Unmanned aerial vehicle system with intelligent obstacle avoidance and fixed-height cruising functions and control method

Abstract

The invention provides an unmanned aerial vehicle system with intelligent obstacle avoidance and fixed-height cruise functions and a control method, and the system comprises a forward laser radar collection unit, a downward laser radar collection unit, a high-precision attitude sensor, a height position sensor and a data processing unit. In the three-dimensional data cloud collected by the radar, important data points are extracted through point cloud extraction operation, and accurate control of obstacle avoidance is achieved; useless data points are eliminated on a large scale through a coverage type data processing mode, time consumption and power consumption caused by useless calculation are reduced, the overall voyage of the unmanned aerial vehicle is increased, and the response speed of obstacle avoidance of the unmanned aerial vehicle is increased; the slice number is obtained through a height formula, so that the time consumption of the point cloud extraction step is further reduced, and the calculation time is greatly reduced on the premise of not reducing the key extraction data of the point cloud extraction.

Description

technical field [0001] The patent of the present invention relates to the technical field of obstacle avoidance and cruise of vertical take-off and landing fixed-wing unmanned aerial vehicles, in particular to an unmanned aerial vehicle system and control method with functions of intelligent obstacle avoidance and constant altitude cruise. Background technique [0002] The flight safety of UAVs has always been a core issue related to the large-scale commercial application of UAVs, especially fixed-wing UAVs, which fly fast. Compared with rotary-wing UAVs, how to perceive obstacles and avoid obstacles autonomously Object is the most cutting-edge research topic in the field of fixed-wing UAV flight safety. [0003] With the large-scale commercial application of autonomous flight and tracking flight of UAVs, the functional requirements for autonomous obstacle avoidance of UAVs in the process of autonomous aerial photography and follow-up photography have become more urgent. ...

AI Technical Summary

Problems solved by technology

[0018]The above-mentioned technologies include flight control module and millimeter-wave radar, which are similar to traditional lidar, but in the technology of detecting and avoiding obstacles in this invention, the number of three-dimensional points detected by real-time radar is considered , can be as many as 3 million, using the traditional vector loading method for rendering and displaying, analyzing and processing such a huge data set, and accurately analyzing icons to achieve real-time and precise control of obstacle avoidance. People have also tried many systems, including the ArcGIS system processing mechanism, which is often stuck in a state of being stuck during a large amount of data calculation. Once the actual flight cruise occurs, it is easy to cause a collision accident with the drone. Therefore, it is difficult to implement the above technology

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