CN106774405B - Orchard plant protection drone obstacle avoidance apparatus and method based on three-level avoidance mechanism - Google Patents
Orchard plant protection drone 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 34
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims abstract description 18
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- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
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Abstract
The invention discloses a kind of orchard plant protection drone obstacle avoidance apparatus and method based on three-level avoidance mechanism, orchard plant protection drone obstacle avoidance apparatus includes microwave radar, several ultrasonic sensors and several short range infrared array sensors for flying control connection with unmanned plane, the microwave radar is used for the long-distance barrier object information of sensorcraft, the ultrasonic sensor is for, apart from obstacle information, the short range infrared sensor to be used for sensorcraft short distance obstacle information in sensorcraft periphery；The ultrasonic sensor and short range infrared array sensor quantity are 4, and the microwave radar is set to unmanned plane and flies control top, and the ultrasonic sensor and short range infrared array sensor are all set on 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 unmanned machine operations in orchard in situation complicated and changeable reliably to need.
Description
Technical field
The present invention relates to hillside orchard plant protection drone avoidance technical fields, more particularly to one kind to be based on three-level avoidance mechanism
Orchard plant protection drone obstacle avoidance apparatus and method.
Background technique
Under mountain and hill environment, fruit tree is uneven with the variation of topography and geomorphology, therefore orchard plant protection drone exists
Carry out plant protection operation when state of flight need to be adjusted at any time with the variation of fruit-tree orchard, meanwhile, in orchard often there is
Branches of fruit trees, electric pole, the potential aerial hidden danger such as high-voltage line, therefore, plant protection drone compares level land in hillside orchard operating risk
Operation greatly increases.
Currently, in terms of unmanned plane avoidance, currently used method mainly include by laser radar, image pickup head,
Light stream sensor or ultrasonic sensor carry out cognitive disorders object, and feed back to winged control, and then fly control for controlling unmanned plane rule
Obstacle avoidance object.But these barrier-avoiding methods and technology without classification consider to be introduced into far, in, nearly three-level obstacle detection and its avoidance
Processing method, to reduce the reliability of unmanned plane during flying under complex job environment.
Therefore, design a kind of orchard plant protection drone obstacle avoidance apparatus and method based on three-level avoidance mechanism have it is higher
Theoretical and practical significance.
Summary of the invention
In order to overcome shortcoming and deficiency of the existing technology, the present invention provides a kind of orchard based on three-level avoidance mechanism
Plant protection drone obstacle avoidance apparatus and method meet landform under hillside orchard environment, landforms, vegetation fruit in situation complicated and changeable
The unmanned machine operation in garden reliably needs.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of orchard based on three-level avoidance mechanism
Plant protection drone obstacle avoidance apparatus, microwave radar, several ultrasonic sensors and several including flying control connection with unmanned plane
Short range infrared array sensor, the microwave radar are used for the long-distance barrier object information of sensorcraft, and the ultrasonic wave passes
Sensor is for, apart from obstacle information, the short range infrared sensor to be for sensorcraft short distance in sensorcraft periphery
Obstacle information.
Further, the ultrasonic sensor and short range infrared array sensor quantity are 4, the microwave radar
It is set to unmanned plane and flies control top, the ultrasonic sensor and short range infrared array sensor are all set in unmanned plane wing
On；The short range infrared array sensor includes 5 short range infrared sensors, the mutual angle of short range infrared sensor
It is 90 degree, for obtaining short distance obstacle information.
Another object of the present invention is to provide a kind of orchard plant protection drone barrier-avoiding method based on three-level avoidance mechanism, including
Following step:
S1, during unmanned plane during flying, microwave radar is scanned the object within the scope of 360 degree of unmanned plane, detection
The distance between object and unmanned plane, and establish 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 is greater than the setting value of minimum remote avoidance index, then positive and negative 10 degree in forward path direction of unmanned plane
In range, the direction of minimum avoidance index value is selected to fly；Unmanned plane in the direction flight of minimum avoidance index value, if
Minimum avoidance index value is less than setting value, then the remote avoidance index of the remote avoidance exponential function of unmanned plane continuous updating；
If minimum avoidance index value 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 given value, then ultrasonic sensor, return step S2 are closed；If it is greater than another given value apart from avoidance index in, opens
Dynamic short range infrared array sensor；
S4, short range infrared array sensor detect the obstacle distance on periphery, establish short distance avoidance exponential function；
The short distance avoidance index of S5, unmanned plane continuous updating short distance avoidance exponential function, and according to short distance avoidance
Index replacement flight path；
If S6, minimum short distance avoidance index are greater than adjusted value, unmanned plane carries out 180 degree and adjusts heading, and selects
Select minimum short distance avoidance index direction flight；
After S7, unmanned plane carry out 180 degree adjustment heading, if short distance avoidance index at this time is less than adjusted value,
Close short range infrared array sensor and return step S2；If short distance avoidance index at this time is more than or equal to adjusted value, return
Return step S6.
Further, the remote avoidance exponential function of the step S1 are as follows:
Wherein, α (θ) indicates remote avoidance index, and θ indicates deflection, using direct north as zero angle, by side clockwise
To the increase for carrying out angle；D (θ) indicates the distance apart from barrier.
Further, the step S2, if current conduct directionRemote avoidance indexIt is greater than 0.3,0.3
The setting value, then unmanned plane is in forward path directionPositive and negative 10 degree within the scope of, select minimum avoidance index value αmin(θ)
Direction fly, minimum avoidance index value αmin(θ) are as follows:
If minimum avoidance index value αmin(θ) less than 0.30, then the remote avoidance exponential function of unmanned plane continuous updating is remote
Apart from avoidance index, minimum avoidance index value αmin(θ) is more than or equal to 0.30, then starts ultrasonic sensor, distance is kept away in foundation
Hinder index β (φ) function, it is described middle apart from avoidance index β (φ) function are as follows:
Wherein, φiThe deflection for indicating i-th of ultrasonic sensor, using direct north as zero angle；I be equal to 1,2,3,
4, respectively indicate four ultrasonic sensors being mounted on unmanned plane；m(φi) indicate the distance that ultrasonic sensor detects
The distance of barrier.
Further, the step S3, if forward path directionIn apart from avoidance indexLess than 0.03,0.03
For the given value, then ultrasonic sensor, return step S2 are closed；If forward path direction'sGreater than 0.07,
0.07 is another given value, then unmanned plane halves flying speed, while starting short range infrared array sensor.
Further, short distance avoidance exponent gamma (x in the step S4ij,yij) function are as follows:
Wherein, xijIndicate the azimuth of spherical coordinate, yijIndicate the elevation angle of spherical coordinate；Wherein i is equal to 1,2,3,4, point
It Biao Shi not four short range infrared array sensors on unmanned plane；J is equal to 1,2,3,4,5, respectively indicates infrared proximity sensors
Orthogonal 5 short range infrared sensors in array；c(xij,yij) indicate the distance that short range infrared array sensor detects
The distance of barrier.
Further, in the step S5 according to short distance avoidance index replacement flight path, specifically:
If S51, forward path directionShort distance avoidance indexLess than 0.012, then close close
Journey infrared array sensor, return step S3；Otherwise, into next step；
If S52, forward path directionShort distance avoidance exponent gamma (xij,yij) less than 0.03, then continue to fly
Row；If it is greater than or equal to 0.03, unmanned plane halves flying speed, in forward path directionPositive and negative 90 degree of ranges
It is interior, select minimum short distance avoidance index valueDirection fly, and S6 is entered step, wherein minimum close
Apart from avoidance index valueIt indicates are as follows:
γmin(xij,yij)=min (γmin(xij,yij))
Wherein,
Further, the step S6, specifically:
If minimum short distance avoidance index valueIt is the adjusted value, then unmanned plane greater than 0.03,0.03
180 degree adjusts its heading first, it may be assumed that
Then, unmanned plane selects minimum short distance avoidance index direction flight；
The duration of the step S6 is 1 second, within 1 second duration:
If short distance avoidance indexLess than 0.03, then continue to fly；
If short distance avoidance indexGreater than 0.03, then unmanned plane keeps hovering, and manual intervention is waited to grasp
Make.
Further, the step S7, specifically:
If short distance avoidance indexIt is the adjusted value less than 0.03,0.03, then closes the infrared biography of short range
Sensor array, and return step S2, while deflectionIt updates are as follows:
If short distance avoidance indexMore than or equal to 0.03, then return step S6.
After adopting the above technical scheme, the present invention at least has the following beneficial effects:
(1), the method for the present invention 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 method for the present invention uses short range infrared array sensor, with cost is relatively low, installation letter
Singly, the advantages that power consumption is small, small in size and precision is high, meets the need of orchard unmanned plane short distance barrier high-precision real-time detection
It wants.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the orchard plant protection drone obstacle avoidance apparatus the present invention is based on three-level avoidance mechanism.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
It mutually combines, the application is described in further detail in the following with reference to the drawings and specific embodiments.
Based on the orchard plant protection drone obstacle avoidance apparatus of three-level avoidance mechanism described in the present embodiment, as shown in Figure 1, including rotation
The wing 1 flies 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 up to 3, ultrasonic sensor 4, short range infrared array sensor 5 with winged control 2.
As shown in Figure 1, the microwave radar 3, the unmanned plane for being deployed in plant protection drone center flies 2 top of control, for visiting
The long-distance barrier object information on 360 degree of directions of unmanned plane is surveyed, 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 drone is deployed in plant protection drone
To relative to fuselage direction, installation outward is used in sensorcraft periphery apart from obstacle information, the range one of middle distance
As be 1-100 decimeters.The ultrasonic sensor 4 altogether there are four, the four direction that is deployed on plant protection drone wing respectively.
The infrared proximity sensors array 5, the array include 5 near infrared sensors, this five near infrared sensors
Mutual angle is 90 degree, can obtain the short distance obstacle information of upper and lower, left and right and five directions on the outside of wing,
The range of short distance is generally 1-100 centimetres, thus detectable in addition to fuselage direction, the short distance barrier in other five directions
Distance.The infrared proximity sensors array 5 shares four groups, the four direction being deployed on plant protection drone wing respectively.
The orchard plant protection drone barrier-avoiding method based on three-level avoidance mechanism in the present embodiment based on above-mentioned apparatus, step
Be: orchard unmanned plane obtains long-distance barrier object information by microwave radar, and calculates remote avoidance index, chooses remote
The flight of avoidance index lesser direction if barrier is persistently close to unmanned plane, and is greater than long-distance barrier object avoidance index
0.3, then start ultrasonic sensor, apart from obstacle information in detection, and apart from avoidance index in calculating, once middle distance hinders
Hinder object avoidance index to be greater than 0.07, then starts short range infrared array sensor, and calculate short distance avoidance index, orchard unmanned plane
Its heading is persistently adjusted according to short distance avoidance index.
Specifically includes the following steps:
(1) microwave radar is scanned the object within the scope of 360 degree of unmanned plane, detect its without between unmanned plane away from
From establishing remote avoidance index α (θ) function:
Wherein θ indicates deflection, and using direct north as zero angle, angle increases in the direction of the clock；D (θ) indicates distance
The distance of barrier, as unit of rice.
(2) unmanned plane is in flight course, the remote avoidance index α (θ) of continuous updating, current line path directionKeep away
Hinder indexGreater than 0.3, then it is in forward path directionPositive and negative 10 degree within the scope of, select minimum avoidance index value αmin
It flies in the direction of (θ):
(3) if αmin(θ) then returns to step (2), if α less than 0.30min(θ) is greater than 0.3, then enters step (4).
(4) start ultrasonic sensor, apart from avoidance index β (φ) function in foundation:
Wherein φiThe deflection for indicating i-th of ultrasonic sensor, using direct north as zero angle, i is equal to 1,2,3,4,
Respectively indicate four ultrasonic sensors being mounted on unmanned plane, m (φi) indicate the distance barrier that ultrasonic sensor detects
The distance for hindering object, as unit 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 is closed, return step (2) otherwise enters step (6).
(6) current line path direction'sGreater than 0.07, then its flying speed halves, while it is infrared to start short range
Sensor array.
(7) obstacle distance on short range infrared array sensor detection periphery, establishes short distance avoidance exponent gamma (xij,
yij) function:
Wherein xijIndicate the azimuth of spherical coordinate, yijIndicate the elevation angle of spherical coordinate, wherein i is equal to 1,2,3,4, point
Not Biao Shi four short range infrared array sensors on unmanned plane, j is equal to 1,2,3,4,5, respectively represents infrared proximity sensors
Orthogonal five short range infrared sensors, c (x in arrayij,yij) indicate short range infrared array sensor detect away from
With a distance from barrier, by centimetre as unit of.
(8) unmanned plane is in flight course, continuous updating short distance avoidance exponent gamma (xij,yij), and closely according to this
Avoidance index replacement flight path.
In the step (8), it is specific as follows that flight path adjusts process:
(8-1) current line path directionShort distance avoidance indexLess than 0.012, then close
Short range infrared array sensor, return step (5), otherwise enters step (8).
(8-2) current line path directionShort distance avoidance exponent gamma (xij,yij) less than 0.03, then continue
Flight, if it is greater than 0.03, its flying speed halves, in forward path directionPositive and negative 90 degree within the scope of, selection
Minimum short distance avoidance index valueDirection fly, and enter step (9):
(9) such as minimum short distance avoidance index valueGreater than 0.03, then unmanned plane 180 degree first adjusts it
Heading, it may be assumed that
Then, unmanned plane selects minimum short distance avoidance index direction flight:
Step (9) duration is 1 second, within 1 second duration:
(9-1) such as short distance avoidance indexLess than 0.03, then continue to fly；
(9-2) such as short distance avoidance indexGreater than 0.03, then unmanned plane keeps hovering, and waits artificial
Intervene；
(10) unmanned plane 180 degree adjusts its heading,
(11) such as short distance avoidance indexLess than 0.03, then short range infrared array sensor is closed, and return
It returns step (2), while deflectionIt updates are as follows:
Such as short distance avoidance indexGreater than 0.03, then short range infrared array sensor is closed, and continues to return
It returns step (9).
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understand, these embodiments can be carried out with a variety of equivalent changes without departing from the principles and spirit of the present invention
Change, modification, replacement and variant, the scope of the present invention is defined by the appended claims and their equivalents.
Claims (10)
1. a kind of orchard plant protection drone obstacle avoidance apparatus based on three-level avoidance mechanism, which is characterized in that including equal and unmanned plane
Fly microwave radar, several ultrasonic sensors and several short range infrared array sensors of control connection, the microwave radar is used
In the long-distance barrier object information of sensorcraft, the ultrasonic sensor is used in sensorcraft periphery apart from barrier
Information, the short range infrared sensor are used for sensorcraft short distance obstacle information；
The avoidance process of the orchard plant protection drone obstacle avoidance apparatus includes:
S1, during unmanned plane during flying, microwave radar is scanned the object within the scope of 360 degree of unmanned plane, detecting object
The distance between unmanned plane, and establish 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
From the setting value that avoidance index is greater than minimum remote avoidance index, then positive and negative 10 degree range of the unmanned plane in forward path direction
It is interior, select the direction of minimum avoidance index value to fly；Unmanned plane is in the direction flight of minimum avoidance index value, if minimum
Avoidance index value 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 index value is more than or equal to setting value, then starts 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
Given value then closes ultrasonic sensor, return step S2；If it is greater than another given value apart from avoidance index in, starting is close
Journey infrared array sensor；
S4, short range infrared array sensor detect the obstacle distance on periphery, establish short distance avoidance exponential function；
The short distance avoidance index of S5, unmanned plane continuous updating short distance avoidance exponential function, and according to short distance avoidance index
Adjust flight path；
If S6, minimum short distance avoidance index are greater than adjusted value, unmanned plane carries out 180 degree and adjusts heading, and selects most
Small short distance avoidance index direction flight；
After S7, unmanned plane carry out 180 degree adjustment heading, if short distance avoidance index at this time is less than adjusted value, close
Short range infrared array sensor and return step S2；If short distance avoidance index at this time is more than or equal to adjusted value, step is returned
Rapid S6.
2. as described in claim 1 based on the orchard plant protection drone obstacle avoidance apparatus of three-level avoidance mechanism, which is characterized in that institute
Stating ultrasonic sensor and short range infrared array sensor quantity is 4, and the microwave radar is set to unmanned plane and flies control top
Portion, the ultrasonic sensor and short range infrared array sensor are all set on unmanned plane wing；The short range infrared sensing
Device array includes 5 short range infrared sensors, and the mutual angle of short range infrared sensor is 90 degree, for obtaining low coverage
From obstacle information.
3. a kind of orchard plant protection drone barrier-avoiding method based on three-level avoidance mechanism, which is characterized in that include the following steps:
S1, during unmanned plane during flying, microwave radar is scanned the object within the scope of 360 degree of unmanned plane, detecting object
The distance between unmanned plane, and establish 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
From the setting value that avoidance index is greater than minimum remote avoidance index, then positive and negative 10 degree range of the unmanned plane in forward path direction
It is interior, select the direction of minimum avoidance index value to fly；Unmanned plane is in the direction flight of minimum avoidance index value, if minimum
Avoidance index value 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 index value is more than or equal to setting value, then starts 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
Given value then closes ultrasonic sensor, return step S2；If it is greater than another given value apart from avoidance index in, starting is close
Journey infrared array sensor；
S4, short range infrared array sensor detect the obstacle distance on periphery, establish short distance avoidance exponential function；
The short distance avoidance index of S5, unmanned plane continuous updating short distance avoidance exponential function, and according to short distance avoidance index
Adjust flight path；
If S6, minimum short distance avoidance index are greater than adjusted value, unmanned plane carries out 180 degree and adjusts heading, and selects most
Small short distance avoidance index direction flight；
After S7, unmanned plane carry out 180 degree adjustment heading, if short distance avoidance index at this time is less than adjusted value, close
Short range infrared array sensor and return step S2；If short distance avoidance index at this time is more than or equal to adjusted value, step is returned
Rapid S6.
4. as claimed in claim 3 based on the orchard plant protection drone barrier-avoiding method of three-level avoidance mechanism, which is characterized in that institute
State the remote avoidance exponential function of step S1 are as follows:
Wherein, α (θ) indicates remote avoidance index, and θ indicates deflection, using direct north as zero angle, in the direction of the clock into
The increase of row angle；D (θ) indicates the distance apart from barrier.
5. as claimed in claim 4 based on the orchard plant protection drone barrier-avoiding method of three-level avoidance mechanism, which is characterized in that institute
Step S2 is stated, if current conduct directionRemote avoidance indexIt is the setting value, then unmanned plane greater than 0.3,0.3
In forward path directionPositive and negative 10 degree within the scope of, select minimum avoidance index value αminThe direction of (θ) is flown, minimum
Avoidance index value αmin(θ) are as follows:
If minimum avoidance index value αmin(θ) less than 0.30, then the remote avoidance exponential function of unmanned plane continuous updating is remote
Avoidance index, minimum avoidance index value αmin(θ) is more than or equal to 0.30, then starts ultrasonic sensor, refer in foundation apart from avoidance
Number β (φ) function, it is described middle apart from avoidance index β (φ) function are as follows:
Wherein, φiThe deflection for indicating i-th of ultrasonic sensor, using direct north as zero angle；I is equal to 1,2,3,4, respectively
Indicate four ultrasonic sensors being mounted on unmanned plane；m(φi) indicate ultrasonic sensor detect apart from barrier
Distance.
6. as claimed in claim 5 based on the orchard plant protection drone barrier-avoiding method of three-level avoidance mechanism, which is characterized in that institute
Step S3 is stated, if forward path directionIn apart from avoidance indexIt is the given value less than 0.03,0.03, then closes
Ultrasonic sensor, return step S2；If forward path direction'sIt is another given value greater than 0.07,0.07,
Then unmanned plane halves flying speed, while starting short range infrared array sensor.
7. sign is, described as claimed in claim 3 based on the orchard plant protection drone barrier-avoiding method of three-level avoidance mechanism
Short distance avoidance exponent gamma (x in step S4ij,yij) function are as follows:
Wherein, xijIndicate the azimuth of spherical coordinate, yijIndicate 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, respectively indicates infrared proximity sensors array
In orthogonal 5 short range infrared sensors；c(xij,yij) indicate short range infrared array sensor detect apart from obstacle
The distance of object.
8. as claimed in claim 7 based on the orchard plant protection drone barrier-avoiding method of three-level avoidance mechanism, which is characterized in that institute
It states in step S5 according to short distance avoidance index replacement flight path, specifically:
If S51, forward path directionShort distance avoidance indexLess than 0.012, then it is red to close short range
Outer sensor array, return step S3；Otherwise, into next step；
If S52, forward path directionShort distance avoidance exponent gamma (xij,yij) less than 0.03, then continue to fly；
If it is greater than or equal to 0.03, unmanned plane halves flying speed, in forward path directionPositive and negative 90 degree within the scope of, choosing
Select minimum short distance avoidance index valueDirection fly, and enter step S6, wherein it is minimum closely
Avoidance index valueIt indicates are as follows:
γmin(xij,yij)=min (γmin(xij,yij))
Wherein,
9. as claimed in claim 8 based on the orchard plant protection drone barrier-avoiding method of three-level avoidance mechanism, which is characterized in that institute
Step S6 is stated, specifically:
If minimum short distance avoidance index valueIt is the adjusted value greater than 0.03,0.03, then unmanned plane is first
180 degree adjusts its heading, it may be assumed that
Then, unmanned plane selects minimum short distance avoidance index direction flight；
The duration of the step S6 is 1 second, within 1 second duration:
If short distance avoidance indexLess than 0.03, then continue to fly；
If short distance avoidance indexGreater than 0.03, then unmanned plane keeps hovering, and manual intervention is waited to operate.
10. as claimed in claim 9 based on the orchard plant protection drone barrier-avoiding method of three-level avoidance mechanism, which is characterized in that
The step S7, specifically:
If short distance avoidance indexIt is the adjusted value less than 0.03,0.03, then closes short range infrared sensor
Array, and return step S2, while deflectionIt updates are as follows:
If short distance avoidance indexMore than or equal to 0.03, then return step S6.
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| 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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