CN106155091A - A kind of unmanned plane barrier-avoiding method and device - Google Patents
A kind of unmanned plane barrier-avoiding method and device Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 239000003550 marker Substances 0.000 claims abstract description 89
- 239000000284 extract Substances 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 22
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 10
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- 230000005540 biological transmission Effects 0.000 abstract description 18
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- 239000002390 adhesive tape Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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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 provides a kind of unmanned plane barrier-avoiding method and device, wherein, the method includes: the picture of the collected by camera on acquisition unmanned plane；Extract the identification information of the marker being arranged in obstacle target in picture；Focal length and identification information according to camera determine the unmanned plane distance away from marker；When distance is less than predetermined threshold value, control unmanned plane and obstacle target is carried out avoidance, its marker being arranged in obstacle target by identification carries out avoidance to obstacle target, owing to the resolution of marker is higher, therefore bigger obstacle target can not only be carried out avoidance, can also be to transmission pressure, the obstacle target such as shaft tower carries out avoidance, thus further ensures the safety that unmanned plane is patrolled and examined.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of unmanned plane barrier-avoiding method and device.
Background technology
Transmission line of electricity is the important tie of conveying electric energy, and most of grid equipments are all an exposure in wild environment, certainly
So under the long term of environment, easily there are the defects such as disconnected stock, breakage in circuit, needs constantly to go monitoring and safeguard.And it is traditional
Manual patrol checks circuit, and not only working environment is arduous, and labor intensity is big, inefficiency, accuracy are low, and the open country of complexity
External environment brings risk may to the personal safety of track walker.Along with aviation, the development in electronic science and technology field, go straight up to
Machine/unmanned plane electric inspection process mode is just being widely used and is studying, and especially unmanned plane is patrolled and examined because of safe and efficient characteristic, has
Increasing using value.
But, unmanned plane is to inevitably running into transmission line of electricity, shaft tower, low latitude environmental key-element during polling transmission line
Invisible barriers such as tangible obstacle and no-fly zone, hazardous area etc. such as (such as trees, buildings), therefore, in order to ensure that unmanned plane is patrolled and examined
The safety of transmission line of electricity, unmanned plane avoidance has had become as the important component part in unmanned plane cruising inspection system.
Providing a kind of unmanned plane barrier-avoiding method in prior art, the method utilizes the dynamic image identification that video camera obtains
Barrier is also found range, and realizes avoidance by path planning algorithm subsequently.
Inventor finds under study for action, unmanned plane barrier-avoiding method of the prior art, bigger owing to can only identify trees etc.
Barrier, to object identification degree relatively ends such as the shaft tower of Openworks shape and elongated wires, causing cannot be to transmission pressure, shaft tower etc.
Barrier carries out avoidance, thus cannot ensure unmanned plane patrol and examine safety.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of unmanned plane barrier-avoiding method and device, based on marker image
Carry out avoidance, owing to the resolution of marker is higher, therefore bigger barrier can not only be carried out avoidance, additionally it is possible to transmission of electricity
Wire, the barrier such as shaft tower carries out avoidance, thus further ensures the safety that unmanned plane is patrolled and examined.
First aspect, embodiments provides a kind of unmanned plane barrier-avoiding method, and described method includes:
Obtain the picture of collected by camera on described unmanned plane；
Extract the identification information of the marker being arranged in described picture in obstacle target；
Focal length and described identification information according to described camera determine the described unmanned plane distance away from described marker；
When described distance is less than predetermined threshold value, controls described unmanned plane and described obstacle target is carried out avoidance.
In conjunction with first aspect, embodiments provide the first possible embodiment of first aspect, wherein, institute
State identification information and include actual size and the described marker size in described picture of described marker；Described in described basis
The focal length of camera and described identification information determine the described unmanned plane distance away from described marker, including:
When identification information in described extraction meets preset standard identification information, according to focal length, the described mark of described camera
Actual size and the described marker size in described picture of knowing thing determine the described unmanned plane distance away from described marker.
In conjunction with first aspect, embodiments provide the embodiment that the second of first aspect is possible, wherein, also
Including: the current flight direction of described unmanned plane is determined according to the focal length of described camera and described identification information.
In conjunction with the first possible embodiment of first aspect or first aspect, embodiments provide first party
The third possible embodiment in face, wherein, the described unmanned plane of described control carries out avoidance to described obstacle target, including:
When described distance is less than predetermined threshold value, control described unmanned plane away from described obstacle target to realize described barrier
Target is hindered to carry out avoidance.
In conjunction with first aspect, embodiments provide the 4th kind of possible embodiment of first aspect, wherein, also
Including:
When described distance is less than predetermined threshold value, generate corresponding warning message；
Described warning message is sent to corresponding unmanned aerial vehicle station, to remind described unmanned aerial vehicle station to carry out exception
Monitoring and distance flight control.
Second aspect, the embodiment of the present invention additionally provides a kind of unmanned plane fault avoidnig device, and described device includes:
Acquisition module, for obtaining the picture of the collected by camera on described unmanned plane；
Extraction module, for extracting the identification information of the marker being arranged in described picture in obstacle target；
First determines module, for determining that described unmanned plane is away from described according to focal length and the described identification information of described camera
The distance of marker；
Avoidance module, for when described distance is less than predetermined threshold value, controlling described unmanned plane and enter described obstacle target
Row avoidance.
In conjunction with second aspect, embodiments provide the first possible embodiment of second aspect, wherein, institute
State identification information and include actual size and the described marker size in described picture of described marker；
Described first determines that module is additionally operable to, when the identification information in described extraction meets preset standard identification information, and root
Described nothing is determined according to focal length, the actual size of described marker and the described marker size in described picture of described camera
The man-machine distance away from described marker.
In conjunction with second aspect, embodiments provide the embodiment that the second of second aspect is possible, wherein, also
Module is determined including second；
Described second determines module, for determining described unmanned plane according to focal length and the described identification information of described camera
Current flight direction.
In conjunction with the first possible embodiment of second aspect or second aspect, embodiments provide second party
The third possible embodiment in face, wherein, described avoidance module is additionally operable to, when described distance is less than predetermined threshold value, control
Make described unmanned plane away from described obstacle target to realize described obstacle target is carried out avoidance.
In conjunction with second aspect, embodiments provide the 4th kind of possible embodiment of second aspect, wherein, also
Including alarm module；Described alarm module includes:
Signal generating unit, for when described distance is less than predetermined threshold value, generating corresponding warning message；
Reminding unit, for sending described warning message to corresponding unmanned aerial vehicle station, to remind described unmanned plane
Earth station carries out abnormal monitoring and distance flight controls.
The unmanned plane barrier-avoiding method of embodiment of the present invention offer and device, carry out avoidance based on marker image, with existing
Unmanned plane barrier-avoiding method in technology, owing to can only identify the bigger barriers such as trees, to the shaft tower of Openworks shape and elongated
The object identification degree relatively ends such as wire, causing cannot be to transmission pressure, and the barrier such as shaft tower carries out avoidance and compares, and first it obtain nothing
The picture of the collected by camera on man-machine, then extracts the identification information of the marker being arranged in above-mentioned picture in obstacle target,
The focal length finally combining this identification information and camera determines the unmanned plane distance away from marker, and in distance less than predetermined threshold value
Time, controlling unmanned plane and obstacle target is carried out avoidance, its marker being arranged in obstacle target by identification is to obstacle target
Carry out avoidance, owing to the resolution of marker is higher, therefore bigger obstacle target can not only be carried out avoidance, additionally it is possible to defeated
Electric lead, the obstacle target such as shaft tower carries out avoidance, thus further ensures the safety that unmanned plane is patrolled and examined.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
Fig. 1 shows the flow chart of a kind of unmanned plane barrier-avoiding method that the embodiment of the present invention provided；
Fig. 2 shows the flow chart of the another kind of unmanned plane barrier-avoiding method that the embodiment of the present invention provided；
Fig. 3 shows the structural representation of a kind of unmanned plane fault avoidnig device that the embodiment of the present invention provided.
Main element symbol description:
11, acquisition module；22, extraction module；33, first determines module；44, avoidance module.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
It is a part of embodiment of the present invention rather than whole embodiments.Generally real with the present invention illustrated described in accompanying drawing herein
The assembly executing example can be arranged with various different configurations and design.Therefore, below to the present invention's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Execute example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of not making creative work
There are other embodiments, broadly fall into the scope of protection of the invention.
In view of unmanned plane barrier-avoiding method of the prior art, owing to the bigger barriers such as trees can only be identified, to hollow out
The object identification degree relatively ends such as the shaft tower of shape and elongated wire, causing cannot be to transmission pressure, and the barrier such as shaft tower is kept away
Barrier, thus cannot ensure unmanned plane patrol and examine safety.Based on this, embodiments provide a kind of unmanned plane barrier-avoiding method and
Device, it carries out avoidance based on marker image, owing to the resolution of marker is higher, therefore can not only be to bigger barrier
Carry out avoidance, additionally it is possible to transmission pressure, the barrier such as shaft tower carries out avoidance, thus further ensures the peace that unmanned plane is patrolled and examined
Entirely.
The flow chart of the unmanned plane barrier-avoiding method that the embodiment of the present invention shown in Figure 1 provides, described method is specifically wrapped
Include following steps:
S101, the picture of the collected by camera obtained on unmanned plane；
The identification information of the marker being arranged in obstacle target in S102, extraction picture；
Concrete, the unmanned plane barrier-avoiding method of embodiment of the present invention offer is at the image of the collected by camera obtained on unmanned plane
After, the identification information of the marker being arranged in obstacle target in picture will be extracted, wherein, above-mentioned marker is according to patrolling and examining
Path pre-sets, install, and can be special symbol (such as circle symbol, triangle symbol) marker, it is also possible to be red
Coloring agent tape identification thing, wherein, special symbol marker can preferably be applied on transmission pressure, and red adhesive tape marker is then
Can preferably apply on the shaft tower of hollow out, but, in order to meet the different demands of different user, the embodiment of the present invention is to mark
The concrete application knowing thing does not limit.
S103, focal length and identification information according to camera determine the unmanned plane distance away from marker；
S104, when distance is less than predetermined threshold value, control unmanned plane obstacle target is carried out avoidance.
Concrete, the unmanned plane barrier-avoiding method that the embodiment of the present invention provides, will be according to camera after identifying identification information
Image-forming principle measures the distance currently without man-machine range marker thing.It addition, measuring the distance obtained less than predetermined threshold value (i.e.
The unmanned plane current distance away from marker is the safest for unmanned plane is patrolled and examined) time, unmanned plane will be controlled to obstacle mesh
Mark carries out avoidance.
The unmanned plane barrier-avoiding method that the embodiment of the present invention provides, and unmanned plane barrier-avoiding method of the prior art, due to only
Can identify the bigger barriers such as trees, to object identification degree relatively ends such as the shaft tower of Openworks shape and elongated wires, causing cannot
To transmission pressure, the barrier such as shaft tower carries out avoidance and compares, and first it obtain the picture of the collected by camera on unmanned plane, then carries
Take the identification information of the marker being arranged in above-mentioned picture in obstacle target, finally combine the focal length of this identification information and camera
Determine the unmanned plane distance away from marker, and when distance is less than predetermined threshold value, controls unmanned plane and obstacle target is carried out avoidance,
Its marker being arranged in obstacle target by identification carries out avoidance to obstacle target, owing to the resolution of marker is higher,
Therefore bigger obstacle target can not only be carried out avoidance, additionally it is possible to transmission pressure, the obstacle target such as shaft tower carries out avoidance, from
And further ensure the safety that unmanned plane is patrolled and examined.
In order to preferably determine the unmanned plane distance away from marker, the unmanned plane barrier-avoiding method that the embodiment of the present invention is provided
In the detailed process that determines of distance as follows:
When the identification information extracted meets preset standard identification information, determine nothing according to focal length, the identification information of camera
The man-machine distance away from marker, wherein, above-mentioned identification information includes actual size and the marker chi in picture of marker
Very little.
Concrete, the unmanned plane barrier-avoiding method that the embodiment of the present invention is provided when extracting identification information, first basis
This identification information is judged by preset standard identification information, if this identification information conformance with standard identification information is (as marker exists
Size conformance with standard size in picture), then according to size in picture of the actual size of marker, marker and camera
Focal length determine the unmanned plane distance away from marker.
It addition, the unmanned plane barrier-avoiding method that the embodiment of the present invention is provided, additionally it is possible to according to focal length and the mark letter of camera
Breath determines the current flight direction of unmanned plane.
In order to preferably obstacle target be carried out avoidance, the distance that the determination process of S103 is determined by the embodiment of the present invention is entered
The contrast of row predetermined threshold value processes, and it is only when distance is less than predetermined threshold value, just controls unmanned plane away from obstacle target with reality
Now this obstacle target is carried out avoidance.
Furthermore, it is contemplated that the embodiment of the present invention can determine unmanned plane according to the focal length of the identification information extracted and camera
Current flight direction, then, in the unmanned plane barrier-avoiding method that the embodiment of the present invention is provided to obstacle target away from will preferably
For according to the opposite direction in unmanned plane current flight direction carry out away from.Concrete, judge unmanned plane range marker thing away from
From during less than predetermined threshold value, generate flight control signal, and work as towards unmanned plane according to this flight control signal control unmanned plane
The opposite direction flight of front heading is to realize this obstacle target is carried out avoidance.
Seeing Fig. 2, the unmanned plane barrier-avoiding method that the embodiment of the present invention is provided also comprises the steps:
S201, when distance is less than predetermined threshold value, generate corresponding warning message；
S202, warning message is sent to corresponding unmanned aerial vehicle station, to remind unmanned aerial vehicle station to carry out abnormal prison
Control and distance flight control.
Concrete, the unmanned plane barrier-avoiding method that the embodiment of the present invention is provided can also be according to distance less than predetermined threshold value
First judged result, generates corresponding warning message, it is possible to warning message and corresponding first judged result are sent extremely
Unmanned aerial vehicle station, to show the first judged result in real time by unmanned aerial vehicle station, and reports according to above-mentioned warning message
Alert, to remind the operator at the unmanned aerial vehicle station region that carries out distance flight control so that unmanned plane averts danger.
It addition, the unmanned plane barrier-avoiding method that the embodiment of the present invention is provided can not only show the first judged result in real time,
But also can adjust the distance and show in real time more than the second judged result of predetermined threshold value, so that unmanned plane is carried out visual control,
So that the abnormality of warning message corresponding to the first judged result can be found in time.
The unmanned plane barrier-avoiding method that the embodiment of the present invention provides, and unmanned plane barrier-avoiding method of the prior art, due to only
Can identify the bigger barriers such as trees, to object identification degree relatively ends such as the shaft tower of Openworks shape and elongated wires, causing cannot
To transmission pressure, the barrier such as shaft tower carries out avoidance and compares, and first it obtain the picture of the collected by camera on unmanned plane, then carries
Take the identification information of the marker being arranged in above-mentioned picture in obstacle target, finally combine the focal length of this identification information and camera
Determine the unmanned plane distance away from marker, and when distance is less than predetermined threshold value, controls unmanned plane and obstacle target is carried out avoidance,
Its marker being arranged in obstacle target by identification carries out avoidance to obstacle target, owing to the resolution of marker is higher,
Therefore bigger obstacle target can not only be carried out avoidance, additionally it is possible to transmission pressure, the obstacle target such as shaft tower carries out avoidance, from
And further ensure the safety that unmanned plane is patrolled and examined.
The embodiment of the present invention additionally provides a kind of unmanned plane fault avoidnig device, and described device is used for performing above-mentioned unmanned plane avoidance
Method, sees Fig. 3, and described device includes:
Acquisition module 11, for obtaining the picture of the collected by camera on unmanned plane；
Extraction module 22, for extracting the identification information of the marker being arranged in picture in obstacle target；
First determines module 33, for determining the unmanned plane distance away from marker according to focal length and the identification information of camera；
Avoidance module 44, for when distance is less than predetermined threshold value, controls unmanned plane and obstacle target is carried out avoidance.
Concrete, the unmanned plane fault avoidnig device that the embodiment of the present invention provides obtains the phase on unmanned plane by acquisition module 11
The image that machine gathers, and the identification information of the marker being arranged in picture in obstacle target is extracted according to extraction module 22, its
In, above-mentioned marker is pre-setting according to polling path, is installing, and can be that special symbol is (such as circle symbol, triangle
Pictograph number) marker, it is also possible to being red adhesive tape marker, wherein, special symbol marker can preferably be applied in transmission of electricity
On wire, red adhesive tape marker then can preferably be applied on the shaft tower of hollow out, but, in order to meet different user
Different demands, the concrete application of marker is not limited by the embodiment of the present invention.
The unmanned plane fault avoidnig device that the embodiment of the present invention provides, will be according to camera imaging principle after identifying identification information
Measure the distance currently without man-machine range marker thing.It addition, measure the distance that obtains less than predetermined threshold value (i.e. unmanned plane away from
The current distance of marker is the safest for unmanned plane is patrolled and examined) time, obstacle target is kept away by control unmanned plane
Barrier.
In order to preferably determine the unmanned plane distance away from marker, the unmanned plane fault avoidnig device that the embodiment of the present invention is provided
In first determine that module 33 is additionally operable to, when the identification information extracted meets preset standard identification information, according to Jiao of camera
The unmanned plane distance away from marker is determined away from, the actual size of marker and marker size in picture.Wherein, marker
Actual size and marker size in picture belong to identification information.
It addition, the unmanned plane fault avoidnig device that the embodiment of the present invention is provided also includes that second determines module, this second determines
Module, determines the current flight direction of unmanned plane for the focal length according to camera and identification information.
In order to preferably obstacle target be carried out avoidance, the avoidance module 44 in the embodiment of the present invention is additionally operable to apart from little
When predetermined threshold value, control unmanned plane away from obstacle target to realize obstacle target is carried out avoidance.
Furthermore, it is contemplated that the embodiment of the present invention can determine unmanned plane according to the focal length of the identification information extracted and camera
Current flight direction, then, in the unmanned plane fault avoidnig device that the embodiment of the present invention is provided to obstacle target away from will preferably
For according to the opposite direction in unmanned plane current flight direction carry out away from.Concrete, judge unmanned plane range marker thing away from
From during less than predetermined threshold value, generate flight control signal, and work as towards unmanned plane according to this flight control signal control unmanned plane
The opposite direction flight of front heading is to realize this obstacle target is carried out avoidance.
The unmanned plane fault avoidnig device that the embodiment of the present invention is provided also includes alarm module；Alarm module includes:
Signal generating unit, for when distance is less than predetermined threshold value, generates corresponding warning message；
Reminding unit, for sending warning message to corresponding unmanned aerial vehicle station, to remind unmanned aerial vehicle station to enter
Row abnormal monitoring and distance flight control.
Concrete, the unmanned plane fault avoidnig device that the embodiment of the present invention is provided can also be according to distance less than predetermined threshold value
First judged result, generates corresponding warning message, it is possible to warning message and corresponding first judged result are sent extremely
Unmanned aerial vehicle station, to show the first judged result in real time by unmanned aerial vehicle station, and reports according to above-mentioned warning message
Alert, to remind the operator at the unmanned aerial vehicle station region that carries out distance flight control so that unmanned plane averts danger.
It addition, the unmanned plane fault avoidnig device that the embodiment of the present invention is provided can not only show the first judged result in real time,
But also can adjust the distance and show in real time more than the second judged result of predetermined threshold value, so that unmanned plane is carried out visual control,
So that the abnormality of warning message corresponding to the first judged result can be found in time.
The unmanned plane fault avoidnig device that the embodiment of the present invention provides, and unmanned plane barrier-avoiding method of the prior art, due to only
Can identify the bigger barriers such as trees, to object identification degree relatively ends such as the shaft tower of Openworks shape and elongated wires, causing cannot
To transmission pressure, the barrier such as shaft tower carries out avoidance and compares, and first it obtain the picture of the collected by camera on unmanned plane, then carries
Take the identification information of the marker being arranged in above-mentioned picture in obstacle target, finally combine the focal length of this identification information and camera
Determine the unmanned plane distance away from marker, and when distance is less than predetermined threshold value, controls unmanned plane and obstacle target is carried out avoidance,
Its marker being arranged in obstacle target by identification carries out avoidance to obstacle target, owing to the resolution of marker is higher,
Therefore bigger obstacle target can not only be carried out avoidance, additionally it is possible to transmission pressure, the obstacle target such as shaft tower carries out avoidance, from
And further ensure the safety that unmanned plane is patrolled and examined.
The computer program of the method carrying out unmanned plane avoidance that the embodiment of the present invention is provided, including storing journey
The computer-readable recording medium of sequence code, the instruction that described program code includes can be used for performing institute in previous methods embodiment
The method stated, implements and can be found in embodiment of the method, does not repeats them here.
The device of the unmanned plane avoidance that the embodiment of the present invention is provided can be the specific hardware on equipment or be installed on
Software on equipment or firmware etc..The device that the embodiment of the present invention is provided, it realizes principle and the technique effect of generation and front
State embodiment of the method identical, for briefly describing, the not mentioned part of device embodiment part, refer to phase in preceding method embodiment
Answer content.Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, system described above,
The specific works process of device and unit, is all referred to the corresponding process in said method embodiment, does not repeats them here.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by other side
Formula realizes.Device embodiment described above is only that schematically such as, the division of described unit, the most only one are patrolled
Volume function divides, and actual can have other dividing mode when realizing, the most such as, multiple unit or assembly can in conjunction with or can
To be integrated into another system, or some features can be ignored, or does not performs.Another point, shown or discussed each other
Coupling direct-coupling or communication connection can be the INDIRECT COUPLING by some communication interfaces, device or unit or communication link
Connect, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional unit in the embodiment that the present invention provides can be integrated in a processing unit, it is possible to
Being that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently, additionally, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing and describe, and it is not intended that instruction or hint relative importance.
It is last it is noted that the detailed description of the invention of embodiment described above, the only present invention, in order to the present invention to be described
Technical scheme, be not intended to limit, protection scope of the present invention is not limited thereto, although with reference to previous embodiment to this
Bright it is described in detail, it will be understood by those within the art that: any those familiar with the art
In the technical scope that the invention discloses, the technical scheme described in previous embodiment still can be modified or can be light by it
It is readily conceivable that change, or wherein portion of techniques feature is carried out equivalent；And these are revised, change or replace, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme.All should contain the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (10)
1. a unmanned plane barrier-avoiding method, it is characterised in that including:
Obtain the picture of collected by camera on described unmanned plane；
Extract the identification information of the marker being arranged in described picture in obstacle target；
Focal length and described identification information according to described camera determine the described unmanned plane distance away from described marker；
When described distance is less than predetermined threshold value, controls described unmanned plane and described obstacle target is carried out avoidance.
Method the most according to claim 1, it is characterised in that described identification information includes the actual size of described marker
With described marker size in described picture；The described focal length according to described camera and described identification information determine described nothing
The man-machine distance away from described marker, including:
When identification information in described extraction meets preset standard identification information, according to focal length, the described marker of described camera
Actual size and described marker size in described picture determine the described unmanned plane distance away from described marker.
Method the most according to claim 1, it is characterised in that also include: according to focal length and the described mark of described camera
Information determines the current flight direction of described unmanned plane.
Method the most according to claim 1 and 2, it is characterised in that the described unmanned plane of described control is to described obstacle target
Carry out avoidance, including:
When described distance is less than predetermined threshold value, control described unmanned plane away from described obstacle target to realize described obstacle mesh
Mark carries out avoidance.
Method the most according to claim 1, it is characterised in that also include:
When described distance is less than predetermined threshold value, generate corresponding warning message；
Described warning message is sent to corresponding unmanned aerial vehicle station, to remind described unmanned aerial vehicle station to carry out abnormal monitoring
With distance flight control.
6. a unmanned plane fault avoidnig device, it is characterised in that including:
Acquisition module, for obtaining the picture of the collected by camera on described unmanned plane；
Extraction module, for extracting the identification information of the marker being arranged in described picture in obstacle target；
First determines module, for determining that described unmanned plane is away from described mark according to focal length and the described identification information of described camera
The distance of thing；
Avoidance module, for when described distance is less than predetermined threshold value, controlling described unmanned plane and keep away described obstacle target
Barrier.
Device the most according to claim 6, it is characterised in that described identification information includes the actual size of described marker
With described marker size in described picture；
Described first determines that module is additionally operable to, when the identification information in described extraction meets preset standard identification information, according to institute
State the focal length of camera, the actual size of described marker and described marker size in described picture and determine described unmanned plane
Distance away from described marker.
Device the most according to claim 6, it is characterised in that also include that second determines module；
Described second determines module, for determining the current of described unmanned plane according to focal length and the described identification information of described camera
Heading.
9. according to the device described in claim 6 or 7, it is characterised in that described avoidance module is additionally operable to, and is less than in described distance
During predetermined threshold value, control described unmanned plane away from described obstacle target to realize described obstacle target is carried out avoidance.
Device the most according to claim 6, it is characterised in that also include alarm module；Described alarm module includes:
Signal generating unit, for when described distance is less than predetermined threshold value, generating corresponding warning message；
Reminding unit, for sending described warning message to corresponding unmanned aerial vehicle station, to remind described unmanned aerial vehicle
Station carries out abnormal monitoring and distance flight controls.
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| CN201610799926.0A CN106155091A (en) | 2016-08-31 | 2016-08-31 | A kind of unmanned plane barrier-avoiding method and device |
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| CN107554792A (en) * | 2017-07-25 | 2018-01-09 | 南昌航空大学 | A kind of unmanned aerial vehicle onboard equipment safety case |
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