Small Multi-rotor Auxiliary Avoidance Technology Research

Small multi-rotor aircraft developed rapidly in recent years, driven by the consumer market, whether in the military or in civilian areas are playing an increasingly important role. Rotor UAV missions can replace humans in dangerous environments, complex terrain and other harsh extreme conditions, to maximize the reduction of economic costs and reduce the probability of accidents. In this paper, the system mainly for public security and fire class applications, such as how to make the rotorcraft from the skyscrapers of indoor outdoor Anquan Fei, spot inspection and evidence collection, or at night city streets or alleys positioning tracking suspects, or how full of danger is likely to explode inside the plant exploration personnel circumstances. Rotorcraft flight safety is the premise of the successful completion of the task, but also one of the key issues in that area to be solved at this stage.This paper presents a set of rotary wing aircraft carrier, laser scanners and camera visible or infrared camera payload auxiliary avoidance system. Workflow systems: the laser scanner at a rate of 30 frames per second periodically emitting laser pulses in the range of semicircle, received information from the processed plate package forwarded to the ground station, the ground station system through the packet parsing and extract distance information and distance information into a two-dimensional obstacle map image displayed on the PC, and wireless image transmission equipment will be filtered enhanced visual images back to first bit machine updated in real time display, rotorcraft control in hand security control over the horizon two-dimensional obstacle map on PC software interface displays images and video-assisted. System work is divided into hardware and software parts, hardware mainly refers to the construction, the image of the circuit board design system framework, etc; software is mainly refers to the lower position machine system image processing algorithms, PC display interface design and realization of a laser to create a two-dimensional map. In this paper, the system independent of each other module, portability, easy to implement in different flight control systems. Set aside two image input interface in the image processing board design process, you can connect visible and infrared cameras, rotorcraft can perform tasks day and night, to expand the scope of use. Create a twodimensional map results directly reflect the effect of a flat map of the environment, can provide effective support to the follow-up mission for the public security and fire class.Finally, the paper analyzes the system design deficiencies, and gives the relevant solutions and the next task.