dual antennas are installed on the tethered UAV to provide mutual calibration of geographic coordinate information for the two, and at the same time realize the wireless data communication function. The main applicat...

AI Technical Summary

Problems solved by technology

For this application scenario, the obstacle avoidance function has not been considered before, and accidents may occur when encountering low-altitude or high-altitude obstacles, resulting in damage to the drone or tethered cables

Images