A laser array-based multi-axis UAV obstacle avoidance system and its obstacle avoidance method

Abstract

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.

Description

technical field [0001] The invention relates to the field of aviation science and technology, in particular to a laser array-based multi-axis unmanned aerial vehicle obstacle avoidance system and an obstacle avoidance method thereof. Background technique [0002] In recent years, multi-axis drones have developed rapidly. During the flight of UAVs, it is difficult to completely predict the flight environment information, and often encounter sudden threats or obstacles. At this time, the pre-planned global track path can no longer meet the requirements. In order to achieve the expected purpose, it is necessary to have the function of real-time detection and avoidance of obstacles, to be able to analyze and evaluate the path and its surrounding environment and threats, to re-plan a reasonable track path, and to coordinate the UAV to follow the specified path. Fly on the track path to avoid the obstacles ahead and continue to complete the mission. After the 1970s, researchers ...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a laser array-based multi-axis UAV obstacle avoidance system and its obstacle avoidance method, aiming to solve the problem of scanning and avoiding obstacles in a three-dimensional environment

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