The invention is applied to the technical field of
aviation science, and provides a multi-shaft unmanned aerial vehicle barrier avoiding
system based on a
laser array, and a barrier avoiding method thereof. The
system comprises five modules, i.e., an
information acquisition module, a posture identification module, a posture adjustment module, an
information processing module and a barrier avoiding execution module. The method comprises
information acquisition of a stereo scene in front of an unmanned aerial vehicle, posture identification of the unmanned aerial vehicle, posture adjustment of the barrier avoiding
system and
information processing so as to realize effective barrier avoidance. The system is mainly characterized in that a
laser distance-measuring array comprises a receiving head in the middle and multiple
laser emission heads, and each laser emission head is provided with a
cylindrical lens for emitting linear light spots. According to the invention, through special arrangement of a laser emission head array, the emitted linear light spots can be effectively superposed at a sector area in a certain horizontal included angle, a front sector area can be scanned, whether there are barriers and the size and orientations of the barriers can be detected, through combination with a current posture of the unmanned aerial vehicle, accurate alarm is realized, a path is replanned, and effective detection and avoidance of the barriers in a three-dimensional environment can be realized.