Method for avoiding rod-shaped obstacle by unmanned aerial vehicle

Abstract

The invention provides a method for avoiding a rod-shaped obstacle by an unmanned aerial vehicle. The method comprises the following steps: sensing and identifying a surrounding environment on a flight path through detection equipment on the unmanned aerial vehicle, and outputting detection data in real time by the detection equipment; the unmanned aerial vehicle acquires relative position information of the rod-shaped obstacle according to the detection data, wherein the relative position information comprises a relative distance between the unmanned aerial vehicle and the rod-shaped obstacleand a relative angle between the unmanned aerial vehicle and the rod-shaped obstacle; the unmanned aerial vehicle determines the contour of the rod-shaped obstacle according to the relative distancebetween the unmanned aerial vehicle and the rod-shaped obstacle and the relative angle between the unmanned aerial vehicle and the rod-shaped obstacle; the unmanned aerial vehicle calculates the minimum distance under the current posture according to the outline of the rod type obstacle; and the unmanned aerial vehicle performs collision urgency evaluation according to the calculated minimum distance under the current attitude to determine whether to adjust the flight trajectory route. The calculation complexity of the algorithm is greatly simplified on the basis of certain numerical precision, and the execution time is shortened;

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for avoiding pole-shaped obstacles by an unmanned aerial vehicle. Background technique [0002] In the actual operation process, the relative distance between the UAV and obstacles changes with time, especially for static obstacles on the ground. Although there are various types of static obstacles in the field, they can still be classified according to their actual size: miniature obstacles such as high-altitude cables, branches and branches of trees, etc.; small and medium-sized obstacles such as standing utility poles and Scattered cultivated field trees, etc.; large obstacles: houses, high-voltage power towers, etc. Considering the differences in topography, crop cultivation conditions, and local field planting management policies in different regions, the probability of large areas of trees, high-voltage towers, and houses in the field in many area...

AI Technical Summary

Problems solved by technology

However, the data collected by laser scanners is discrete information. For one of the characteristics of two-dimensional laser scanners, data drift will occur over time and have a great impact on the accuracy of scanned data, which is rare in the field of agricultural drones.

[0005] In fact, millimeter-wave radar has the advantages of strong penetrating ability and long detectable distance. It relies on the microwave band to effectively avoid the huge impact of environmental interference, but it can only describe the parallel distance of obstacles in the field, and cannot give Further information such as profile angle, on the contrary, ultrasonic sensors have a limited detection range and, like many other sensors, are often limited by environmental factors and monitoring blind spots due to various factors such as working mechanism

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