Four-rotor UAV (Unmanned Aerial Vehicle) obstacle avoidance device and method based on infrared light ranging

Abstract

The invention provides a four-rotor UAV (Unmanned Aerial Vehicle) obstacle avoidance device and method based on infrared light ranging. The UAV comprises an infrared light emitting and receiving module, an ultrasonic ranging module, a steering gear and plane mirror rotating device, and a main control chip. The obstacle avoidance method comprises the following steps of installing the infrared lightemitting and receiving devices above the end of a front frame arm and below the end of a rear frame arm of the UAV, wherein the four infrared light emitting and receiving device can form a rectangleby passing through the points reflected by the obstacle, that is, a plane pattern of the UAV; realizing the function of allowing the infrared light to scan out a certain angle along the diagonal direction of the rectangle by using the combination of the steering gear and the plane mirror; determining the distance result of scanning; and if the obtained distance information exceeds a certain threshold, determining that the UAV moves to the corresponding diagonal reverse extension line to avoid the corresponding obstacle. The infrared light emitting and receiving module is inexpensive and meetsmost of the work requirements compared with other modules.

Description

technical field [0001] The invention belongs to the technical field of drones, in particular to an obstacle avoidance device and an obstacle avoidance method for a four-rotor drone based on infrared light ranging. Background technique [0002] In recent years, quadrotor UAVs have developed rapidly, but UAVs often encounter some obstacles during flight. We need UAVs to be able to autonomously avoid obstacles and avoid these obstacles. At present, lasers are mainly used. Scanning radar or binocular vision technology realizes the autonomous obstacle avoidance function of drones. Although laser scanning radar works better, it is more expensive, which increases the overall cost of drones, and vision technology is easily affected by harsh environmental conditions. , can not meet the needs of various environmental work. [0003] In addition, traditional obstacle avoidance methods can be divided into two categories, one is to raise or lower the flying height of the UAV, and the oth...

AI Technical Summary

Problems solved by technology

The first type of obstacle avoidance method is far away from the position of the UAV before and after obstacle avoidance, and is only suitable for obstacle avoidance of terraced fields or high-rise buildings, while the second type of obstacle avoidance method is simply to avoid obstacles within the distance of the UAV. Turning when objects are close, too heavy

Images