Multi-rotor unmanned aerial vehicle obstacle avoidance system and method for greenhouse

• Main Authors: DAI XINGPING, CEN FENG, LYU YIFAN, YANG XINGJIE
• Format: Patent
• Language: Chinese; English
• Published: 22.08.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to a multi-rotor unmanned aerial vehicle obstacle avoidance system for a greenhouse, and the system comprises an unmanned aerial vehicle, an onboard flight control module, and a depth camera, an onboard flight control module and an ultrasonic sensor which are connected with the onboard flight control module, and the ultrasonic sensor comprises a first sub-ultrasonic sensor and a second sub-ultrasonic sensor. The onboard flight control module is fixed to the unmanned aerial vehicle, the depth camera is fixed to the front end of the unmanned aerial vehicle, and the first sub ultrasonic sensor is fixed to the top of the unmanned aerial vehicle and used for obtaining the distance between the unmanned aerial vehicle and the indoor top; the multiple second sub ultrasonic sensors are evenly distributed on the periphery of the lower end of the unmanned aerial vehicle and used for obtaining the distance between the unmanned aerial vehicle and surrounding obstacles. Compared with the prior art, th