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Unmanned aerial vehicle obstacle avoidance flight method based on digital space slices

A digital space and UAV technology, applied in the direction of instruments, adaptive control, three-dimensional position/channel control, etc., can solve problems such as difficult classification, ineffective effects, and difficult small UAVs

Inactive Publication Date: 2020-10-27
WUHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At the same time, when flying in a complex environment, because there are too many obstacles in the environment and it is difficult to classify them, and there are many types of targets, the method of target detection cannot achieve good results.
[0006] In summary, the current method is difficult to implement on small UAVs, and the effect is poor when the environment is complex and changeable

Method used

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  • Unmanned aerial vehicle obstacle avoidance flight method based on digital space slices
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  • Unmanned aerial vehicle obstacle avoidance flight method based on digital space slices

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Embodiment Construction

[0037] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0038] Such as figure 1 As shown, the UAV obstacle avoidance flight method based on digital space slice in the embodiment of the present invention includes the following steps:

[0039] Step 1: Obtain the picture information of the environment where the camera is currently shooting.

[0040] Step 2: Preprocess the picture, adjust the size of the picture, suitable for digital space slicing; at the same time, perform gray-scale processing on the picture; obtain the picture Img.

[0041] Step 3: The size of the picture obtained in Step 2 is a resolution of 600x600, and the digital spatial slicing algo...

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Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance flight method based on digital spatial slices. The method comprises the following steps of: step 1, acquiring a picture shot by anunmanned aerial vehicle; 2, adjusting the resolution of the picture and performing processing to obtain a grey-scale image; 3, for the single grayscale image, extracting a plurality of slices from different regions of the picture to form a set I by using a digital spatial slicing algorithm; 4, simultaneously inputting the slice picture sets in the set I into a neural network, and outputting corresponding obstacle calibration information to form a set R; 5, estimating the position and direction of an obstacle according to the set R; 6, planning a flight mode of the unmanned aerial vehicle, andsetting a yaw angle and a speed; and step 7, enabling the flight control system of the unmanned aerial vehicle to perform motion control according to the acquired speed and yaw angle information. Themethod has a very good effect on tree detection in an under-forest environment, and hardware adopted by the method is light in weight and low in energy consumption, and therefore, the method is suitable for being used on a small unmanned aerial vehicle.

Description

Technical field [0001] The invention relates to the technical field of UAV obstacle avoidance flight technology, in particular to a UAV obstacle avoidance flight method based on digital space slices. Background technique [0002] In the past few decades, the methods of UAV avoidance have been extensively studied, including obstacle detection during flight and flight decision-making, that is, how UAVs fly to avoid obstacles. Current obstacle detection technologies include point cloud processing based on lidar, depth information processing based on depth cameras, and drone positioning and navigation algorithms based on visual SLAM. [0003] Due to the large mass of lidar, it will seriously affect the flight of the drone when it is mounted on the drone, and the drone is more bulky when flying. At the same time, processing the data of lidar and depth camera requires a great amount of calculation, so the power consumption is relatively large. At this time, in order to ensure the fligh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04G05B13/02G01C21/20
CPCG01C21/20G05B13/027G05B13/042G05B13/048G05D1/0088G05D1/101
Inventor 雷俊锋程志钦眭海刚
Owner WUHAN UNIV
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