Unmanned aerial vehicle multi-distance obstacle avoidance method and obstacle avoidance system

Abstract

The invention relates to the technical field of aircrafts, and particularly provides an unmanned aerial vehicle multi-distance obstacle avoidance method and an obstacle avoidance system. According tothe invention, firstly, a flight path of the unmanned aerial vehicle is set. Secondly, the obstacle information on a plurality of distance levels in the flight space of the unmanned aerial vehicle isacquired. At the same time, the current flight state information of the unmanned aerial vehicle is acquired in real time. Thirdly, a flight obstacle avoidance plan is formulated according to the obstacle information and the current flight state information. Finally, the unmanned aerial vehicle performs the obstacle avoidance flight according to the flight obstacle avoidance plan. According to theinvention, a plurality of obstacle avoidance mechanisms are applied in parallel, wherein the predictive obstacle avoidance can be realized especially for large barriers such as buildings existing on flight paths, as well as moving barriers within the range of a moderate distance. The defects caused by purely relying on a short-distance obstacle avoidance mechanism are fully overcome.

Description

technical field [0001] The invention relates to the technical field of aircraft, in particular to a multi-distance obstacle avoidance method and an obstacle avoidance system for an unmanned aerial vehicle. Background technique [0002] UAVs fly in the air and need to avoid obstacles on the flight path to avoid personal and property losses caused by collisions, especially for low-altitude flying UAVs such as follow-up selfie drones. There are more obstacles, the situation is more complicated, and the requirements for obstacle avoidance are higher. [0003] In the existing technology, the obstacle avoidance problem of UAV is mainly considered to avoid obstacles at close range. For short-range obstacle avoidance, various types of distance detectors such as infrared and ultrasonic reflections will be installed on the drone body to detect whether there are other objects within a certain distance range of the drone; if within a certain distance (such as 1 meter) When an obstacle...

AI Technical Summary

Problems solved by technology

[0004] However, the reaction time for short-distance obstacle avoidance is limited; and if the obstacle itself is moving, even if the UAV stops or temporarily adjusts its direction, there is still the possibility of collision because it is relatively close to the obstacle. It can be seen that only using The short-distance obstacle avoidance effect is not ideal, especially for mobile obstacles

Images