Visual positioning obstacle avoidance system and method for unmanned aerial vehicle

Abstract

The invention belongs to the unmanned aerial vehicle technical field and relates to a visual positioning obstacle avoidance system and method for an unmanned aerial vehicle. The system comprises a binocular vision system, a sensor module and a flight control system which are mounted on the unmanned aerial vehicle. The method includes the following steps that: the binocular vision system acquires the visual information of the flight environment of the unmanned aerial vehicle, and processes the visual information to obtain obstacle information; the sensor module acquires the state information ofthe unmanned aerial vehicle; the flight control system receives the obstacle information and the state information of the unmanned aerial vehicle, establishes a flight path, generates a flight control command and sends the flight control command to the unmanned aerial vehicle; and the unmanned aerial vehicle avoids an obstacle according to the flight control command so as to fly properly. According to the visual positioning obstacle avoidance system and method for the unmanned aerial vehicle of the invention adopted, visual information and the information of the sensor module are combined; the information of the flight environment is sensed; flight path control and path planning are performed to avoid the obstacle; and therefore, the problem of the visual obstacle avoidance of the unmanned aerial vehicle can be effectively solved, and the unmanned aerial vehicle can complete visual obstacle avoidance through using an airborne camera.

Description

technical field [0001] The invention relates to the technical field of drones, in particular to a visual positioning and obstacle avoidance system for drones and a method thereof. Background technique [0002] Due to the development of microelectronics technology and sensor technology in recent years, the realization of fully autonomous unmanned aerial vehicles has become possible. At present, the key issues of autonomous aircraft design focus on information acquisition, navigation and remote control system design. For traditional high-altitude flying drones, the combination of GPS and inertial measurement unit (IMU) can obtain the corresponding position, attitude, altitude, and heading information to achieve flight control and waypoint navigation. However, for micro-UAVs that are mainly used in low-altitude and near-earth environments, the flight environment is much more complicated, so the aircraft must not only estimate its own pose, but also perceive the actual surround...

AI Technical Summary

Problems solved by technology

[0004] Although computer vision has been developed for decades and some algorithms have been quite mature, drones, as a brand-new application platform, have many practical problems to be solved, such as blurred graphics caused by flight vibration, The visual processing algorithm needs to have strong real-time performance, and at the same time, due to the constraints of the drone's load capacity and computing power, it is difficult to extract as much and comprehensive information as possible from the aircraft's own attitude and surrounding environment under the existing conditions.

Images