CN106774405A - Orchard plant protection unmanned plane obstacle avoidance apparatus and method based on three-level avoidance mechanism - Google Patents
Orchard plant protection unmanned plane obstacle avoidance apparatus and method based on three-level avoidance mechanism Download PDFInfo
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- 239000002420 orchard Substances 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims abstract description 21
- 241000196324 Embryophyta Species 0.000 description 18
- 230000008859 change Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000003672 processing method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of orchard plant protection unmanned plane obstacle avoidance apparatus based on three-level avoidance mechanism and method, orchard plant protection unmanned plane obstacle avoidance apparatus include flying microwave radar, some ultrasonic sensors and some short range infrared array sensors that control is connected with unmanned plane, the microwave radar is used for the long-distance barrier thing information of sensorcraft, the ultrasonic sensor is used in sensorcraft periphery apart from obstacle information, and the short range infrared sensor is used for sensorcraft closely obstacle information；The ultrasonic sensor and short range infrared array sensor quantity are 4, and the microwave radar is arranged at unmanned plane and flies control top, and the ultrasonic sensor and short range infrared array sensor may be contained within unmanned plane wing；The short range infrared array sensor includes 5 short range infrared sensors.Present invention accomplishes the landform under hillside orchard environment, landforms, vegetation, the unmanned machine operation in orchard reliably needs in the case of complicated and changeable.
Description
Technical field
Three-level avoidance mechanism is based on the present invention relates to hillside orchard plant protection unmanned plane avoidance technical field, more particularly to one kind
Orchard plant protection unmanned plane obstacle avoidance apparatus and method.
Background technology
Under mountain and hill environment, fruit tree is uneven with the change of topography and geomorphology, therefore orchard plant protection unmanned plane exists
State of flight need at any time be adjusted with the change of fruit-tree orchard when carrying out plant protection operation, meanwhile, often existed in orchard
The potential aerial hidden danger such as branches of fruit trees, electric pole, high-voltage line, therefore, plant protection unmanned plane compares level land in hillside orchard operating risk
Operation is greatly increased.
At present, in terms of unmanned plane avoidance, at present use method mainly include by laser radar, image pickup head,
Light flow sensor or ultrasonic sensor carry out cognitive disorders thing, and feed back to winged control, and then fly control for controlling unmanned plane to advise
Obstacle avoidance thing.But these barrier-avoiding methods and technology be not classified consideration is introduced into far, in, nearly three-level obstacle detection and its avoidance
Processing method, so as to reduce the reliability of unmanned plane during flying under complex job environment.
Therefore, a kind of orchard plant protection unmanned plane obstacle avoidance apparatus based on three-level avoidance mechanism and method are designed with higher
Theoretical and practical significance.
The content of the invention
For the shortcoming for overcoming prior art to exist and a kind of not enough, orchard based on three-level avoidance mechanism of present invention offer
Plant protection unmanned plane obstacle avoidance apparatus and method, meet the fruit in the case of complicated and changeable of landform, landforms, the vegetation under hillside orchard environment
The unmanned machine operation in garden reliably needs.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of orchard based on three-level avoidance mechanism
Plant protection unmanned plane obstacle avoidance apparatus, including fly microwave radar, some ultrasonic sensors and some that control is connected with unmanned plane
Short range infrared array sensor, the microwave radar is used for the long-distance barrier thing information of sensorcraft, and the ultrasonic wave is passed
Sensor is used in sensorcraft periphery apart from obstacle information, and the short range infrared sensor is used for sensorcraft closely
Obstacle information.
Further, the ultrasonic sensor and short range infrared array sensor quantity are 4, the microwave radar
It is arranged at unmanned plane and flies control top, the ultrasonic sensor and short range infrared array sensor may be contained within unmanned plane wing
On；The short range infrared array sensor includes 5 short range infrared sensors, and angle is the near infrared sensor each other
90 degree, for obtaining closely obstacle information.
Another object of the present invention is to provide a kind of orchard plant protection unmanned plane barrier-avoiding method based on three-level avoidance mechanism, including
Following step：
S1, during unmanned plane during flying, microwave radar is scanned to the object in the range of 360 degree of unmanned plane, detects
The distance between object and unmanned plane, and set up remote avoidance exponential function；
The remote avoidance index of the remote avoidance exponential function of S2, unmanned plane continuous updating, if forward path direction
Remote avoidance index more than minimum remote avoidance index setting value, then positive and negative 10 degree in forward path direction of unmanned plane
In the range of, the direction of the minimum avoidance exponential quantity of selection is flown；Unmanned plane in the direction flight of minimum avoidance exponential quantity, if
Minimum avoidance exponential quantity is less than setting value, then the remote avoidance index of the remote avoidance exponential function of unmanned plane continuous updating；
If minimum avoidance exponential quantity is more than or equal to setting value, start ultrasonic sensor, apart from avoidance exponential function in foundation；
Apart from avoidance index in avoidance exponential function in S3, unmanned plane continuous updating, if in apart from avoidance index
Less than set-point, then ultrasonic sensor, return to step S2 are closed；If in apart from avoidance index be more than another set-point, open
Dynamic short range infrared array sensor；
S4, short range infrared array sensor detect the obstacle distance on periphery, set up closely avoidance exponential function；
The closely avoidance index of S5, unmanned plane continuous updating closely avoidance exponential function, and according to closely avoidance
Index replacement flight path；
If closely avoidance index is more than adjusted value for S6, minimum, unmanned plane carries out 180 degree adjustment heading, and selects
Select minimum closely avoidance index direction flight；
After S7, unmanned plane carry out 180 degree adjustment heading, if closely avoidance index now is less than adjusted value,
Close short range infrared array sensor and return to step S2；If closely avoidance index now is more than or equal to adjusted value, return
Return step S6.
Further, the remote avoidance exponential function of the step S1 is：
Wherein, α (θ) represents remote avoidance index, and θ represents deflection, with direct north as zero angle, by side clockwise
To the increase for carrying out angle；D (θ) represents the distance apart from barrier.
Further, the step S2, if current conduct directionRemote avoidance indexMore than 0.3,0.3 institute
Setting value is stated, then unmanned plane is in forward path directionPositive and negative 10 degree in the range of, the minimum avoidance exponential quantity α of selectionminThe side of (θ)
To being flown, minimum avoidance exponential quantity αmin(θ) is：
αmin(θ)=min (α (θ)),
If minimum avoidance exponential quantity αmin(θ) is less than 0.30, then the remote avoidance exponential function of unmanned plane continuous updating is remote
Apart from avoidance index, minimum avoidance exponential quantity αmin(θ) is more than or equal to 0.30, then start ultrasonic sensor, and distance is kept away in foundation
Barrier index β (φ) function, it is described middle to be apart from avoidance index β (φ) function：
Wherein, φiI-th deflection of ultrasonic sensor is represented, with direct north as zero angle；I be equal to 1,2,3,
4, four ultrasonic sensors on unmanned plane are represented respectively；m(φi) represent the distance that ultrasonic sensor is detected
The distance of barrier.
Further, the step S3, if forward path directionIn apart from avoidance indexLess than 0.03,0.03
It is the set-point, then closes ultrasonic sensor, return to step S2；If forward path direction'sMore than 0.07,
0.07 is another set-point, then unmanned plane halves flying speed, while starting short range infrared array sensor.
Further, apart from avoidance exponent gamma (x in the step S4ij,yij) function is：
Wherein, xijRepresent the azimuth of spherical coordinate, yijRepresent the elevation angle of spherical coordinate；Wherein i is equal to 1,2,3,4, point
Four short range infrared array sensors that Biao Shi be on unmanned plane；J is equal to 1,2,3,4,5, and infrared proximity sensors are represented respectively
Orthogonal 5 short range infrared sensors in array；c(xij,yij) represent the distance that short range infrared array sensor is detected
The distance of barrier.
Further, in the step S5 according to apart from avoidance index replacement flight path, specially：
If S51, forward path directionClosely avoidance indexLess than 0.012, then close near
Journey infrared array sensor, return to step S3；Otherwise, into next step；
If S52, forward path directionClosely avoidance exponent gamma (xij,yij) be less than 0.03, then continue to fly
OK；If being more than or equal to 0.03, unmanned plane halves flying speed, in forward path directionPositive and negative 90 degree of scopes
It is interior, the minimum closely avoidance exponential quantity of selectionDirection flown, and enter step S6, wherein minimum near
Apart from avoidance exponential quantityIt is expressed as：
γmin(xij,yij)=min (γmin(xij,yij))
Wherein,
Further, the step S6, specially：
If minimum closely avoidance exponential quantityMore than 0.03,0.03 is the adjusted value, then unmanned plane
180 degree adjusts its heading first, i.e.,：
Then, the minimum closely avoidance index direction flight of unmanned plane selection；
The duration of the step S6 is 1 second, within the duration of 1 second：
If closely avoidance indexLess than 0.03, then continue to fly；
If closely avoidance indexMore than 0.03, then unmanned plane keeps hovering, and waits manual intervention to grasp
Make.
Further, the step S7, specially：
If closely avoidance indexLess than 0.03,0.03 is the adjusted value, then close the infrared biography of short range
Sensor array, and return to step S2, while deflectionIt is updated to：
If closely avoidance indexMore than or equal to 0.03, then return to step S6.
After adopting the above technical scheme, the present invention at least has the advantages that：
(1), the inventive method using it is remote, in, nearly three-level obstacle detection and its avoidance processing method, improve unmanned plane
The reliability of flight operation；
(2), the proximity detection of the inventive method use short range infrared array sensor, with cost it is relatively low, install letter
The advantages of list, small power consumption, small volume and high precision, meet the need of orchard unmanned plane closely barrier high accuracy real-time detection
Will.
Brief description of the drawings
Fig. 1 is the structural representation of orchard plant protection unmanned plane obstacle avoidance apparatus of the present invention based on three-level avoidance mechanism.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Orchard plant protection unmanned plane obstacle avoidance apparatus based on three-level avoidance mechanism described in the present embodiment, as shown in figure 1, including rotation
The wing 1, winged control 2, microwave radar 3, ultrasonic sensor 4, short range infrared array sensor 5.As shown in figure 1, rotor 1, microwave thunder
It is connected with winged control 2 up to 3, ultrasonic sensor 4, short range infrared array sensor 5.
As shown in figure 1, the microwave radar 3, the unmanned plane for being deployed in plant protection unmanned plane center flies the top of control 2, for visiting
The long-distance barrier thing information surveyed on 360 degree of directions of unmanned plane, far range is generally referred to as 1-100 meters.
As shown in figure 1, the ultrasonic sensor 4, is deployed in four sides that plant protection unmanned plane is deployed in plant protection unmanned plane
To, relative to fuselage direction, outwards install, in sensorcraft periphery apart from obstacle information, the scope one of middle distance
As be 1-100 decimeters.The ultrasonic sensor 4 has four, and the four direction on plant protection unmanned plane wing is deployed in respectively.
The infrared proximity sensors array 5, the array includes 5 near infrared sensors, this five near infrared sensors
Angle is 90 degree each other, can obtain upper and lower, left and right and the closely obstacle information along five directions on the outside of wing,
Scope closely is generally 1-100 centimetres, so that detectable in addition to fuselage direction, the closely barrier in other five directions
Distance.The infrared proximity sensors array 5 has four groups, and the four direction on plant protection unmanned plane wing is deployed in respectively.
The orchard plant protection unmanned plane barrier-avoiding method based on three-level avoidance mechanism based on said apparatus, step in the present embodiment
It is：Orchard unmanned plane obtains long-distance barrier thing information by microwave radar, and calculates remote avoidance index, chooses remote
The less direction flight of avoidance index, such as barrier causes that long-distance barrier thing avoidance index is more than persistently close to unmanned plane
0.3, then start ultrasonic sensor, apart from obstacle information in detection, and apart from avoidance index in calculating, once middle distance hinders
Hinder thing avoidance index more than 0.07, then start short range infrared array sensor, and calculate closely avoidance index, orchard unmanned plane
Its heading is persistently adjusted according to closely avoidance index.
Specifically include following steps：
(1) microwave radar is scanned to the object in the range of 360 degree of unmanned plane, detect its without between unmanned plane away from
From setting up remote avoidance index α (θ) function：
Wherein θ represents deflection, and with direct north as zero angle, angle increases in the direction of the clock；D (θ) represents distance
The distance of barrier, in units of rice.
(2) unmanned plane is in flight course, the remote avoidance index α (θ) of continuous updating, current line path directionKeep away
Barrier indexMore than 0.3, then it is in forward path directionPositive and negative 10 degree in the range of, the minimum avoidance exponential quantity α of selectionmin
Flown in the direction of (θ)：
(3) if αmin(θ) is less than 0.30, then step (2) is returned to, if αmin(θ) is more than 0.3, then into step (4).
(4) ultrasonic sensor is started, apart from avoidance index β (φ) function in foundation：
Wherein φiI-th deflection of ultrasonic sensor is represented, with direct north as zero angle, i is equal to 1,2,3,4,
Four ultrasonic sensors on unmanned plane, m (φ are represented respectivelyi) represent the distance barrier that ultrasonic sensor is detected
Hinder the distance of thing, in units of decimetre.
(5) unmanned plane is in flight course, continuous updating avoidance index β (φi), current line path directionMiddle distance
Avoidance indexLess than 0.03, then ultrasonic sensor, return to step (2), otherwise into step (6) are closed.
(6) current line path direction'sMore than 0.07, then its flying speed halves, while it is infrared to start short range
Sensor array.
(7) short range infrared array sensor detects the obstacle distance on periphery, sets up closely avoidance exponent gamma (xij,
yij) function：
Wherein xijRepresent the azimuth of spherical coordinate, yijThe elevation angle of spherical coordinate is represented, wherein i is equal to 1,2,3,4, point
Four short range infrared array sensors that Biao Shi be on unmanned plane, j is equal to 1,2,3,4,5, infrared proximity sensors is represented respectively
Orthogonal five short range infrared sensors, c (x in arrayij,yij) represent short range infrared array sensor detect away from
With a distance from barrier, by centimetre in units of.
(8) unmanned plane is in flight course, continuous updating closely avoidance exponent gamma (xij,yij), and according to this closely
Avoidance index replacement flight path.
In the step (8), flight path adjustment process is specific as follows：
(8-1) current line path directionClosely avoidance indexLess than 0.012, then close
Short range infrared array sensor, return to step (5), otherwise into step (8).
(8-2) current line path directionClosely avoidance exponent gamma (xij,yij) be less than 0.03, then continue
Flight, if greater than 0.03, its flying speed halves, in forward path directionPositive and negative 90 degree in the range of, selection
Minimum closely avoidance exponential quantityDirection flown, and enter step (9)：
(9) such as minimum closely avoidance exponential quantityMore than 0.03, then unmanned plane 180 degree first adjusts it
Heading, i.e.,：
Then, the minimum closely avoidance index direction flight of unmanned plane selection：
Step (9) duration is 1 second, within 1 second duration：
(9-1) such as closely avoidance indexLess than 0.03, then continue to fly；
(9-2) such as closely avoidance indexMore than 0.03, then unmanned plane keeps hovering, and waits artificial
Intervene；
(10) unmanned plane 180 degree adjusts its heading,
(11) such as closely avoidance indexLess than 0.03, then short range infrared array sensor is closed, and return
Step (2) is returned, while deflectionIt is updated to：
Such as closely avoidance indexMore than 0.03, then short range infrared array sensor is closed, and continue to return
Return step (9).
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understand, can these embodiments be carried out with various equivalent changes without departing from the principles and spirit of the present invention
Change, change, replace and modification, the scope of the present invention is limited by appended claims and its equivalency range.
Claims (10)
1. a kind of orchard plant protection unmanned plane obstacle avoidance apparatus based on three-level avoidance mechanism, it is characterised in that including equal and unmanned plane
Fly microwave radar, some ultrasonic sensors and some short range infrared array sensors of control connection, the microwave radar is used
In the long-distance barrier thing information of sensorcraft, the ultrasonic sensor is used in sensorcraft periphery apart from barrier
Information, the short range infrared sensor is used for sensorcraft closely obstacle information.
2. the orchard plant protection unmanned plane obstacle avoidance apparatus of three-level avoidance mechanism are based on as claimed in claim 1, it is characterised in that institute
State ultrasonic sensor and short range infrared array sensor quantity is 4, the microwave radar is arranged at unmanned plane and flies control top
Portion, the ultrasonic sensor and short range infrared array sensor may be contained within unmanned plane wing；The short range infrared sensing
Device array includes 5 short range infrared sensors, and angle is 90 degree to the near infrared sensor each other, for obtaining closely
Obstacle information.
3. a kind of orchard plant protection unmanned plane barrier-avoiding method based on three-level avoidance mechanism, it is characterised in that comprise the steps：
S1, during unmanned plane during flying, microwave radar is scanned to the object in the range of 360 degree of unmanned plane, detecting object
The distance between with unmanned plane, and set up remote avoidance exponential function；
The remote avoidance index of the remote avoidance exponential function of S2, unmanned plane continuous updating, if the long distance in forward path direction
It is more than the setting value of minimum remote avoidance index from avoidance index, then positive and negative 10 degree scope of the unmanned plane in forward path direction
Interior, the direction of the minimum avoidance exponential quantity of selection is flown；Unmanned plane in the direction flight of minimum avoidance exponential quantity, if minimum
Avoidance exponential quantity is less than setting value, then the remote avoidance index of the remote avoidance exponential function of unmanned plane continuous updating；If most
Small avoidance exponential quantity is more than or equal to setting value, then start ultrasonic sensor, apart from avoidance exponential function in foundation；
Apart from avoidance index in avoidance exponential function in S3, unmanned plane continuous updating, if in be less than apart from avoidance index
Set-point, then close ultrasonic sensor, return to step S2；If in be more than another set-point apart from avoidance index, start near
Journey infrared array sensor；
S4, short range infrared array sensor detect the obstacle distance on periphery, set up closely avoidance exponential function；
The closely avoidance index of S5, unmanned plane continuous updating closely avoidance exponential function, and according to closely avoidance index
Adjustment flight path；
If closely avoidance index is more than adjusted value for S6, minimum, unmanned plane carries out 180 degree adjustment heading, and selects most
Small closely avoidance index direction flight；
After S7, unmanned plane carry out 180 degree adjustment heading, if closely avoidance index now is less than adjusted value, close
Short range infrared array sensor and return to step S2；If closely avoidance index now is more than or equal to adjusted value, step is returned
Rapid S6.
4. the orchard plant protection unmanned plane barrier-avoiding method of three-level avoidance mechanism is based on as claimed in claim 3, it is characterised in that institute
The remote avoidance exponential function for stating step S1 is：
Wherein, α (θ) represents remote avoidance index, and θ represents deflection, with direct north as zero angle, enters in the direction of the clock
The increase of row angle；D (θ) represents the distance apart from barrier.
5. the orchard plant protection unmanned plane barrier-avoiding method of three-level avoidance mechanism is based on as claimed in claim 4, it is characterised in that institute
Step S2 is stated, if current conduct directionRemote avoidance indexMore than 0.3, setting value described in 0.3, then unmanned plane exist
Forward path directionPositive and negative 10 degree in the range of, the minimum avoidance exponential quantity α of selectionminThe direction of (θ) is flown, minimum avoidance
Exponential quantity αmin(θ) is：
αmin(θ)=min (α (θ)),
If minimum avoidance exponential quantity αmin(θ) is less than 0.30, then the remote avoidance exponential function of unmanned plane continuous updating is remote
Avoidance index, minimum avoidance exponential quantity αmin(θ) is more than or equal to 0.30, then start ultrasonic sensor, refers to apart from avoidance in foundation
Number β (φ) functions, it is described middle to be apart from avoidance index β (φ) function：
Wherein, φiI-th deflection of ultrasonic sensor is represented, with direct north as zero angle；I is equal to 1,2,3,4, respectively
Represent four ultrasonic sensors on unmanned plane；m(φi) represent ultrasonic sensor detect apart from barrier
Distance.
6. the orchard plant protection unmanned plane barrier-avoiding method of three-level avoidance mechanism is based on as claimed in claim 5, it is characterised in that institute
Step S3 is stated, if forward path directionIn apart from avoidance indexLess than 0.03,0.03 is the set-point, then close
Ultrasonic sensor, return to step S2；If forward path direction'sMore than 0.07,0.07 is another set-point,
Then unmanned plane halves flying speed, while starting short range infrared array sensor.
7. the orchard plant protection unmanned plane barrier-avoiding method of three-level avoidance mechanism is based on as claimed in claim 3, and it is levied and is, described
Apart from avoidance exponent gamma (x in step S4ij,yij) function is：
Wherein, xijRepresent the azimuth of spherical coordinate, yijRepresent the elevation angle of spherical coordinate；Wherein i is equal to 1,2,3,4, respectively table
Show four short range infrared array sensors on unmanned plane；J is equal to 1,2,3,4,5, and infrared proximity sensors array is represented respectively
In orthogonal 5 short range infrared sensors；c(xij,yij) represent short range infrared array sensor detect apart from obstacle
The distance of thing.
8. the orchard plant protection unmanned plane barrier-avoiding method of three-level avoidance mechanism is based on as claimed in claim 7, it is characterised in that institute
State in step S5 according to apart from avoidance index replacement flight path, specially：
If S51, forward path directionClosely avoidance indexLess than 0.012, then short range is closed red
Outer sensor array, return to step S3；Otherwise, into next step；
If S52, forward path directionClosely avoidance indexLess than 0.03, then continue to fly；If
More than or equal to 0.03, unmanned plane halves flying speed, in forward path directionPositive and negative 90 degree in the range of, selection
Minimum closely avoidance exponential quantityDirection flown, and enter step S6, wherein minimum closely keep away
Barrier exponential quantityIt is expressed as：
γmin(xij,yij)=min (γmin(xij,yij))
Wherein,
9. the orchard plant protection unmanned plane barrier-avoiding method of three-level avoidance mechanism is based on as claimed in claim 8, it is characterised in that institute
Step S6 is stated, specially：
If minimum closely avoidance exponential quantityMore than 0.03,0.03 is the adjusted value, then unmanned plane is first
180 degree adjusts its heading, i.e.,：
Then, the minimum closely avoidance index direction flight of unmanned plane selection；
The duration of the step S6 is 1 second, within the duration of 1 second：
If closely avoidance indexLess than 0.03, then continue to fly；
If closely avoidance indexMore than 0.03, then unmanned plane keeps hovering, and waits manual intervention to operate.
10. the orchard plant protection unmanned plane barrier-avoiding method of three-level avoidance mechanism is based on as claimed in claim 9, it is characterised in that
The step S7, specially：
If closely avoidance indexLess than 0.03,0.03 is the adjusted value, then close short range infrared sensor
Array, and return to step S2, while deflectionIt is updated to：
If closely avoidance indexMore than or equal to 0.03, then return to step S6.
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| CN108227742A (en) * | 2018-01-10 | 2018-06-29 | 辽宁科技学院 | A kind of flying robot's obstacle avoidance apparatus and flying robot's barrier-avoiding method |
| CN108334103A (en) * | 2017-12-21 | 2018-07-27 | 广州亿航智能技术有限公司 | Unmanned plane multiple spurs is from barrier-avoiding method and obstacle avoidance system |
| CN108427435A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of intelligent barrier avoiding device and its unmanned plane of application |
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| CN109725315A (en) * | 2018-12-26 | 2019-05-07 | 成都优艾维智能科技有限责任公司 | Obstacle avoidance detection device for electric power inspection unmanned aerial vehicle |
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| CN111352441A (en) * | 2020-04-08 | 2020-06-30 | 安徽舒州农业科技有限责任公司 | Mountain forest control-based plant protection unmanned aerial vehicle control method and system |
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| CN108568868A (en) * | 2018-03-08 | 2018-09-25 | 贵州电网有限责任公司 | A kind of the screen of trees cleaning air-robot and barrier-avoiding method of automatic obstacle-avoiding |
| CN108568868B (en) * | 2018-03-08 | 2024-03-19 | 贵州电网有限责任公司 | Automatic obstacle avoidance tree obstacle cleaning aerial robot and obstacle avoidance method |
| CN108693525A (en) * | 2018-03-23 | 2018-10-23 | 深圳高科新农技术有限公司 | Unmanned plane avoidance based on microwave radar imitative ground flight system |
| CN108427435A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of intelligent barrier avoiding device and its unmanned plane of application |
| CN110618674B (en) * | 2018-06-19 | 2023-02-14 | 广州极飞科技股份有限公司 | Obstacle avoidance method and device for movable equipment, movable equipment and storage medium |
| CN110618674A (en) * | 2018-06-19 | 2019-12-27 | 广州极飞科技有限公司 | Obstacle avoidance method and device for movable equipment, movable equipment and storage medium |
| CN109725315A (en) * | 2018-12-26 | 2019-05-07 | 成都优艾维智能科技有限责任公司 | Obstacle avoidance detection device for electric power inspection unmanned aerial vehicle |
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| CN109739232B (en) * | 2018-12-29 | 2022-06-07 | 百度在线网络技术（北京）有限公司 | Obstacle tracking method, obstacle tracking device, vehicle-mounted terminal and storage medium |
| CN111352441A (en) * | 2020-04-08 | 2020-06-30 | 安徽舒州农业科技有限责任公司 | Mountain forest control-based plant protection unmanned aerial vehicle control method and system |
| CN115933752A (en) * | 2023-02-16 | 2023-04-07 | 杭州硬十科技有限公司 | AI-based unmanned aerial vehicle dynamic obstacle avoidance prediction control method |
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