CN104932524A - Unmanned aerial vehicle and method for omnidirectional obstacle avoidance - Google Patents
Unmanned aerial vehicle and method for omnidirectional obstacle avoidance Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle and a method for omnidirectional obstacle avoidance. The method includes: presetting a safety distance threshold for safety flight of the unmanned aerial vehicle; obtaining the obstacle distance from the obstacle at the top of the aerial vehicle to the aerial vehicle via scanning; obtaining the obstacle distance from the obstacle at the bottom of the aerial vehicle to the aerial vehicle via scanning; obtaining the obstacle distance from the obstacle positioned at the circumferential position of the aerial vehicle to the aerial vehicle via the scanning of a third obstacle detection module arranged at the bottom of the unmanned aerial vehicle and capable of scanning in a full-circumferential rotation manner; comparing the received obstacle distances with the safety distance threshold; maintaining the flight path of the unmanned aerial vehicle unchanged if the obstacle distances are greater than the safety distance threshold; and determining the detection direction corresponding to the obstacle distances and automatically controlling the unmanned aerial vehicle to avoid the direction if the obstacle distances are less than the safety distance threshold. According to the unmanned aerial vehicle and the method for omnidirectional obstacle avoidance, the unmanned aerial vehicle can discover and avoid the obstacles in time, and the flight safety and reliability of the unmanned aerial vehicle is guaranteed.
Description
Technical field
The present invention relates to aircraft field, specifically be a kind of method that unmanned vehicle and omnidirectional keep in obscurity.
Background technology
The aircraft of prior art is provided with obstacle detector in the front of fuselage mostly, and whether the detector that breaks the barriers comes explorer vehicle front has barrier, thus controls aircraft avoiding barrier, ensures the safe flight of aircraft.If number of patent application is 201320774426.3; the patent document that patent name is " depopulated helicopter " just discloses a kind of unpiloted helicopter by being provided with video camera in the below of fuselage; the front end of fuselage is provided with obstacle detection module; integration process is carried out after the detectable signal of the picture taken by acquisition camera and obstacle detection module; again result is sent to ground surface end; ground surface end is made to control the operation of depopulated helicopter according to result; hide in-plant barrier, the safety of protection depopulated helicopter.Obstacle detection module installation in present patent application, in the front end of fuselage, namely only carries out the detection in the Hang Fei visual field, fuselage front, and the visual field of detection and ability are all very limited, first, cannot learn the situation of the fuselage left and right sides; Come again, need in this patent just can obtain a result in conjunction with video camera shooting picture, the process of video camera shooting and image procossing all needs the regular hour, and result also needs to be sent to ground surface end is further processed judgement, finally could control helicopter avoiding barrier, this process is not only complicated consuming time, and is difficult to guarantee avoiding barrier timely.Therefore, a kind of method being necessary to provide unmanned vehicle that can solve the problem and omnidirectional to keep in obscurity.
Summary of the invention
Technical matters to be solved by this invention is: a kind of method providing unmanned vehicle and omnidirectional to cover, and realizes unmanned vehicle Timeliness coverage barrier in flight course, and hides, and ensures flight safety and the reliability of aircraft.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
A kind of method providing unmanned vehicle omnidirectional to keep in obscurity, comprising:
Preset the safe distance threshold values of unmanned vehicle safe flight;
Obtain being positioned at the barrier at aircraft top and the obstacle distance of described aircraft by the first obstacle detection module scans being arranged on unmanned vehicle top; The obstacle distance of barrier bottom aircraft and described aircraft is obtained by the second obstacle detection module scans be arranged on bottom unmanned vehicle; By being arranged on bottom unmanned vehicle, can obtain being positioned at the barrier of aircraft circumferential position and the obstacle distance of described aircraft by all-round the 3rd obstacle detection module scans to rotation sweep;
Obstacle distance will be received and described safe distance threshold values compares;
If obstacle distance is greater than described safe distance threshold values, then keep the flight path of unmanned vehicle constant;
If obstacle distance is less than or equal to described safe distance threshold values, then judge the detection direction corresponding to described obstacle distance, automatically control unmanned vehicle and avoid described direction.
Another technical scheme provided by the invention is:
A kind of unmanned vehicle, comprise the first obstacle detection module being arranged on top, the second obstacle detection module being arranged on bottom and the 3rd obstacle detection module, and also comprise presetting module, receiver module, comparison module, judge module and control module;
Described first obstacle detection module, for scanning the obstacle distance of barrier and the described aircraft obtaining being positioned at aircraft top;
Described second obstacle detection module, for scanning the obstacle distance obtaining barrier bottom aircraft and described aircraft;
Described 3rd obstacle detection module, obtains being positioned at the barrier of aircraft circumferential position and the obstacle distance of described aircraft to rotation sweep for all-round;
Described presetting module, for the safe distance threshold values of default unmanned vehicle safe flight;
Described receiver module, for receiving the first obstacle detection module, obstacle distance that the second obstacle detection module sends over and the obstacle distance that the 3rd obstacle detection module sends over;
Described comparison module, for receiving obstacle distance and described safe distance threshold values compares;
If obstacle distance is greater than described safe distance threshold values, then keep the flight path of unmanned vehicle constant;
If obstacle distance is less than or equal to described safe distance threshold values, then trigger judge module;
Described judge module, for judging the detection direction corresponding to described obstacle distance, automatically triggering described control module control unmanned vehicle and avoiding described direction.
Beneficial effect of the present invention is: the aircraft being different from prior art only carries out obstacle detection to fuselage front usually, and detectivity is very limited, cannot realize the comprehensive obstacle detection of aircraft; Detection data process is numerous and diverse consuming time again, cannot carry out in time judging and performing the action that keeps in obscurity, aircraft is caused to keep in obscurity scarce capacity, the problem of aircraft flight safety cannot be ensured, the invention provides a kind of method that unmanned vehicle and omnidirectional keep in obscurity, by pre-setting the safe distance threshold values of aircraft, determine that aircraft can the peripheral extent of safe flight; By receiving the obstacle distance that obstacle detection module sends over, especially, being provided with in the bottom of unmanned vehicle can all-round the 3rd obstacle detection module to rotation sweep, can accurate detection with the 3rd obstacle detection module for the center of circle, comprise the aircraft all-round detection to orientation all around, in conjunction with the detecting module being positioned at top and bottom, omnibearing detection centered by aircraft will be realized; By comparing obstacle distance and safe distance threshold values, the barrier that detects can be judged whether in threshold values distance; By judging detection direction to realize the determination to the barrier orientation detected, and according to the direction at automatic vehicle avoiding obstacles place timely, the orientation at barrier place, the safe navigation of aircraft can be realized.The present invention can realize carrying out obstacle detection to the periphery of aircraft is comprehensive, and judge according to the distance threshold values preset, determine whether to hide this barrier, and can automatically keep in obscurity by control realization when determining that barrier is unfavorable, unmanned vehicle is effectively avoided to collide in flight course, ensure flight safety, improve the reliability of over the horizon flight; Further, manipulator's flight experience can also be improved.
Accompanying drawing explanation
Fig. 1 is the basic FB(flow block) of a kind of unmanned vehicle of one embodiment of the invention;
Fig. 2 is the FB(flow block) of a kind of unmanned vehicle of one embodiment of the invention;
Fig. 3 is the foundation structure compositional block diagram of a kind of unmanned vehicle of one embodiment of the invention;
Fig. 4 is the structure compositional block diagram of a kind of unmanned vehicle of one embodiment of the invention.
Label declaration:
1, the first obstacle detection module; 2, the second obstacle detection module;
3, the 3rd obstacle detection module; 4, presetting module; 5, receiver module;
6, comparison module; 7, judge module; 8, control module; 9, reminding module.
Embodiment
By describing technology contents of the present invention in detail, realized object and effect, accompanying drawing is coordinated to be explained below in conjunction with embodiment.
The design of most critical of the present invention is: be respectively equipped with detecting module at the top of aircraft and bottom, also being provided with in bottom can the all-round obstacle detection module to rotation sweep, by the obstacle distance received and preset security distance threshold values are compared, determine whether to constitute a threat to, if so, then automatic vehicle is avoided.
Please refer to Fig. 1 to Fig. 4, the invention provides a kind of method that unmanned vehicle omnidirectional keeps in obscurity, comprising:
Preset the safe distance threshold values of unmanned vehicle safe flight;
Obtain being positioned at the barrier at aircraft top and the obstacle distance of described aircraft by the first obstacle detection module 1 scanning being arranged on unmanned vehicle top; The obstacle distance of barrier and the described aircraft obtained bottom aircraft is scanned by the second obstacle detection module 2 be arranged on bottom unmanned vehicle; By being arranged on bottom unmanned vehicle, can all-round the 3rd obstacle detection module 3 scanning to rotation sweep obtain being positioned at the barrier of aircraft circumferential position and the obstacle distance of described aircraft;
Obstacle distance will be received and described safe distance threshold values compares;
If obstacle distance is greater than described safe distance threshold values, then keep the flight path of unmanned vehicle constant;
If obstacle distance is less than or equal to described safe distance threshold values, then judge the detection direction corresponding to described obstacle distance, automatically control unmanned vehicle and avoid described direction.
From foregoing description, beneficial effect of the present invention is: the invention provides a kind of method that unmanned vehicle omnidirectional keeps in obscurity, and by pre-setting the safe distance threshold values of aircraft, determines that aircraft can the peripheral extent of safe flight; By receiving the obstacle distance that obstacle detection module sends over, especially, being provided with in the bottom of unmanned vehicle can all-round the 3rd obstacle detection module 3 to rotation sweep, can accurate detection with the 3rd obstacle detection module 3 for the center of circle, comprise the aircraft all-round detection to orientation all around, in conjunction with the detecting module being positioned at top and bottom, omnibearing detection centered by aircraft will be realized; By comparing obstacle distance and safe distance threshold values, the barrier that detects can be judged whether in threshold values distance; By judging detection direction to realize the determination to the barrier orientation detected, and according to the direction at automatic vehicle avoiding obstacles place timely, the orientation, barrier place obtained, the safe navigation of aircraft can be realized.The present invention can realize carrying out obstacle detection to the periphery of aircraft is omnibearing, and judge according to the distance threshold values preset, determine whether to hide this barrier, and can automatically keep in obscurity by control realization when determining that barrier is unfavorable, unmanned vehicle is effectively avoided to collide in flight course, ensure flight safety, improve the reliability of over the horizon flight; Further, manipulator's flight experience can also be improved.
Further, when again judging that described obstacle distance is greater than described safe distance threshold values, automatically controlling described unmanned vehicle and continuing to fly according to former flight path.
Seen from the above description, after removing barriers, automatic vehicle is continued perform original aerial mission preset, complete default aerial mission under the prerequisite collided avoiding aircraft as far as possible, and substantially increase the ability that automatically keeps in obscurity of unmanned vehicle.
Further, described obstacle distance is ultrasonic listening distance;
When disturbance in judgement thing distance is less than or equal to safe distance threshold values, transmission cue is pointed out to the telepilot of described unmanned vehicle.
Seen from the above description, adopt ultrasonic listening to obtain the distance of barrier, realize the raising of detection accuracy.
Further, aircraft provided by the invention can also when disturbance in judgement thing distance be less than or equal to safe distance threshold values, namely need to send in time when carrying out keeping in obscurity cue to the telepilot of described unmanned vehicle to point out, operator also can complete aircraft hiding barrier according to the wish of oneself, and the manipulation that improve manipulator is experienced.
Further, the barrier in vertical described unmanned vehicle upwards orientation that what described first obstacle detection module 1 scanned is;
What described second obstacle detection module 2 scanned is the barrier in the vertical downward orientation of described unmanned vehicle;
The fixed point rotary scanning in one week bottom aircraft of described 3rd obstacle detection module 3 obtains the obstacle distance being positioned at aircraft circumferential position.
It should be noted that, described first obstacle detection module 1 is arranged on open position, unmanned vehicle top, and the detectable signal that the first obstacle detection module 1 is launched be vertical described aircraft upwards, realize the obstacle detection above to aircraft; Described second obstacle detection module 2 is arranged on open position bottom unmanned vehicle, and the detectable signal that the second obstacle detection module 2 is launched to be vertical described aircraft downward, realize the detection to aircraft vertical barrier in downward direction; Described 3rd obstacle detection module 3 is arranged on the bottom of aircraft, and this obstacle detection module entirely can rotate in a circumferential direction and carries out scanning probe, in conjunction with the first obstacle detection module 1 and the second obstacle detection module 2, just achieve omnibearing obstacle detection scanning in the three dimensions centered by aircraft, and then ensure the obstacle detection that can find in the arbitrary orientation of aircraft accurately and timely.
Further, described safe distance threshold values is within the scope of 50-300cm.
From the above, the setting of aircraft security distance threshold values makes to carry out self-defined setting according to the demand of environment for use and user oneself, and preferred security distance threshold values is 50cm.
Further, when described unmanned vehicle is indoor offline mode, if the detection direction judging corresponding to described obstacle distance is the 3rd obstacle detection module 3 as aircraft front, then automatically control unmanned vehicle towards the left side or the right flight;
When described unmanned vehicle is outdoor offline mode, if the detection direction judging corresponding to described obstacle distance is the 3rd obstacle detection module 3 as aircraft front, then automatically controls unmanned vehicle and fly obliquely.
Seen from the above description, the present invention the difference flight module residing for unmanned vehicle can adjust the direction that keeps in obscurity automatically, also independently can define according to environment for use simultaneously, preferably, when autonomous flight mode decision reaches set threshold value to the distance in certain direction, automatically the advance of unmanned vehicle in this direction is stopped, the vertical direction of forward direction keeps in obscurity, there is barrier as scanned front, then automatically control flight obliquely and keep in obscurity, until front is accessible.The heading that keeps in obscurity provided by the invention can get back to pre-set flight circuit more convenient after aircraft avoiding barrier, efficiently.
Another technical scheme provided by the invention is: a kind of unmanned vehicle, comprise the first obstacle detection module 1 being arranged on top, the second obstacle detection module 2 being arranged on bottom and the 3rd obstacle detection module 3, and also comprise presetting module 4, receiver module 5, comparison module 6, judge module 7 and control module 8;
Described first obstacle detection module 1, for scanning the obstacle distance of barrier and the described aircraft obtaining being positioned at aircraft top;
Described second obstacle detection module 2, for scanning the obstacle distance obtaining barrier bottom aircraft and described aircraft;
Described 3rd obstacle detection module 3, obtains being positioned at the barrier of aircraft circumferential position and the obstacle distance of described aircraft to rotation sweep for all-round;
Described presetting module 4, for the safe distance threshold values of default unmanned vehicle safe flight;
Described receiver module 5, for receiving obstacle distance that the first obstacle detection module 1, second obstacle detection module 2 sends over and the obstacle distance that the 3rd obstacle detection module 3 sends over;
Described comparison module 6, for receiving obstacle distance and described safe distance threshold values compares;
If obstacle distance is greater than described safe distance threshold values, then keep the flight path of unmanned vehicle constant;
If obstacle distance is less than or equal to described safe distance threshold values, then trigger judge module 7;
Described judge module 7, for judging the detection direction corresponding to described obstacle distance, the described control module 8 of triggering controls unmanned vehicle and avoids described direction automatically.
From foregoing description, beneficial effect of the present invention is: the invention provides a kind of unmanned vehicle, is pre-set the safe distance threshold values of aircraft by presetting module 4, determines that aircraft can the peripheral extent of safe flight; The obstacle distance that obstacle detection module sends over is received by receiver module 5, especially, being provided with in the bottom of unmanned vehicle can all-round the 3rd obstacle detection module 3 to rotation sweep, can accurate detection with the 3rd obstacle detection module 3 for the center of circle, comprise the aircraft all-round detection to orientation all around, in conjunction with the detecting module being positioned at top and bottom, omnibearing detection centered by aircraft will be realized; Compare obstacle distance and safe distance threshold values by comparison module 6, the barrier that detects can be judged whether in threshold values distance; Detection direction is judged to realize the determination to the barrier orientation detected by judge module 7, and according to the orientation at the barrier place obtained timely by the direction at control module 8 automatic vehicle avoiding obstacles place, the safe navigation of aircraft can be realized.The present invention can realize carrying out obstacle detection to the periphery of aircraft is omnibearing, and judge according to the distance threshold values preset, determine whether to hide this barrier, and can automatically keep in obscurity by control realization when determining that barrier is unfavorable, unmanned vehicle is effectively avoided to collide in flight course, ensure flight safety, improve the reliability of over the horizon flight; Further, manipulator's flight experience can also be improved.
Further, reminding module 9 and the telepilot with described unmanned vehicle wireless connections is also comprised;
Described comparison module 6 also for when again judging that described obstacle distance is greater than described safe distance threshold values, trigger control module 8;
Described control module 8 also continues to fly according to former flight path for automatically controlling described unmanned vehicle;
Described first obstacle detection module 1, second obstacle detection module 2 and the 3rd obstacle detection module 3 are the first ultrasonic distance detecting module, the second ultrasonic distance detecting module and the 3rd ultrasonic distance detecting module;
Described reminding module 9, for when disturbance in judgement thing distance is less than or equal to safe distance threshold values, sends cue and points out to telepilot.
Further, the barrier in vertical described unmanned vehicle upwards orientation that what the first obstacle detection module 1 scanned is;
What described second obstacle detection module 2 scanned is the barrier in the vertical downward orientation of described unmanned vehicle;
The fixed point rotary scanning in one week bottom aircraft of described 3rd obstacle detection module 3 obtains the obstacle distance being positioned at aircraft circumferential position.
Further, the safe distance threshold values of described presetting module 4 setting is within the scope of 50-300cm; Described judge module 7 is also for being indoor offline mode when the pattern of described unmanned vehicle, the detection direction judging corresponding to described obstacle distance be the 3rd obstacle detection module 3 as aircraft front time, then trigger control module 8 controls unmanned vehicle automatically towards the left side or the right flight;
Described judge module 7 is also for being outdoor offline mode when the pattern of described unmanned vehicle, and the detection direction judging corresponding to described obstacle distance is the 3rd obstacle detection module 3 is aircraft front, then control unmanned vehicle flies obliquely automatically.
Embodiments of the invention one are:
A kind of unmanned vehicle is provided, comprises the first obstacle detection module 1 being arranged on top, the second obstacle detection module 2 being arranged on bottom and the 3rd obstacle detection module 3; And
Also comprise presetting module 4, receiver module 5, comparison module 6, judge module 7, control module 8, reminding module 9 and the telepilot with described unmanned vehicle wireless connections;
The barrier in vertical described unmanned vehicle upwards orientation that what described first obstacle detection module 1 scanned is;
What described second obstacle detection module 2 scanned is the barrier in the vertical downward orientation of described unmanned vehicle;
The fixed point rotary scanning in one week bottom aircraft of described 3rd obstacle detection module 3 obtains the obstacle distance being positioned at aircraft circumferential position;
The safe distance threshold values that presetting module 4 is arranged is within the scope of 50-200cm, and the detection accuracy of this safe distance threshold values is higher.
Embodiments of the invention two are:
Omnidirectional when the offline mode of unmanned vehicle is set to indoor flight keeps in obscurity method; The safe distance threshold values F presetting unmanned vehicle is 100cm;
Unmanned vehicle remains a constant speed forward, and described unmanned vehicle obtains being positioned at the barrier at aircraft top and the obstacle distance X1 of described aircraft by the first obstacle detection module 1 scanning being arranged on top; The obstacle distance X2 of barrier and the described aircraft obtained bottom aircraft is scanned by the second obstacle detection module 2 be arranged on bottom unmanned vehicle; By being arranged on bottom unmanned vehicle, can all-round the 3rd obstacle detection module 3 scanning to rotation sweep obtain being positioned at the barrier of aircraft circumferential position and the obstacle distance X3 of described aircraft;
Whether real-time judge obstacle distance X1, X2 and X3 are greater than safe distance threshold values F; As received X1=85cm; X2=120cm; X3=150cm;
Judge that obtaining obstacle distance X1=85cm is less than safe distance threshold values F=100cm; And then judge obtain obstacle distance X1 corresponding be arranged on unmanned vehicle top first obstacle detection module 1 scan result, be namely positioned at above unmanned vehicle and there is barrier; Control unmanned vehicle immediately towards direction flight obliquely, send alarm sounds to telepilot end simultaneously, until after detecting that the value of obstacle distance X1 is greater than safe distance threshold values 100cm, the more original flight path preset of recovery continues to travel.
In sum, the method that a kind of unmanned vehicle provided by the invention and omnidirectional keep in obscurity, can not only realize, to the accurate detection of the barrier of omnidirectional position in aircraft three-dimensional space, detecting barrier timely, significantly improving the detection accuracy of barrier; And can judge according to the threshold values preset, determine whether that needs keep in obscurity, accurately judge whether the barrier in safe distance constitutes a threat to; Further, can also automatic vehicle avoiding barrier direction, avoid colliding, ensure flight safety; Finally, after discovery barrier, can also point out manipulator timely, the manipulation optimizing manipulator is experienced.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalents utilizing instructions of the present invention and accompanying drawing content to do, or be directly or indirectly used in relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. the method that keeps in obscurity of unmanned vehicle omnidirectional, is characterized in that, comprising:
Preset the safe distance threshold values of unmanned vehicle safe flight;
Obtain being positioned at the barrier at aircraft top and the obstacle distance of described aircraft by the first obstacle detection module scans being arranged on unmanned vehicle top; The obstacle distance of barrier bottom aircraft and described aircraft is obtained by the second obstacle detection module scans be arranged on bottom unmanned vehicle; By being arranged on bottom unmanned vehicle, can obtain being positioned at the barrier of aircraft circumferential position and the obstacle distance of described aircraft by all-round the 3rd obstacle detection module scans to rotation sweep;
Obstacle distance will be received and described safe distance threshold values compares;
If obstacle distance is greater than described safe distance threshold values, then keep the flight path of unmanned vehicle constant;
If obstacle distance is less than or equal to described safe distance threshold values, then judge the detection direction corresponding to described obstacle distance, automatically control unmanned vehicle and avoid described direction.
2. the method that keeps in obscurity of a kind of unmanned vehicle omnidirectional according to claim 1, is characterized in that, when again judging that described obstacle distance is greater than described safe distance threshold values, automatically controlling described unmanned vehicle and continuing to fly according to former flight path.
3. the method that keeps in obscurity of a kind of unmanned vehicle omnidirectional according to claim 1, it is characterized in that, described obstacle distance is ultrasonic listening distance;
When disturbance in judgement thing distance is less than or equal to safe distance threshold values, transmission cue is pointed out to the telepilot of described unmanned vehicle.
4. the method that keeps in obscurity of a kind of unmanned vehicle omnidirectional according to claim 1, is characterized in that, described first obstacle detection module scans be the barrier in vertical described unmanned vehicle upwards orientation;
Described second obstacle detection module scans be the barrier in the vertical downward orientation of described unmanned vehicle;
The fixed point rotary scanning in one week bottom aircraft of described 3rd obstacle detection module obtains the obstacle distance being positioned at aircraft circumferential position.
5. the method that keeps in obscurity of a kind of unmanned vehicle omnidirectional according to claim 1, it is characterized in that, described safe distance threshold values is within the scope of 50-300cm.
6. the method that keeps in obscurity of a kind of unmanned vehicle omnidirectional according to claim 1, it is characterized in that, when described unmanned vehicle is indoor offline mode, if the detection direction judging corresponding to described obstacle distance is the 3rd obstacle detection module is aircraft front, then automatically control unmanned vehicle towards the left side or the right flight;
When described unmanned vehicle is outdoor offline mode, if the detection direction judging corresponding to described obstacle distance is the 3rd obstacle detection module is aircraft front, then automatically controls unmanned vehicle and fly obliquely.
7. a unmanned vehicle, it is characterized in that, comprise the first obstacle detection module being arranged on top, the second obstacle detection module being arranged on bottom and the 3rd obstacle detection module, and also comprise presetting module, receiver module, comparison module, judge module and control module;
Described first obstacle detection module, for scanning the obstacle distance of barrier and the described aircraft obtaining being positioned at aircraft top;
Described second obstacle detection module, for scanning the obstacle distance obtaining barrier bottom aircraft and described aircraft;
Described 3rd obstacle detection module, obtains being positioned at the barrier of aircraft circumferential position and the obstacle distance of described aircraft to rotation sweep for all-round;
Described presetting module, for the safe distance threshold values of default unmanned vehicle safe flight;
Described receiver module, for receiving the first obstacle detection module, obstacle distance that the second obstacle detection module sends over and the obstacle distance that the 3rd obstacle detection module sends over;
Described comparison module, for receiving obstacle distance and described safe distance threshold values compares;
If obstacle distance is greater than described safe distance threshold values, then keep the flight path of unmanned vehicle constant;
If obstacle distance is less than or equal to described safe distance threshold values, then trigger judge module;
Described judge module, for judging the detection direction corresponding to described obstacle distance, automatically triggering described control module control unmanned vehicle and avoiding described direction.
8. a kind of unmanned vehicle according to claim 7, is characterized in that, also comprises reminding module and the telepilot with described unmanned vehicle wireless connections;
Described comparison module also for when again judging that described obstacle distance is greater than described safe distance threshold values, trigger control module;
Described control module also continues to fly according to former flight path for automatically controlling described unmanned vehicle;
Described first obstacle detection module, the second obstacle detection module and the 3rd obstacle detection module are the first ultrasonic distance detecting module, the second ultrasonic distance detecting module and the 3rd ultrasonic distance detecting module;
Described reminding module, for when disturbance in judgement thing distance is less than or equal to safe distance threshold values, sends cue and points out to telepilot.
9. a kind of unmanned vehicle according to claim 7, is characterized in that, the first obstacle detection module scans be the barrier in vertical described unmanned vehicle upwards orientation;
Described second obstacle detection module scans be the barrier in the vertical downward orientation of described unmanned vehicle;
The fixed point rotary scanning in one week bottom aircraft of described 3rd obstacle detection module obtains the obstacle distance being positioned at aircraft circumferential position.
10. a kind of unmanned vehicle according to claim 7, is characterized in that, the safe distance threshold values that described presetting module is arranged is within the scope of 50-300cm;
Described judge module is also for being indoor offline mode when the pattern of described unmanned vehicle, the detection direction judging corresponding to described obstacle distance is the 3rd obstacle detection module when being aircraft front, then trigger control module controls unmanned vehicle automatically towards the left side or the right flight;
Described judge module is also for being outdoor offline mode when the pattern of described unmanned vehicle, and the detection direction judging corresponding to described obstacle distance is the 3rd obstacle detection module is aircraft front, then automatically control unmanned vehicle and fly obliquely.
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