Unmanned aerial vehicle low-altitude obstacle avoidance system

Abstract

The invention provides an unmanned aerial vehicle low-altitude obstacle avoidance system, and belongs to the technical field of control systems, and the unmanned aerial vehicle low-altitude obstacle avoidance system comprises a multi-sensor fusion module which comprises a plurality of sensors used for collecting environment information; the data processing module is used for analyzing and processing the data acquired by the multi-sensor fusion module in real time to generate an obstacle recognition result; the obstacle avoidance decision module is used for generating an optimal obstacle avoidance path based on the obstacle recognition result and the flight state of the unmanned aerial vehicle; and the control execution module is used for generating a control command based on the optimal obstacle avoidance path so as to control the flight of the unmanned aerial vehicle. According to the unmanned aerial vehicle low-altitude obstacle avoidance system provided by the invention, the unmanned aerial vehicle can be ensured to safely avoid obstacles in a low-altitude complex environment, and collision is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of control systems, and in particular to a low-altitude obstacle avoidance system for unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, it has been widely used in aerial photography, logistics distribution, agricultural plant protection and other fields. Drone obstacle avoidance is one of the key technologies to ensure the safe flight of drones. It enables drones to automatically detect and avoid obstacles during flight to avoid collision accidents. However, in low-altitude environments, due to complex terrain and dense obstacles, traditional obstacle avoidance systems often cannot meet the needs of drone safe flight.

[0003] Traditional obstacle avoidance systems mainly rely on a single sensor, which is easily affected by environmental noise and interference, resulting in poor obstacle avoidance results. Especially in low-altitude environments, drones need to deal with a variety of complex terrains and dynamic obstacles, such as trees, wires, buildings, and moving vehicles and pedestrians. Therefore, how to avoid obstacles in low-altitude environments has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a low-altitude obstacle avoidance system for an unmanned aerial vehicle, which is used to solve the problem that the obstacle avoidance system in the prior art cannot meet the requirement of safe flight of the unmanned aerial vehicle in a low-altitude environment.

[0005] The present invention provides a low-altitude obstacle avoidance system for an unmanned aerial vehicle, comprising: A multi-sensor fusion module, wherein the multi-sensor fusion module includes a plurality of sensors for collecting environmental information; A data processing module, which is used to perform real-time analysis and processing on the data collected by the multi-sensor fusion module to generate obstacle recognition results; An obstacle avoidance decision module, the obstacle avoidance decision module is used to generate an optimal obstacle avoidance path based on the obstacle identification result and the flight status of the UAV; A control execution module is used to generate a control command based on the optimal obstacle avoidance path to control the flight of the drone.

[0006] According to a drone low-altitude obstacle avoidance system provided by the present invention, the multi-sensor fusion module includes a radar sensor, a lidar sensor and a camera sensor.

[0007] According to a drone low-altitude obstacle avoidance system provided by the present invention, the multi-sensor fusion module includes at least two radar sensors, at least two lidar sensors and at least two camera sensors.

[0008] According to a UAV low-altitude obstacle avoidance system provided by the present invention, the obstacle avoidance decision module is specifically used for: Performing situation assessment based on the obstacle identification result to obtain a situation assessment result, wherein the situation assessment result includes obstacle distribution information, movement trend of the UAV and potential threatening obstacles; Based on the situation assessment results, an optimal obstacle avoidance path is generated using a preset path planning algorithm.

[0009] According to a UAV low-altitude obstacle avoidance system provided by the present invention, the obstacle avoidance decision module is also used for: Under preset conditions, the path corresponding to the emergency obstacle avoidance strategy is taken as the optimal obstacle avoidance path.

[0010] According to a drone low-altitude obstacle avoidance system provided by the present invention, the data processing module is specifically used for: Based on the data collected by the multi-sensor fusion module, a preset deep learning algorithm is used to perform feature extraction and obstacle recognition to obtain an obstacle recognition result; Based on the obstacle recognition result, a three-dimensional model of the environment surrounding the drone is constructed.

[0011] According to a drone low-altitude obstacle avoidance system provided by the present invention, the data processing module is also used for: The data collected by the multi-sensor fusion module is preprocessed.

[0012] According to a drone low-altitude obstacle avoidance system provided by the present invention, the control execution module is specifically used for: Analyzing the optimal obstacle avoidance path and generating a control command; Based on the control command, the flight attitude and flight speed of the UAV are controlled by the flight control system of the UAV.

[0013] According to a drone low-altitude obstacle avoidance system provided by the present invention, the control execution module is also used for: Acquire the flight status of the UAV in real time; The control command is updated based on the flight status of the drone.

[0014] The present invention also provides a drone, comprising any one of the drone low-altitude obstacle avoidance systems described above.

[0015] The unmanned aerial vehicle low-altitude obstacle avoidance system provided by the present invention includes a multi-sensor fusion module, a data processing module, an obstacle avoidance decision module and a control execution module; the multi-sensor fusion module includes a plurality of sensors for collecting environmental information; the data processing module is used to analyze and process the data collected by the multi-sensor fusion module in real time to generate an obstacle recognition result; the obstacle avoidance decision module is used to generate an optimal obstacle avoidance path based on the obstacle recognition result and the flight state of the unmanned aerial vehicle; the control execution module is used to generate a control command based on the optimal obstacle avoidance path to control the flight of the unmanned aerial vehicle. This solution provides the unmanned aerial vehicle with a more accurate and comprehensive environmental perception capability by integrating a plurality of sensors, thereby ensuring that the unmanned aerial vehicle can safely avoid obstacles and avoid collisions in a low-altitude complex environment when performing obstacle avoidance control based on the data collected by the multi-sensor fusion module. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of the UAV low-altitude obstacle avoidance system provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be noted that in the description of the embodiments of the present invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0021] Single sensor obstacle avoidance has limitations. Most traditional drone obstacle avoidance systems use a single type of sensor, such as ultrasonic sensors or infrared sensors. Although these sensors can provide basic obstacle avoidance functions under certain conditions, their limitations are obvious in complex and changeable low-altitude environments. For example: ultrasonic sensors may not be able to accurately measure distance when encountering smooth surfaces; infrared sensors are prone to failure under interference from strong light or heat sources; when only cameras are used, they are easily affected by light changes and obstructions, resulting in reduced recognition accuracy.

[0022] Low-altitude environments are complex. There are a large number of static and dynamic obstacles in low-altitude environments, such as trees, wires, buildings, and moving vehicles and pedestrians. Traditional obstacle avoidance systems are often unable to identify and handle these complex obstacles. In addition, since drones need to maintain a certain flight speed at low altitudes, this further increases the difficulty of obstacle avoidance.

[0023] Traditional algorithms have limitations. Traditional obstacle avoidance algorithms are mostly based on rules and simple geometric calculations, and cannot cope with dynamic changes in complex environments. These algorithms lack self-learning capabilities and are difficult to adapt to the diverse needs of different scenarios.

[0024] In view of the above problems, the present invention provides the following embodiments. Figure 1 The invention describes a low-altitude obstacle avoidance system for a UAV provided in an embodiment of the invention.

[0025] Figure 1 Schematic diagram of the structure of the UAV low-altitude obstacle avoidance system provided by the present invention. Figure 1 As shown, the system includes the following: A multi-sensor fusion module, wherein the multi-sensor fusion module includes a plurality of sensors for collecting environmental information; A data processing module, which is used to perform real-time analysis and processing on the data collected by the multi-sensor fusion module to generate obstacle recognition results; An obstacle avoidance decision module, the obstacle avoidance decision module is used to generate an optimal obstacle avoidance path based on the obstacle identification result and the flight status of the UAV; A control execution module is used to generate a control command based on the optimal obstacle avoidance path to control the flight of the drone.

[0026] The unmanned aerial vehicle low-altitude obstacle avoidance system provided by the embodiment of the present invention includes a multi-sensor fusion module, a data processing module, an obstacle avoidance decision module and a control execution module; the multi-sensor fusion module includes a plurality of sensors for collecting environmental information; the data processing module is used to analyze and process the data collected by the multi-sensor fusion module in real time to generate an obstacle recognition result; the obstacle avoidance decision module is used to generate an optimal obstacle avoidance path based on the obstacle recognition result and the flight state of the unmanned aerial vehicle; the control execution module is used to generate a control command based on the optimal obstacle avoidance path to control the flight of the unmanned aerial vehicle. This solution integrates a plurality of sensors to provide the unmanned aerial vehicle with a more accurate and comprehensive environmental perception capability, thereby ensuring that when the unmanned aerial vehicle performs obstacle avoidance control based on the data collected by the multi-sensor fusion module, the unmanned aerial vehicle can safely avoid obstacles and avoid collisions in a low-altitude complex environment.

[0027] In an optional embodiment, the multi-sensor fusion module includes a radar sensor, a lidar sensor and a camera sensor.

[0028] Specifically, radar sensors provide medium- and long-range obstacle detection capabilities, especially for detecting metal objects and large obstacles; LiDAR sensors can generate high-precision three-dimensional point cloud data, accurately measure the shape and distance of obstacles, and are suitable for identifying complex terrain and small obstacles; camera sensors provide rich visual information, can identify the color, texture and shape of obstacles, and are particularly advantageous in dynamic environments. The data from these sensors are integrated through sensor fusion algorithms to provide more accurate and comprehensive environmental perception capabilities.

[0029] The unmanned aerial vehicle low-altitude obstacle avoidance system provided by the embodiment of the present invention provides medium and long-range obstacle detection capability through radar, provides high-precision point cloud data through lidar, and provides rich visual information through the camera. The data collected by the three are integrated to provide comprehensive environmental information for the unmanned aerial vehicle.

[0030] Furthermore, the multi-sensor fusion module includes at least two radar sensors, at least two lidar sensors and at least two camera sensors.

[0031] The unmanned aerial vehicle low-altitude obstacle avoidance system provided by the embodiment of the present invention improves the reliability of the unmanned aerial vehicle low-altitude obstacle avoidance system by setting redundant sensors.

[0032] In an optional embodiment, the obstacle avoidance decision module is specifically used to: Performing situation assessment based on the obstacle identification result to obtain a situation assessment result, wherein the situation assessment result includes obstacle distribution information, movement trend of the UAV and potential threatening obstacles; Based on the situation assessment results, an optimal obstacle avoidance path is generated using a preset path planning algorithm.

[0033] Specifically, situation assessment: assess the distribution, movement trends and potential threats of obstacles in the current environment; path planning: based on the situation assessment results, combined with the flight goals and current status of the drone, plan the optimal obstacle avoidance path in real time; decision update: during the flight, update the obstacle avoidance decision in real time to adapt to dynamic changes in the environment and ensure the timeliness and effectiveness of the obstacle avoidance decision.

[0034] In the embodiment of the present invention, the path planning algorithm takes into account the dynamic characteristics of the drone to ensure the smoothness and safety of the obstacle avoidance path. The specific path planning algorithm used is not limited here.

[0035] The unmanned aerial vehicle low-altitude obstacle avoidance system provided by the embodiment of the present invention, the obstacle avoidance decision module is the decision-making core of the unmanned aerial vehicle low-altitude obstacle avoidance system, and intelligent obstacle avoidance decisions are made according to the obstacle information provided by the data processing module and the current flight status of the unmanned aerial vehicle, thereby controlling the unmanned aerial vehicle to avoid obstacles.

[0036] Furthermore, the obstacle avoidance decision module is also used for: Under preset conditions, the path corresponding to the emergency obstacle avoidance strategy is taken as the optimal obstacle avoidance path.

[0037] The unmanned aerial vehicle low-altitude obstacle avoidance system provided by the embodiment of the present invention can quickly switch to a preset emergency obstacle avoidance strategy in an emergency situation to ensure the flight safety of the unmanned aerial vehicle.

[0038] In an optional embodiment, the data processing module is specifically used for: Based on the data collected by the multi-sensor fusion module, a preset deep learning algorithm is used to perform feature extraction and obstacle recognition to obtain an obstacle recognition result; Based on the obstacle recognition result, a three-dimensional model of the environment surrounding the drone is constructed.

[0039] Specifically, feature extraction: using deep learning algorithms to extract important features from multi-sensor data, such as the edge, shape, and motion state of obstacles; obstacle recognition: through the trained deep learning model, obstacles in the environment are identified in real time to determine their type, location, and direction of movement; environmental modeling: based on the recognition results, a three-dimensional model of the drone's surroundings is constructed to provide support for subsequent obstacle avoidance decisions.

[0040] Furthermore, the data processing module is also used for: The data collected by the multi-sensor fusion module is preprocessed.

[0041] Specifically, preprocessing operations such as filtering and denoising are performed on sensor data to improve data quality.

[0042] In an optional embodiment, the control execution module is specifically used to: Analyzing the optimal obstacle avoidance path and generating a control command; Based on the control command, the flight attitude and flight speed of the UAV are controlled by the flight control system of the UAV.

[0043] Specifically, instruction parsing: parsing the path planning instructions output by the obstacle avoidance decision module to generate control commands; flight control: through the UAV's flight control system, accurately controlling the flight attitude and speed, performing obstacle avoidance operations, and using the flight control algorithm to ensure that the UAV flies smoothly during the obstacle avoidance process to avoid violent movements.

[0044] Furthermore, the control execution module is also used for: Acquire the flight status of the UAV in real time; The control command is updated based on the flight status of the drone.

[0045] Specifically, the flight status of the drone is monitored in real time, and the control commands are dynamically adjusted according to the actual flight conditions to ensure the execution effect of the obstacle avoidance operation.

[0046] Based on any of the above embodiments, modular design is implemented to ensure the coordination between modules and the optimization of the overall system performance. Specifically: System architecture design: Design a reasonable system architecture to ensure seamless integration of multi-sensor fusion module, data processing unit, obstacle avoidance decision module and control execution unit; Algorithm optimization: In view of the real-time requirements of drone obstacle avoidance, the deep learning algorithm and path planning algorithm are optimized to improve computing efficiency and response speed; Hardware selection: Select high-performance processors and sensors to ensure that the system can run stably in complex environments; Software architecture: Use parallel computing and multi-threading technology to improve the system's processing power and real-time performance; System testing and verification: Through simulation testing and actual flight testing, the system is fully verified and optimized to ensure its stability and reliability in different environments.

[0047] Based on any of the above embodiments, in order to improve the security of the system, the following security mechanism is designed: Fault detection and processing: Real-time monitoring of the operating status of each module of the system, detection and processing of possible faults, and ensuring the stability of the system; Redundant design: Redundant design is adopted in key links, such as sensor redundancy in multi-sensor data fusion, to improve the reliability of the system; Emergency obstacle avoidance strategy: In an emergency, the system can quickly switch to a preset emergency obstacle avoidance strategy to ensure the flight safety of the drone.

[0048] The following is combined with actual tests to illustrate the obstacle avoidance performance of the drone low-altitude obstacle avoidance system provided by the present invention in a complex low-altitude environment. The test environment includes dense trees, buildings, and other common obstacles for drones. The test drone is equipped with a multi-sensor fusion module, including radar, LiDAR, and camera, a data processing module equipped with a deep learning algorithm, as well as an obstacle avoidance decision module and a control execution module.

[0049] Environmental data collection: The drone starts and enters flight mode, and the multi-sensor fusion module starts working. The radar, lidar and camera collect the surrounding environment data in real time, including the distance, shape and color of obstacles; Data processing and analysis: The data processing module pre-processes the collected sensor data, including filtering, denoising and feature extraction; the deep learning algorithm analyzes the processed data, identifies obstacles in the environment in real time, and determines their type, location and motion status; Obstacle avoidance decision: The obstacle avoidance decision module conducts situation assessment based on the identified obstacle information and the current flight status of the drone. The system uses a dynamic path planning algorithm to calculate the optimal obstacle avoidance path in real time to ensure that the drone can safely avoid obstacles. Control execution: The control execution module receives obstacle avoidance decision instructions, adjusts the flight attitude and speed of the drone, and performs obstacle avoidance operations; the system monitors the flight status of the drone in real time, and dynamically adjusts the control commands based on feedback information to ensure the accuracy and stability of the obstacle avoidance action.

[0050] During the test, the drone was able to effectively identify and avoid various obstacles, including trees, buildings and moving pedestrians. The specific performance is as follows: Recognition accuracy: The system can accurately identify different types of obstacles with a recognition accuracy of more than 95%, especially in complex backgrounds; Response speed: The response time of obstacle avoidance decision and control execution is in milliseconds, ensuring that the drone can react quickly and avoid collisions; Path planning: The dynamic path planning algorithm can update the obstacle avoidance path in real time to ensure the flight safety of the drone in complex environments; the drone can smoothly bypass static and moving obstacles; Flight stability: During the obstacle avoidance process, the drone's flight attitude remains stable without violent movements and vibrations; the high-precision control algorithm of the control execution unit ensures the smoothness of the obstacle avoidance operation; System robustness: In multiple repeated tests, the system has demonstrated good robustness and reliability, and is able to operate stably under different environmental conditions.

[0051] In summary, the drone low-altitude obstacle avoidance system provided by the present invention, through the combination of multi-sensor fusion technology and deep learning algorithm, enables the system to accurately identify various types of obstacles; through real-time and rapid processing of sensor data and intelligent decision-making algorithms, the system can plan obstacle avoidance paths in real time to ensure flight safety; through precise control of the execution module, the drone can smoothly avoid obstacles and avoid collisions.

[0052] The present invention also provides an unmanned aerial vehicle, comprising the unmanned aerial vehicle low-altitude obstacle avoidance system provided by any of the above-mentioned embodiments, the system comprising: a multi-sensor fusion module, the multi-sensor fusion module comprising a plurality of sensors for collecting environmental information; a data processing module, the data processing module being used to perform real-time analysis and processing on the data collected by the multi-sensor fusion module to generate an obstacle identification result; an obstacle avoidance decision module, the obstacle avoidance decision module being used to generate an optimal obstacle avoidance path based on the obstacle identification result and the flight status of the unmanned aerial vehicle; and a control execution module, the control execution module being used to generate a control command based on the optimal obstacle avoidance path to control the flight of the unmanned aerial vehicle.

[0053] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0054] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-altitude obstacle avoidance system for unmanned aerial vehicles, characterized in that: include: A multi-sensor fusion module, wherein the multi-sensor fusion module includes a plurality of sensors for collecting environmental information; A data processing module, which is used to perform real-time analysis and processing on the data collected by the multi-sensor fusion module to generate obstacle recognition results; An obstacle avoidance decision module, the obstacle avoidance decision module is used to generate an optimal obstacle avoidance path based on the obstacle identification result and the flight status of the UAV; A control execution module is used to generate a control command based on the optimal obstacle avoidance path to control the flight of the drone.

2. The unmanned aerial vehicle low-altitude obstacle avoidance system according to claim 1, characterized in that: The multi-sensor fusion module includes a radar sensor, a lidar sensor and a camera sensor.

3. The UAV low-altitude obstacle avoidance system according to claim 2, characterized in that: The multi-sensor fusion module includes at least two radar sensors, at least two lidar sensors and at least two camera sensors.

4. The UAV low-altitude obstacle avoidance system according to claim 1, characterized in that: The obstacle avoidance decision module is specifically used for: Performing situation assessment based on the obstacle identification result to obtain a situation assessment result, wherein the situation assessment result includes obstacle distribution information, movement trend of the UAV and potential threatening obstacles; Based on the situation assessment results, an optimal obstacle avoidance path is generated using a preset path planning algorithm.

5. The unmanned aerial vehicle low-altitude obstacle avoidance system according to claim 4, characterized in that: The obstacle avoidance decision module is also used for: Under preset conditions, the path corresponding to the emergency obstacle avoidance strategy is taken as the optimal obstacle avoidance path.

6. The UAV low-altitude obstacle avoidance system according to claim 1, characterized in that: The data processing module is specifically used for: Based on the data collected by the multi-sensor fusion module, a preset deep learning algorithm is used to perform feature extraction and obstacle recognition to obtain an obstacle recognition result; Based on the obstacle recognition result, a three-dimensional model of the environment surrounding the drone is constructed.

7. The UAV low-altitude obstacle avoidance system according to claim 6, characterized in that: The data processing module is also used for: The data collected by the multi-sensor fusion module is preprocessed.

8. The UAV low-altitude obstacle avoidance system according to claim 1, characterized in that: The control execution module is specifically used for: Analyzing the optimal obstacle avoidance path and generating a control command; Based on the control command, the flight attitude and flight speed of the UAV are controlled by the flight control system of the UAV.

9. The UAV low-altitude obstacle avoidance system according to claim 8, characterized in that: The control execution module is also used for: Acquire the flight status of the UAV in real time; The control command is updated based on the flight status of the drone.

10. A drone, characterized in that: It comprises the unmanned aerial vehicle low-altitude obstacle avoidance system as described in any one of claims 1 to 9.

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