Ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and control method thereof

Abstract

The invention discloses an ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system and a control method thereof. The unmanned aerial vehicle obstacle avoidance system includes a flight control module, an airborne radio frequency communication module, an ultrasonic ranging module and an autonomous obstacle avoidance module, wherein the flight control module is used for controlling the flight of an unmanned aerial vehicle and feeding back the flight condition of the unmanned aerial vehicle to a ground station, the ultrasonic ranging module is used for detecting whether obstacles exist before, above and below the unmanned aerial vehicle as well as at the left and the right of the unmanned aerial vehicle, and detecting the distances between the unmanned aerial vehicle and the obstacles, and the autonomous obstacle avoidance module is used for controlling the unmanned aerial vehicle to perform obstacle avoidance according to measurement results of the ultrasonic ranging module. With the control method of the unmanned aerial vehicle obstacle avoidance system adopted, the unmanned aerial vehicle can autonomously avoid the obstacles, and the avoidance modes of the unmanned aerial vehicle can be more diverse, and the unmanned aerial vehicle can automatically adjust flight routes and accomplish specified flight tasks. The ultrasonic distance detection-based unmanned aerial vehicle obstacle avoidance system of the invention has the advantages of simple structure, convenient use and high practical value.

Description

technical field [0001] The present invention relates to the field of UAV obstacle avoidance technology, in particular to an UAV obstacle avoidance system based on ultrasonic distance detection and a control method thereof. Background technique [0002] Autonomous obstacle avoidance system is an important safety guarantee for UAVs to successfully complete flight missions. Therefore, the autonomous obstacle avoidance system of UAVs has become one of the hot research issues in recent years. The autonomous obstacle avoidance system plays a vital role in the flight path planning ability of the UAV, so the intelligence of the autonomous obstacle avoidance system largely reflects the intelligence and safety of the UAV. At this stage, most of UAV autonomous obstacle avoidance and new route planning are in the simulation stage, and few of them are really practical and feasible. [0003] The planning of the flight path of the UAV should be automatic and real-time, mainly realized by...

AI Technical Summary

Problems solved by technology

However, at present, there are few researches on the UAV obstacle avoidance system for the special application background of transmission line inspection at home and abroad, most of which are still in the stage of theoretical discussion, and various new obstacle avoidance methods and ideas need to be continued. Exploration and development, its effectiveness has yet to be verified in practice

[0005] Application No. 201310036235.1 "Multiple Obstacle Avoidance Control Method for Unmanned Aerial Vehicles Used in Electric Line Patrol" uses ultrasonic sensors, electromagnetic field sensors and ground station environment models to locate and avoid obstacles. This method is too complicated and is aimed at different The detection environment requires different detection area environment models, and the detection area environment model is almost unreusable and difficult to obtain. The use of eight sensors also makes the UAV a heavy load. There is no distance sensor above the UAV so that the UAV cannot Detect obstacles above, so you can only bypass obstacles from the side and cannot fly over obstacles. At the same time, if there is no sensor below the drone, the drone cannot detect obstacles at the bottom of the drone, that is, it cannot fly like climbing. operate

Images