Unmanned aerial vehicle obstacle-avoiding system and unmanned aerial vehicle obstacle-avoiding method

Abstract

The invention discloses an unmanned aerial vehicle obstacle-avoiding system and an unmanned aerial vehicle obstacle-avoiding method. The system comprises a radar device and an unmanned aerial vehiclemotion information transmission device, wherein the radar device is connected with the unmanned aerial vehicle motion information transmission device by a flight control system in an unmanned aerial vehicle, the unmanned aerial vehicle motion information transmission device is used for acquiring motion information during the running process of the unmanned aerial vehicle, the motion information issent to the radar device by the flight control system, and the radar device is used for adjusting a target detection tracing strategy according to the received motion information in real time and outputting the detected target information to the flight control system to control the unmanned aerial vehicle to fly. The system has the advantages of simple and compact structure, low cost, high obstacle-avoiding accuracy, safety and accuracy and the like.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle obstacle avoidance, in particular to an unmanned aerial vehicle obstacle avoidance system and an unmanned aerial vehicle obstacle avoidance method. Background technique [0002] With the rapid growth of the industry-level UAV market in agriculture, electric power, industry, etc., the key technologies of UAVs are also undergoing rapid progress, such as real-time image transmission, target recognition, terrain following and other technologies, making industry-level UAVs more advanced. tends to be more and more intelligent. Among many technological trends, automatic obstacle avoidance is the key to realize the safe flight of drones. The precise UAV autonomous obstacle avoidance system can minimize the occurrence of UAV damage, personal accidents and construction accidents caused by human operation errors and line of sight problems. [0003] Traditional UAV obstacle avoidance solutio...

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Problems solved by technology

[0004] However, when using the above scheme for UAV obstacle avoidance, due to the limitation of the radar detection system and the complexity and diversity of the application environment, the detection performance of the radar will be greatly limited, such as the following problems:

Although millimeter-wave radar can detect strong reflector obstacles such as iron poles and bushes very well, its detection ability for weak reflector targets such as wires and twigs is still limited. Weak reflector obstacles, once the UAV collides with the obstacles, it will lead to serious consequences

[0006] 2. When the UAV performs attitude switching, the beam pointing direction of the radar installed on the UAV will change, which will lead to the detection of targets that are not normal obstacles, such as detection of objects that are not within the early warning range Targets such as the ground and vegetation below the flight height are uploaded to the flight control system, which will cause false alarms and cause the flight control system to take unnecessary measures such as emergency braking, which will affect flight efficiency.

[0007] 3. In radar detection, due to the complexity of the detection system and environment, false alarm targets may be detected, which reduces the accuracy of radar detection. At this time, the UAV adjusts according to the detection information of the radar, which will also lead to UAVs collect unnecessary measures such as emergency braking, which affects flight efficiency

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