CN107065920A - Avoidance obstacle method, device and unmanned plane - Google Patents
Avoidance obstacle method, device and unmanned plane Download PDFInfo
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- CN107065920A CN107065920A CN201611218782.1A CN201611218782A CN107065920A CN 107065920 A CN107065920 A CN 107065920A CN 201611218782 A CN201611218782 A CN 201611218782A CN 107065920 A CN107065920 A CN 107065920A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of avoidance obstacle method, device and unmanned plane, this method includes：Determine current environment brightness；Compare the size between current environment brightness and the luminance threshold of setting；Detect current avoidance pattern；If current environment brightness is more than or equal to luminance threshold, and current avoidance pattern is monocular structure light avoidance, then is binocular vision avoidance by current avoidance pattern switching；If current environment brightness is less than luminance threshold, and current avoidance pattern is binocular vision avoidance, then is monocular structure light avoidance by current avoidance pattern switching.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, more particularly it relates to a kind of avoidance obstacle of unmanned plane
The avoidance obstacle device and a kind of unmanned plane of method, a kind of unmanned plane.
Background technology
In recent years, unmanned air vehicle technique was developed rapidly, and increasing enterprise starts to put into the market of unmanned plane, consumer level
Unmanned plane is progressed into the popular visual field.At present, the consumer level unmanned plane of in the market is feature-rich, and automatic obstacle-avoiding, vision are chased after
Track, the function such as indication is flown, maked a return voyage automatically, focus is followed so that more consumers are participated among the experience of unmanned plane, its
In, automatic obstacle avoidance functions are particularly important, when unmanned plane is in flight course, when detecting front and having barrier, can avoid automatically
Barrier, continues to detour or hovers.Because consumer level unmanned plane price is higher, if unmanned plane lacks automatic obstacle avoidance functions, or
Person's functional lability, then can improve the probability for hitting wall, hitting tree, hitting mountain, and very big loss can be brought to consumer, therefore, from
Dynamic avoidance technology is most important for unmanned plane.
At present, the avoidance technology that unmanned plane is used includes：Avoiding obstacles by supersonic wave, TOF (laser radar range), monocular add structure
Light avoidance and binocular vision avoidance.
Avoiding obstacles by supersonic wave is detected using Doppler effect principle whether there is barrier on assigned direction.Avoiding obstacles by supersonic wave
It is disadvantageous in that：It is only able to detect flight front and whether there is barrier, but the size of barrier and specific position can not be determined
Put, therefore 3D modeling can not be carried out and processing of detouring.
TOF (laser radar range) is, by continuously transmitting light pulse to target, then to be received and returned from object with sensor
The light returned, object distance is obtained by flight (round) time of detecting optical pulses.TOF is disadvantageous in that：Light wave
Easily it is interfered, it is necessary to avoid the main energetic wave band of sunshine, and needs dedicated processes chip to carry out very accurately
Time measurement, cost is higher.
Monocular adds structure light avoidance, i.e., single camera integrated structure optical transmitting set constitutes depth camera, hereinafter referred to as
For monocular structure light avoidance, it uses " active stereo image-forming principle " to carry out detection of obstacles, is specially：Pass through structured light
Device gets structure light, and the image reflected photographed to camera is analyzed with known structure light image, so
" depth " information in 3D rendering is calculated using triangle polyester fibre principle afterwards.This kind of barrier-avoiding method is disadvantageous in that：By strong
Luminous environment influence is than larger, and the avoidance effect under strong light environment is poor.
Binocular vision avoidance, it is using two cameras, based on principle of parallax and using imaging device from diverse location
The two images of testee are obtained, by calculating the position deviation between image corresponding points, to obtain object dimensional geological information
Method.The weak point of this kind of barrier-avoiding method：There are strict requirements to intensity of illumination, under dim environment, binocular vision
Avoidance fails.
As can be seen here, existing avoidance scheme has respective limitation, therefore, is highly desirable to provide a kind of adaptability more
Strong avoidance scheme.
The content of the invention
One purpose of the embodiment of the present invention is to provide a kind of new technical scheme of unmanned plane avoidance, can to reduce avoidance
By requirement of the property for intensity of illumination.
In order to solve the above-mentioned technical problem, the invention provides a kind of avoidance obstacle method of unmanned plane, it includes：
Obtain current environment brightness；
Compare the size between the current environment brightness and the luminance threshold of setting；
Detect current avoidance pattern；
If the current environment brightness is more than or equal to the luminance threshold, and the current avoidance pattern is monocular
Structure light avoidance, then be binocular vision avoidance by the current avoidance pattern switching；
If the current environment brightness is less than the luminance threshold, and the current avoidance pattern is kept away for binocular vision
Barrier, then be monocular structure light avoidance by the current avoidance pattern switching.
Optionally, the avoidance obstacle method also includes：
Calculate the current environment brightness and continuously meet first number for being more than or equal to the luminance threshold condition；
Calculate the current environment brightness and continuously meet second number for being less than the luminance threshold；
If first number reaches setting number of times, and the current avoidance pattern is monocular structure light avoidance, then again
It is binocular vision avoidance by the current avoidance pattern switching；
If second number reaches setting number of times, and the current avoidance pattern is binocular vision avoidance, then again will
The current avoidance pattern switching is monocular structure light avoidance.
Optionally, the acquisition current environment brightness is further：
Current environment brightness is obtained according to the sampling interval of setting.
Optionally, the acquisition current environment brightness includes：
The current illumination value of at least two illuminance sensors offer is provided respectively；
The average value of all current illumination values read is calculated as the current environment brightness.
Optionally, the avoidance obstacle method also includes：
When the current avoidance pattern is binocular vision avoidance, control structure optical transmitting set is closed, and control two is taken the photograph
As head is opened；
When the current avoidance pattern is monocular structure light avoidance, control structure optical transmitting set and one of camera
Open, and control another camera to close.
According to the second aspect of the invention there is provided a kind of avoidance obstacle device of unmanned plane, it includes：
Determining module, for determining current environment brightness；
Comparison module, for comparing the size between the current environment brightness and the luminance threshold of setting；
Detection module, for detecting current avoidance pattern；
Binocular avoidance obstacle module, for being more than or equal to the luminance threshold, and institute in the current environment brightness
Current avoidance pattern is stated to be binocular vision avoidance by the current avoidance pattern switching in the case of monocular structure light avoidance；
And,
Monocular avoidance obstacle module, for being less than the luminance threshold in the current environment brightness, and described currently keeps away
It is monocular structure light avoidance by the current avoidance pattern switching in the case that barrier pattern is binocular vision avoidance.
Optionally, the avoidance obstacle device also includes：
First computing module, is more than or equal to the luminance threshold for calculating the current environment brightness and continuously meeting
First number of condition；And,
Second computing module, for calculating the current environment brightness continuously second of satisfaction less than the luminance threshold
Number；
The binocular avoidance obstacle module is used to reach setting number of times, and the current avoidance pattern in first number
In the case of for monocular structure light avoidance, then by the current avoidance pattern switching be binocular vision avoidance；
The monocular avoidance obstacle module is used to reach setting number of times, and the current avoidance pattern in second number
In the case of for binocular vision avoidance, then by the current avoidance pattern switching be monocular structure light avoidance.
Optionally, the determining module is further used for determining current environment brightness according to the sampling interval of setting.
Optionally, the determining module includes：
Read module, the current illumination value for reading the offer of at least two illuminance sensors respectively；And,
Computing module, for calculating the average value of all current illumination values read as the current environment brightness.
Optionally, it is binocular vision avoidance that the binocular avoidance obstacle module, which is additionally operable in the current avoidance pattern,
When, control structure optical transmitting set is closed, and controls two cameras to open；
The monocular avoidance obstacle module is additionally operable to when the current avoidance pattern is monocular structure light avoidance, control knot
Structure optical transmitting set and one of camera are opened, and control another camera to close.
There is provided a kind of avoidance obstacle device of unmanned plane, including memory and processing according to the third aspect of the invention we
Device, the memory is used for store instruction, and the instruction is used to control the processor to be operated to perform according to the present invention
First aspect described in avoidance obstacle method.
According to the fourth aspect of the invention there is provided a kind of unmanned plane, it include according to the second aspect of the invention or
Avoidance obstacle device described in the third aspect, the unmanned plane also includes illuminance sensor, structured light device, the first shooting
Head, second camera and image processing apparatus, wherein, at least described illuminance sensor, structured light device, the first shooting
Head and second camera are arranged on the body of the unmanned plane；
The illuminance sensor is used to gather the acquisition device that current light degree is supplied to the avoidance obstacle device, with
Current environment brightness is determined for the acquisition device；
The structured light device is used to send structure light；
First camera and the second camera are supplied to described image processor for gathering image；
Described image processing unit is used to carry out corresponding image procossing to the image received according to current avoidance pattern,
Obtain the three-dimensional geometric information of barrier.
The beneficial effect of the present invention is that unmanned plane of the present invention, which has, can carry out monocular structure light avoidance and binocular
The structure configuration of vision avoidance, on this basis, avoidance obstacle method of the present invention carries out avoidance pattern according to current environment brightness
Switching, and then realize the purpose of reliable avoidance effect can be obtained under any ambient brightness, effectively reduce avoidance
Requirement of the reliability for intensity of illumination.
By referring to the drawings to the detailed description of the exemplary embodiment of the present invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
The accompanying drawing for being combined in the description and constituting a part for specification shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 is a kind of schematic flow sheet of embodiment according to avoidance obstacle method of the present invention；
Fig. 2 is the schematic flow sheet of the another embodiment according to avoidance obstacle method of the present invention；
Fig. 3 is a kind of schematic flow sheet of specific embodiment of avoidance obstacle method shown in Fig. 2；
Fig. 4 is a kind of frame principle figure of embodiment according to avoidance obstacle device of the present invention；
Fig. 5 is the frame principle figure of the another embodiment according to avoidance obstacle device of the present invention；
Fig. 6 is a kind of frame principle figure of hardware configuration according to avoidance obstacle device of the present invention；
Fig. 7 is a kind of frame principle figure of embodiment according to unmanned plane of the present invention.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments does not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or used.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
Two kinds of avoidance patterns are had concurrently according to the unmanned plane of the present invention, one kind is binocular vision avoidance, and another is monocular knot
Structure light avoidance, therefore, unmanned plane of the invention are configured with the first camera, second camera, structured light device and image
Device is managed, wherein, the first camera carries out monocular structure light avoidance together with structured light device, and the first camera is taken the photograph with second
As first progress binocular vision avoidance.
The image processing apparatus under monocular structure light avoidance pattern, the image that the first camera is collected with it is known
Structure light image is analyzed, and calculates using triangle polyester fibre principle the three-dimensional geometric information of barrier.
The first image and that the image processing apparatus is collected under binocular vision avoidance pattern according to the first camera
The second image that two cameras are collected, the position of the first image and the second image between corresponding points is calculated based on principle of parallax
Deviation, and then calculate the three-dimensional geometric information of barrier.
Therefore, present invention also offers a kind of avoidance obstacle method, to select suitable avoidance according to current environment brightness
Pattern so that unmanned plane can obtain reliable avoidance effect under any ambient brightness, and then it is reliable to effectively reduce avoidance
Requirement of the property for intensity of illumination.
Fig. 1 is a kind of schematic flow sheet of embodiment of the avoidance obstacle method of the unmanned plane according to the present invention.
According to Fig. 1, avoidance obstacle method of the present invention can include：
Step S110, determines current environment brightness.
To should step, illuminance sensor can be installed on the body of unmanned plane, to be adopted by illuminance sensor
Collect the current light degree of external environment, current environment is determined with the current light degree provided in the step according to illuminance sensor
Brightness.
One illuminance sensor can be set on the body of unmanned plane, and accordingly, step S110 can be further
Determine that current environment brightness is equal to current light degree.
Two or more illuminance sensor can also be set on the body of unmanned plane, and accordingly, step S110 can enter
One step is determines that current environment brightness is equal to the average value for the current light degree that all illuminance sensors are provided, to improve determination
The accuracy of current environment brightness.
The average value can be arithmetic mean of instantaneous value, geometrical mean, root mean square average or weighted average etc..
In the step, current environment brightness, i.e. fixed time intervals can be determined further according to the sampling interval of setting
The current illumination value that illuminance sensor is provided is read, and current environment brightness is determined according to current illumination value.
Avoidance obstacle method of the present invention can support the modification to the sampling interval of setting.
Therefore, the avoidance obstacle method may further include：The sampling interval of input is received, and by between current sampling
Every the sampling interval for being revised as receiving.
Step S120, compares the size between current environment brightness and the luminance threshold of setting.
The luminance threshold can be determined according to requirement of the binocular vision avoidance to intensity of illumination so that current environment brightness is big
When the luminance threshold, binocular vision avoidance is adapted for.
The luminance threshold for example could be arranged to be more than or equal to 5Lux, less than or equal to 50Lux.
Avoidance obstacle method of the present invention can support the modification to luminance threshold.
Therefore, the avoidance obstacle method may further include：The luminance threshold of input is received, and by current luminance threshold
Value is revised as the luminance threshold received.
Step S130, detects current avoidance pattern.
In step S130, current avoidance pattern can be detected according to the value of the mode flags position of setting, for example, setting
It is binocular vision avoidance that mode flags position, which represents current avoidance pattern equal to 1, and it is monocular structure that current avoidance pattern is represented equal to 0
Light avoidance.
Further, 1 can be equal to by Setting pattern flag bit after powering, i.e., uses binocular vision avoidance when acquiescence is started shooting.
And when current avoidance pattern switches to monocular structure light avoidance by binocular vision avoidance, mode flags position is revised as 0 by 1,
And when current avoidance pattern switches to binocular vision avoidance by monocular structure light avoidance, mode flag position is revised as 1 by 0.
Step S140, if current environment brightness is more than or equal to the luminance threshold of setting, and current avoidance pattern is
Monocular structure light avoidance, then be binocular vision avoidance by current avoidance pattern switching.
And it is more than or equal to the luminance threshold of setting in current environment brightness, and current avoidance pattern is kept away for binocular vision
In the case of barrier, keep current avoidance pattern constant.
Step S150, if current environment brightness is less than the luminance threshold of setting, and current avoidance pattern is binocular vision
Avoidance, then be monocular structure light avoidance by current avoidance pattern switching.
And it is less than the luminance threshold of setting in current environment brightness, and current avoidance pattern is the feelings of monocular structure light avoidance
Under condition, keep current avoidance pattern constant.
In one particular embodiment of the present invention, avoidance obstacle method of the present invention can further include at image
The step of device output represents the signal of current avoidance pattern is managed, so that image processing apparatus carries out phase according to current avoidance pattern
The image procossing answered.
In the other specific embodiment of the present invention, the image processing apparatus can also the current avoidance mould of active detecting
Formula.
According to the present invention avoidance obstacle method, due to monocular structure light avoidance can be carried out under low-light (level) it is more reliable
Avoidance, therefore, it can provide reliable avoidance under the photoenvironment that binocular vision avoidance fails and support, and then realize
The purpose of reliable avoidance can be carried out under any ambient brightness, requirement of the avoidance reliability for intensity of illumination is effectively reduced.
Fig. 2 is the schematic flow sheet of the another embodiment according to avoidance obstacle method of the present invention.
According to Fig. 2, avoidance obstacle method of the present invention can include：
Step S210, determines current environment brightness.
Step S220, compares the size between current environment brightness and the luminance threshold of setting.
Step S230, detects current avoidance pattern.
Step S240, calculates current environment brightness and continuously meets first number for being more than or equal to luminance threshold condition.
To should step, can be provided for count first number variable i, and set variable i initial value be equal to 0,
When showing that current environment brightness is more than or equal to luminance threshold according to step S220, i=i+1 is set；When according to step
When S220 show that current environment brightness is less than luminance threshold, i=0 is reset.
Step S250, calculates current environment brightness and continuously meets second number for being less than the luminance threshold.
To should step, can be provided for count second number variable j, and set variable j initial value be equal to 0,
When showing that current environment brightness is less than luminance threshold according to step S220, j=j+1 is set；Work as when being drawn according to step S220
When preceding ambient brightness is more than or equal to luminance threshold, j=0 is reset.
Step S260, if first number reaches setting number of times, and current avoidance pattern is monocular structure light avoidance, then again
It is binocular vision avoidance by current avoidance pattern switching.
And it is more than or equal to luminance threshold in current environment brightness, but first number is not up to when setting number of times, is kept
Current avoidance pattern is constant.
The setting number of times can be arranged as required to, to improve the accuracy detected to current environment brightness, for example can be with
It is set to 2 times to 5 times.
Avoidance obstacle method of the present invention can support the modification to setting number of times.
Therefore, the avoidance obstacle method may further include：The setting number of times of input is received, and current setting is secondary
Number is revised as the setting number of times received.
When first number reaches setting number of times, can by first number clear 0, with recalculate continuous satisfaction be more than or
Equal to first number of luminance threshold condition.Embodiment for setting variable i, i.e., when first number reaches setting number of times,
Reset variable i=0.
Step S270, if second number reaches setting number of times, and current avoidance pattern is binocular vision avoidance, then again
It is monocular structure light avoidance by the current avoidance pattern switching.
And it is less than luminance threshold in current environment brightness, but second number is not up to when setting number of times, keeps current avoidance
Pattern is constant.
When second number reaches setting number of times, second number clear 0 can be less than brightness to recalculate continuous meet
Second number of threshold condition.Embodiment for setting variable j, i.e., when second number reaches setting number of times, reset variable j
=0.
Fig. 3 shows a kind of schematic flow sheet of specific embodiment according to Fig. 2 illustrated embodiments.
According to Fig. 3, avoidance obstacle method of the present invention can be specifically included：
Step S310：Current environment brightness is determined according to the sampling interval of setting, step S320 is performed afterwards.
Step S320, compares the size between current environment brightness and luminance threshold, if current environment brightness be more than or
Person is equal to luminance threshold, then performs step S3311, if current environment brightness is less than luminance threshold, performs step S3321.
Step S3311, Jia 1 by first number, and by second number clear 0, step S3312 is performed afterwards.
Step S3312, judges whether first number is more than or equal to setting number of times, in this way, then performs step S3313,
Sampling next time is waited to determine current environment brightness if not, returning to step S310.
Step S3313, detects whether current avoidance pattern is binocular vision avoidance, in this way, then keeps current avoidance pattern
It is constant, and by first number clear 0, return step S310 and wait sampling next time to determine current environment brightness；If not, ought
Preceding avoidance pattern switches to binocular vision avoidance by monocular structure light avoidance, and by first number clear 0, returns step S310 etc.
Treat determination current environment brightness of sampling next time.
Step S3321, Jia 1 by second number, and by first number clear 0, step S3322 is performed afterwards.
Step S3322, judges whether second number is more than or equal to setting number of times, in this way, then performs step S3323,
Sampling next time is waited to determine current environment brightness if not, returning to step S310.
Step S3323, detects whether current avoidance pattern is monocular structure light avoidance, in this way, then keeps current avoidance mould
Formula is constant, it is possible to by second number clear 0, returns step S310 and waits sampling next time to determine current environment brightness；It is such as no,
Current avoidance pattern is then switched into monocular structure light avoidance by binocular vision avoidance, it is possible to by second number clear 0, return
Step S310 waits sampling next time to determine current environment brightness.
In one particular embodiment of the present invention, the avoidance obstacle method can also include：It is in current avoidance pattern
During binocular vision avoidance, control structure optical transmitting set is closed, and controls two cameras to open；It is monocular in current avoidance pattern
During structure light avoidance, control structure optical transmitting set and one of camera are opened, and control another camera to close, to subtract
Few power consumption, extends the cruising time of unmanned plane.
Fig. 4 is a kind of frame principle figure of embodiment of the avoidance obstacle device according to unmanned plane of the present invention.
According to Fig. 4, the avoidance obstacle device can include determining that module 410, comparison module 420, detection module
430th, binocular avoidance obstacle module 440, monocular avoidance obstacle module 450.
The determining module 410 is used to determine current environment brightness.
The comparison module 420 is used to compare the size between the current environment brightness and the luminance threshold of setting.
The detection module 430 is used to detect current avoidance pattern.
The binocular avoidance obstacle module 440 is used to be more than or equal to the luminance threshold in the current environment brightness,
And in the case that the current avoidance pattern is monocular structure light avoidance, the current avoidance pattern switching is kept away for binocular vision
Barrier.
The binocular avoidance obstacle module 440 is further used for being more than or equal to the brightness in the current environment brightness
Threshold value, and the current avoidance pattern is in the case of binocular vision avoidance, the current avoidance pattern of holding is constant.
The monocular avoidance obstacle module 450 is used to be less than the luminance threshold, and current avoidance mould in current environment brightness
It is monocular structure light avoidance by current avoidance pattern switching in the case that formula is binocular vision avoidance.
The monocular avoidance obstacle module 450 is further used for being less than the luminance threshold in current environment brightness, and currently
In the case that avoidance pattern is monocular structure light avoidance, keep current avoidance pattern constant.
The determining module 410 can be further used for determining current environment brightness according to the sampling interval of setting.
The determining module 410 may further include reading unit and computing unit (not shown).The reading unit
Current illumination value for reading the offer of at least two illuminance sensors respectively.The computing unit is used to calculate the institute read
There is the average value of current illumination value as the current environment brightness.
The binocular avoidance obstacle module 440 can be also used for when current avoidance pattern is binocular vision avoidance, control knot
Structure optical transmitting set is closed, and controls two cameras to open.
The monocular avoidance obstacle module 450 can be also used for when the current avoidance pattern is monocular structure light avoidance,
Control structure optical transmitting set and one of camera are opened, and control another camera to close.
Fig. 5 is the frame principle figure of the another embodiment of the avoidance obstacle device according to unmanned plane of the present invention.
According to Fig. 5, the avoidance obstacle device includes determining module 510, comparison module 520, detection module 530, double
Mesh avoidance obstacle module 540, monocular avoidance obstacle module 550, the first computing module 560, the second computing module 570.
The determining module 510 is used to determine current environment brightness.
The comparison module 520 is used to compare the size between the current environment brightness and the luminance threshold of setting.
The detection module 530 is used to detect current avoidance pattern.
The detection module 530 further can detect current avoidance pattern according to the value of mode flags position, wherein, mould is set
It is binocular vision avoidance that formula flag bit, which represents current avoidance pattern equal to 1, and it is monocular structure light that current avoidance pattern is represented equal to 0
Avoidance.
First computing module 540 is used to calculate the current environment brightness and continuously meet to be more than or equal to the brightness
First number of threshold condition.
First computing module 540 can be further used for setting variable i to represent first number, and in current environment brightness
During more than or equal to luminance threshold, i=i+1 is set, and i=0 is reset when current environment brightness is less than luminance threshold, wherein
I initial value is set to be equal to 0.
Second computing module 550 be used to calculating the current environment brightness continuously meet less than the luminance threshold the
Two numbers.
Second computing module 550 can be further used for setting variable j to represent second number, and in current environment brightness
During less than luminance threshold, j=j+1 is set, and j=0 is reset when current environment brightness is more than or equal to luminance threshold, wherein
J initial value is set to be equal to 0.
The binocular avoidance obstacle module 540 is used to reach setting number of times in first number, and the current avoidance pattern is
In the case of monocular structure light avoidance, then by the current avoidance pattern switching be binocular vision avoidance.
The monocular avoidance obstacle module 550 is used to reach setting number of times in second number, and the current avoidance pattern is
In the case of binocular vision avoidance, then by the current avoidance pattern switching be monocular structure light avoidance.
Avoidance obstacle device of the present invention can also include parameter setting module (not shown), and the parameter setting module can
For receiving the luminance threshold of input, and the luminance threshold that current luminance threshold is revised as receiving.
The parameter setting module can be used for receiving the sampling interval of input, and the current sampling interval is revised as connecing
The sampling interval received.
The parameter setting module can be used for receiving the setting number of times of input, and current setting number of times is revised as connecing
The setting number of times received.
Fig. 6 is a kind of frame principle figure of hardware configuration according to avoidance obstacle device of the present invention.
According to Fig. 6, the avoidance obstacle device 600 includes at least one memory 601 and at least one processor
602, each memory 601 is used for store instruction, and the instruction is used to control each processor 602 to be operated to perform according to the present invention
Avoidance obstacle method.
In addition, according to Fig. 6, the avoidance obstacle device 600 can also include interface arrangement 603, input unit
604th, communicator 606, output device 605 etc..
Above-mentioned communicator 606 can for example carry out wired or wireless communication.
Above-mentioned interface arrangement 603 is such as including USB interface.
Above-mentioned input unit 604 is such as can include touch-screen, button.
Above-mentioned output device 605 is for example including display, loudspeaker, indicator lamp etc..
Fig. 7 is a kind of frame principle figure of embodiment according to unmanned plane of the present invention.
According to Fig. 7, unmanned plane of the present invention includes any of the above avoidance obstacle device, is marked as in the figure 7
710.In addition, unmanned plane of the present invention also include illuminance sensor 750, structured light device 740, the first camera 720,
Second camera 730 and image processing apparatus 760.
Above illuminance sensor 750, structured light device 740, the first camera 720 and second camera 730 are pacified
On the body of unmanned plane.
Illuminance sensor 750 is used to gather the acquisition device that current light degree is supplied to avoidance obstacle device 710, for
Acquisition device determines current environment brightness.
Structured light device 740 is used to send structure light.
First camera 720 and second camera 730 are supplied to image processor 760 for gathering image.
Image processing apparatus is used to carry out corresponding image procossing to the image received according to current avoidance pattern, obtains
The three-dimensional geometric information of barrier.
Above avoidance obstacle device 710 may be mounted on the body of unmanned plane, can also be arranged on remote control one end.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Point cross-reference, what each embodiment was stressed is the difference with other embodiment, but people in the art
Member is it should be understood that the various embodiments described above can be used alone or be combined with each other as needed.In addition, for device
For embodiment, because it is corresponding with embodiment of the method, so describing fairly simple, related part is implemented referring to method
The explanation of the corresponding part of example.Device embodiment described above is only schematical, wherein being used as separating component
The module of explanation can be or may not be physically separate.
The present invention can be device, method and/or computer program product.Computer program product can include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer-readable recording medium can keep and store to perform the tangible of the instruction that equipment is used by instruction
Equipment.Computer-readable recording medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer-readable recording medium
More specifically example (non exhaustive list) includes：Portable computer diskette, hard disk, random access memory (RAM), read-only deposit
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only storage (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
Be stored with instruction punch card or groove internal projection structure and above-mentioned any appropriate combination.It is used herein above to calculate
Machine readable storage medium storing program for executing is not construed as instantaneous signal in itself, the electromagnetic wave of such as radio wave or other Free propagations, logical
Cross the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer-readable recording medium each calculate/
Processing equipment, or outer computer is downloaded to or outer by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network can be transmitted, be wirelessly transferred including copper transmission cable, optical fiber, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For perform the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
Source code or object code that any combination is write, programming language of the programming language including object-oriented-such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer can
Reader instruction fully can on the user computer be performed, partly performed on the user computer, as an independence
Software kit perform, part on the user computer part perform on the remote computer or completely in remote computer or
Performed on server.In the situation of remote computer is related to, remote computer can be by the network of any kind-include office
Domain net (LAN) or wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (for example using because
Spy net service provider comes by Internet connection).In certain embodiments, by using the shape of computer-readable program instructions
State information comes personalized customization electronic circuit, such as PLD, field programmable gate array (FPGA) or programmable
Logic array (PLA), the electronic circuit can perform computer-readable program instructions, so as to realize various aspects of the invention.
Referring herein to the flow chart and/or block diagram of method according to embodiments of the present invention, device and computer program product
Describe various aspects of the invention.It should be appreciated that each square frame and flow chart and/or block diagram of flow chart and/or block diagram
In each square frame combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special-purpose computer or other programmable datas
The processor of processing unit, so as to produce a kind of machine so that these instructions are passing through computer or other programmable datas
During the computing device of processing unit, work(specified in one or more of implementation process figure and/or block diagram square frame is generated
The device of energy/action.Can also be the storage of these computer-readable program instructions in a computer-readable storage medium, these refer to
Order causes computer, programmable data processing unit and/or other equipment to work in a specific way, so that, be stored with instruction
Computer-readable medium then includes a manufacture, and it is included in one or more of implementation process figure and/or block diagram square frame
The instruction of the various aspects of defined function/action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that perform series of operation steps on computer, other programmable data processing units or miscellaneous equipment, to produce
Raw computer implemented process, so that performed on computer, other programmable data processing units or miscellaneous equipment
Instruct function/action specified in one or more of implementation process figure and/or block diagram square frame.
Flow chart and block diagram in accompanying drawing show device, method and the computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
One module of table, program segment or a part for instruction, the module, program segment or a part for instruction are used comprising one or more
In the executable instruction for realizing defined logic function.In some realizations as replacement, the function of being marked in square frame
Can be with different from the order marked in accompanying drawing generation.For example, two continuous square frames can essentially be held substantially in parallel
OK, they can also be performed in the opposite order sometimes, and this is depending on involved function.It is also noted that block diagram and/or
The combination of each square frame in flow chart and the square frame in block diagram and/or flow chart, can use function as defined in execution or dynamic
The special hardware based system made is realized, or can be realized with the combination of specialized hardware and computer instruction.It is right
For those skilled in the art it is well known that, realized by hardware mode, realized by software mode and by software and
It is all of equal value that the mode of combination of hardware, which is realized,.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
The principle, practical application or the technological improvement to the technology in market of each embodiment are best being explained, or is leading this technology
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.The scope of the present invention is limited by appended claims
It is fixed.
Claims (12)
1. a kind of avoidance obstacle method of unmanned plane, it is characterised in that including：
Determine current environment brightness；
Compare the size between the current environment brightness and the luminance threshold of setting；
Detect current avoidance pattern；
If the current environment brightness is more than or equal to the luminance threshold, and the current avoidance pattern is monocular structure
Light avoidance, then be binocular vision avoidance by the current avoidance pattern switching；
If the current environment brightness is less than the luminance threshold, and the current avoidance pattern is binocular vision avoidance, then
It is monocular structure light avoidance by the current avoidance pattern switching.
2. avoidance obstacle method according to claim 1, it is characterised in that the avoidance obstacle method also includes：
Calculate the current environment brightness and continuously meet first number for being more than or equal to the luminance threshold condition；
Calculate the current environment brightness and continuously meet second number for being less than the luminance threshold；
If first number reaches setting number of times, and the current avoidance pattern is monocular structure light avoidance, then again by institute
Current avoidance pattern switching is stated for binocular vision avoidance；
If second number reaches setting number of times, and the current avoidance pattern is binocular vision avoidance, then again will be described
Current avoidance pattern switching is monocular structure light avoidance.
3. avoidance obstacle method according to claim 1, it is characterised in that the determination current environment brightness is further
For：
Current environment brightness is determined according to the sampling interval of setting.
4. avoidance obstacle method according to claim 1, it is characterised in that the determination current environment brightness includes：
The current illumination value of at least two illuminance sensors offer is provided respectively；
The average value of all current illumination values read is calculated as the current environment brightness.
5. avoidance obstacle method according to any one of claim 1 to 4, it is characterised in that the avoidance obstacle method
Also include：
When the current avoidance pattern is binocular vision avoidance, control structure optical transmitting set is closed, and controls two cameras
Open；
When the current avoidance pattern is monocular structure light avoidance, control structure optical transmitting set and one of camera are opened
Open, and control another camera to close.
6. a kind of avoidance obstacle device of unmanned plane, it is characterised in that including：
Determining module, for determining current environment brightness；
Comparison module, for comparing the size between the current environment brightness and the luminance threshold of setting；
Detection module, for detecting current avoidance pattern；
Binocular avoidance obstacle module, for the current environment brightness be more than or equal to the luminance threshold, and it is described work as
It is binocular vision avoidance by the current avoidance pattern switching in the case that preceding avoidance pattern is monocular structure light avoidance；And,
Monocular avoidance obstacle module, for being less than the luminance threshold, and the current avoidance mould in the current environment brightness
It is monocular structure light avoidance by the current avoidance pattern switching in the case that formula is binocular vision avoidance.
7. avoidance obstacle device according to claim 6, it is characterised in that the avoidance obstacle device also includes：
First computing module, is more than or equal to the luminance threshold condition for calculating the current environment brightness and continuously meeting
First number；And,
Second computing module, for calculating the current environment brightness continuously second number of the satisfaction less than the luminance threshold；
The binocular avoidance obstacle module is used to reach setting number of times in first number, and the current avoidance pattern is single
In the case of mesh structure light avoidance, then by the current avoidance pattern switching be binocular vision avoidance；
The monocular avoidance obstacle module is used to reach setting number of times in second number, and the current avoidance pattern is double
Visually feel avoidance in the case of, then will the current avoidance pattern switching be monocular structure light avoidance.
8. avoidance obstacle device according to claim 6, it is characterised in that the determining module is further used for according to setting
The fixed sampling interval determines current environment brightness.
9. avoidance obstacle device according to claim 6, it is characterised in that the determining module includes：
Reading unit, the current illumination value for reading the offer of at least two illuminance sensors respectively；And,
Computing unit, for calculating the average value of all current illumination values read as the current environment brightness.
10. the avoidance obstacle device according to any one of claim 6 to 9, it is characterised in that
The binocular avoidance obstacle module is additionally operable to when the current avoidance pattern is binocular vision avoidance, control structure light hair
Emitter is closed, and controls two cameras to open；
The monocular avoidance obstacle module is additionally operable to when the current avoidance pattern is monocular structure light avoidance, control structure light
Transmitter and one of camera are opened, and control another camera to close.
11. a kind of avoidance obstacle device of unmanned plane, including memory and processor, it is characterised in that the memory is used for
Store instruction, the instruction is used to control the processor to be operated to perform according to any one of claim 1 to 5
Avoidance obstacle method.
12. a kind of unmanned plane, it is characterised in that described including the avoidance obstacle device any one of claim 6 to 11
Unmanned plane also includes illuminance sensor, structured light device, the first camera, second camera and image processing apparatus, its
In, at least described illuminance sensor, structured light device, the first camera and second camera are arranged on the unmanned plane
On body；
The illuminance sensor is used to gather the acquisition device that current light degree is supplied to the avoidance obstacle device, for institute
State acquisition device and determine current environment brightness；
The structured light device is used to send structure light；
First camera and the second camera are supplied to described image processor for gathering image；
Described image processing unit is used to carry out corresponding image procossing to the image received according to current avoidance pattern, obtains
The three-dimensional geometric information of barrier.
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