Low-altitude barrier avoidance method of unmanned aerial vehicle based on ultrasonic waves and binocular vision

Abstract

The invention provides a low-altitude barrier avoidance method of an unmanned aerial vehicle based on ultrasonic waves and binocular vision. The method comprises the following steps that starting of abinocular camera and emission of eight-way ultrasonic waves are conducted synchronously; the binocular camera acquires an image in front of the unmanned aerial vehicle, if a barrier in front of the unmanned aerial vehicle is not detected, the binocular camera continues to collect images, if a barrier exists in front of the unmanned aerial vehicle, a depth value of the barrier is acquired by utilizing a disparity map; the real perpendicular distance and horizontal distance of the barrier are acquired according to the attitude compensation pitch angle and roll angle of the unmanned aerial vehicle; whether or not a threshold value is exceeded is judged, and a corresponding barrier avoidance mode is selected according to specific information of the barrier; once the eight-way ultrasonic wavesdetect the barrier, corresponding binocular vision is started for detecting the barrier, and then selective barrier avoidance is conducted according to the above steps. By means of the provided barrier avoidance method, whether or not barrier avoidance is needed is quickly judged, specific positions of the barriers are quickly judged, the interference of the ground and walls can also be avoided,and accurate barrier avoidance of the unmanned aerial vehicle is achieved.

Description

technical field [0001] The invention relates to the technical field of UAV obstacle avoidance, in particular to a UAV low-altitude obstacle avoidance method based on ultrasonic waves and binocular vision. Background technique [0002] UAV obstacle avoidance system is very important, it largely determines the practicability of UAV. The existing ultrasonic obstacle avoidance system has short distance measurement, and the accuracy of distance measurement is related to the material of the object. Radar obstacle avoidance is expensive to use. Binocular obstacle avoidance, long range, wide range, high precision. This obstacle avoidance system can greatly improve the safety and reliability of drones, making drones applicable to more places. However, there are blind spots when using a single binocular vision for obstacle avoidance, and 360-degree omnidirectional obstacle avoidance cannot be achieved. In addition, when the UAV is flying forward, it needs to tilt forward and downw...

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention is judging whether to avoid obstacles when the UAV encounters an obstacle, ignoring the problem of the UAV’s own tilt, the critical problem of equal division of the viewing angle, the problem of threshold calculation, and the inaccuracy of single ultrasonic and binocular vision and limitations, provide a UAV low-altitude obstacle avoidance method based on ultrasonic and binocular vision, overcome the error caused by the UAV's own tilt, and solve the obstacle avoidance of UAVs in complex environments

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