Visual positioning avoidance system and method of unmanned aerial vehicle
A visual positioning, UAV technology, applied in control/adjustment system, 3D position/channel control, vehicle position/route/altitude control, etc., can solve the problems of inability to avoid obstacles and complex flight environment.
Pending Publication Date: 2022-05-10
江苏佰通智能科技有限公司
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, for micro-UAVs that are mainly used in low-altitude and near-earth environments, the flight environment is much more complicated, so the aircraft must not only estimate its own pose, but also perceive the actual surrounding environment
In order to realize the autonomous flight of micro-UAVs in low-altitude environments, it is necessary to select appropriate sensors to obtain UAV poses and surrounding environment information; however, the existing UAV visual positioning and avoidance systems cannot be used in complex flight environments. good obstacle avoidance
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment
[0029] Example: such as Figure 1-7As shown, a visual positioning avoidance system for unmanned aerial vehicles of the present invention includes existing unmanned aerial vehicles, including existing unmanned aerial vehicles 1, and said unmanned aerial vehicle 1 is equipped with a sensor group 2 and a visual odometer 3. The sensor group 2 is used to obtain data such as acceleration, angular velocity, pitch angle, roll angle and yaw angle of the current flight of the UAV 1; the visual odometer 3 obtains the current visual pose data of the UAV Obtain the current flight direction vector of the unmanned aerial vehicle 1 according to data such as acceleration, angular velocity, pitch angle, roll angle and yaw angle obtained; Rotation unit 4 is installed on the described unmanned aerial vehicle 1, and described rotation unit A binocular camera 5 for collecting flight scene images is installed on the 4, and the rotation of the rotating unit 4 is synchronized with the current flight d...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a visual positioning avoidance system and method for an unmanned aerial vehicle, and the system comprises an existing unmanned aerial vehicle which is equipped with a sensor group and a visual odometer. The unmanned aerial vehicle is provided with a rotating unit, the rotating unit is provided with a binocular camera used for collecting flight scene images, and rotation of the rotating unit is kept synchronous and consistent with the current flight direction of the unmanned aerial vehicle. A laser scanning distance measuring unit which is consistent with the current flight direction of the unmanned aerial vehicle and is used for measuring the distance of an obstacle in the advancing direction is arranged on the rotating unit, and a micro processing unit with an image processing module is arranged on the unmanned aerial vehicle; according to the invention, the binocular camera for collecting the flight scene image and the distance measurement of the obstacle in the advancing direction are combined to obtain the safe avoidance flight range of the unmanned aerial vehicle, so that the effect of automatically avoiding the obstacle is achieved, and the safe flight of the unmanned aerial vehicle is ensured.
Description
technical field [0001] The invention relates to the technical field of drones, in particular to a visual positioning avoidance system and method for drones. Background technique [0002] Due to the development of microelectronics technology and sensor technology in recent years, the realization of fully autonomous unmanned aerial vehicles has become possible. At present, the key issues of autonomous aircraft design focus on information acquisition, navigation and remote control system design. For traditional high-altitude flying drones, the combination of GPS and inertial measurement unit (IMU) can obtain the corresponding position, attitude, altitude, and heading information to achieve flight control and waypoint navigation. However, for micro-UAVs that are mainly used in low-altitude and near-earth environments, the flight environment is much more complicated, so the aircraft must not only estimate its own pose, but also perceive the actual surrounding environment. In or...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 邹丛丛
Owner 江苏佰通智能科技有限公司