UAV Obstacle Avoidance Control for Low-Altitude Flight Flexibility
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Solution Overview
Problem
Unnecessary restriction of unmanned aerial vehicle flight due to collision avoidance functions, particularly during takeoff, landing, or low altitude operations.
Innovation Solution
A control device for unmanned aerial vehicles that disables the obstacle avoidance function when specific conditions are met, such as a tilt angle exceeding a threshold, during takeoff or landing, or when the altitude is below a certain height, thereby preventing false obstacle detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the obstacle avoidance function is always enabled, then collision safety is improved, but flight operation flexibility deteriorates due to unnecessary restrictions during takeoff, landing, and low altitude operations
Solution Approach 1:
The obstacle avoidance function is made dynamically controllable through a disablement determination unit that adjusts its activation state based on flight conditions. The system transitions from a static always-on state to a dynamic state that adapts to operational context, disabling the function when ground detection is likely (during takeoff, landing, low altitude, or high tilt angle operations) and enabling it during normal flight, thereby resolving the contradiction between safety and operational flexibility
Solution Approach 2:
The system changes the operational parameter of the obstacle avoidance function from a fixed enabled state to a variable state based on flight parameters. By monitoring parameters such as altitude, tilt angle, and flight phase (takeoff/landing), the system adjusts whether the obstacle avoidance function is active, allowing optimal balance between collision prevention and operational freedom across different flight scenarios
2Measurement precision
If the obstacle avoidance function is enabled at low altitude, then obstacle detection capability is improved, but false detection of ground increases causing unnecessary flight restriction
Solution Approach 1:
A ground detection unit acts as an intermediary between the obstacle sensor and the obstacle avoidance function. This intermediary layer analyzes whether detected objects are actually ground or true obstacles by considering flight phase and altitude context, preventing false ground detection from triggering unnecessary obstacle avoidance maneuvers while maintaining accurate obstacle detection capability when needed
3Reliability
If the obstacle avoidance function restricts flight to avoid potential collisions, then safety is improved, but operational efficiency deteriorates during normal flight operations
Solution Approach 1:
The obstacle avoidance function operates dynamically rather than statically, being enabled only when flight conditions warrant caution (normal flight at sufficient altitude) and disabled when operations require freedom of movement (takeoff, landing, low altitude work). This dynamic adjustment maintains safety during vulnerable phases while preserving operational efficiency during routine operations
Data Source
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Figure 1B
Figure 1C
AI summary
A control device for a multicopter has an obstacle avoidance function to detect an obstacle based on a signal output from the obstacle sensor and to perform operations to avoid collision with the obstacle. The control device disables the obstacle avoidance function when a predetermined condition is satisfied, and enables the obstacle avoidance function when the predetermined condition is not satisfied. The predetermined condition includes at least one of: a first condition that a tilt angle of the body is greater than a predetermined angle; a second condition that the unmanned aerial vehicle is in a takeoff operation or a landing operation; or a third condition that an altitude of the body is at or below a predetermined height.