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Title:
OBSTACLE AVOIDANCE METHOD FOR UNMANNED AERIAL VEHICLE, AND UNMANNED AERIAL VEHICLE
Document Type and Number:
WIPO Patent Application WO/2019/015158
Kind Code:
A1
Abstract:
An obstacle avoidance method for an unmanned aerial vehicle, and an unmanned aerial vehicle. The obstacle avoidance method for an unmanned aerial vehicle comprises: acquiring, by means of a binocular camera, a stereoscopic parallax map of a current environment image (101), and clustering pixel points in the stereoscopic parallax map to obtain a plurality of clustering regions (102); based on each clustering region, calculating a flight distance from an environment region corresponding to each clustering region to an unmanned aerial vehicle (103); and determining whether the flight distance from each environment area to the unmanned aerial vehicle is greater than a distance threshold value (104), so that the unmanned aerial vehicle selects any fly-around region from environment regions with a flight distance being greater than the distance threshold value (105), and calculating a rotation angle for the unmanned aerial vehicle to turn to the fly-around region, and controlling the unmanned aerial vehicle so that same flies around according to the rotation angle (106). The autonomous obstacle avoidance and flying around of an unmanned aerial vehicle are realised, thus improving the flight efficiency.

Inventors:
WANG XIAOMAN (CN)
Application Number:
PCT/CN2017/108022
Publication Date:
January 24, 2019
Filing Date:
October 27, 2017
Export Citation:
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Assignee:
GOERTEK TECH CO LTD (CN)
International Classes:
G05D1/10
Foreign References:
CN106708084A2017-05-24
CN106444837A2017-02-22
CN105787447A2016-07-20
TW201534512A2015-09-16
US20120296497A12012-11-22
Other References:
SU, DONG: "Navigation and Obstacle Avoidance for Miniature UAV Based on Binocular Stereo Vision", 2014 MASTER'S DISSERTATION OF XIDIAN UNIVERSITY, 31 December 2014 (2014-12-31)
Attorney, Agent or Firm:
TEKYRS INTELLECTUAL PROPERTY INC. (CN)
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