CN107077143A

CN107077143A - The cable barrier-avoiding method and system and unmanned plane of a kind of unmanned plane

Info

Publication number: CN107077143A
Application number: CN201580058287.6A
Authority: CN
Inventors: 陶冶; 王庶
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2015-10-28
Filing date: 2015-10-28
Publication date: 2017-08-18
Anticipated expiration: 2035-10-28
Also published as: CN107077143B; WO2017070856A1

Abstract

The cable barrier-avoiding method and system and unmanned plane of a kind of unmanned plane, to improve avoidance ability of the unmanned plane to cable.In some feasible embodiments of the invention, method includes：Unmanned plane is in flight course, the supporter in front of identification, and using the above support of identification as node；Obtain the nodal information of each node；According to the nodal information of the node, virtual enclosure wall is built between the adjacent node；According to the virtual enclosure wall adjustment flight line, to carry out avoidance to the cable.

Description

The cable barrier-avoiding method and system and unmanned plane of a kind of unmanned plane

Technical field

The present invention relates to air vehicle technique fields, and in particular to the cable barrier-avoiding method and system and unmanned plane of a kind of unmanned plane.

Background technique

Transmission line of electricity is distributed widely in outdoor low latitude, since it is not easy the feature being noticeable, to be widely used in taking photo by plane, survey and draw, the unmanned plane of the Outdoor Scenes such as plant protection causes great threat.Unmanned plane depends on the experience of operator to the avoidance of transmission line of electricity mostly for a long time, and not only failure rate is very high but also effective when only operating in sighting distance.

The existing unmanned air vehicle technique that automatic obstacle-avoiding can be realized to transmission line of electricity, mainly does figure identification to the cable of transmission line of electricity itself by vision system, then feeds back to the flight control system of unmanned plane, and adjustment flight line is hidden.

Practice discovery, since cable resolution is low, unmanned plane vision system only when very close to cable, just can recognize that cable, and unmanned plane has often been too late to dodge at this time, and therefore, the scheme avoidance effect which carries out avoidance is poor, and practicability is lower.

Summary of the invention

The embodiment of the present invention provides a kind of cable barrier-avoiding method of unmanned plane and system and unmanned plane to improve unmanned plane to the resolution of cable improve unmanned plane to the obstacle avoidance ability of cable.

First aspect present invention provides a kind of cable barrier-avoiding method of unmanned plane, and the cable uses supporter supports in the sky, which comprises unmanned plane identifies the supporter in front in flight course, and using the above support of identification as node；Obtain the nodal information of each node；According to the nodal information of the node, virtual enclosure wall is constructed between the adjacent node；Flight line is adjusted according to the virtual enclosure wall, to carry out avoidance to the cable.

Second aspect of the present invention provides a kind of cable obstacle avoidance system of unmanned plane, comprising: identification module, in flight course, identifying the supporter in front, and using the above support of identification as node；It obtains each The nodal information of the node；Processing module constructs virtual enclosure wall between the adjacent node for the nodal information according to the node；Fly control module, for adjusting flight line according to the virtual enclosure wall, to carry out avoidance to cable, the cable is supported in the sky using above support.

Third aspect present invention provides a kind of system for unmanned plane cable avoidance, the cable uses supporter supports in the sky, the system comprises: one or more processors, independently or work together, the processor is used for: identifying the supporter in front, and using the above support of identification as node；Obtain the nodal information of each node；According to the nodal information of the node, virtual enclosure wall is constructed between the adjacent node；Flight line is adjusted according to the virtual enclosure wall, to carry out avoidance to the cable.

Fourth aspect present invention provides a kind of unmanned plane, comprising: the cable obstacle avoidance system of unmanned plane as described in the third aspect of the present invention；Sensor, with the processor communication connection；Wherein, the sensor is used to obtain the information of the supporter in front, and sends the information of above support to the processor, and the processor identifies above support according to the information of above support.

Fifth aspect present invention provides a kind of storage medium for storing one or more programs, one or more of programs include instruction, described instruction is when by including flying platform, power device, electrical system, when the unmanned plane of one or more processors executes, make the method for the unmanned plane execution as described in the first aspect of the invention.

Therefore in some feasible embodiments of the invention, identified using the supporter to cable, and using supporter as node, nodal information based on node constructs virtual enclosure wall, and the technical solution of flight avoidance is carried out according to virtual enclosure wall, achieves following technical effect:

Relative to cable, the size of supporter is bigger, and resolution is higher, therefore, technical solution of the present invention can in farther distance, more accurately identify front cable；

In addition, constructing virtual enclosure wall between adjacent node by using supporter as node, adjusting flight line according to virtual enclosure wall can effectively avoid collision or winding with cable so that flight obstacle avoidance ability is higher, safety is further improved, the ability of unmanned plane open air autonomous flight is improved.

Sixth aspect present invention provides a kind of barrier-avoiding method of unmanned plane, which comprises obtains the nodal information of multiple nodes, each node is set up according to avoidance object；Avoidance route is calculated according to the nodal information of the node, wherein the avoidance route is established virtual between the adjacent node Over or around Enclosure wall.

Seventh aspect present invention provides a kind of obstacle avoidance system of unmanned plane, the system comprises: one or more processors independently or work together, and the processor is used for: obtaining the nodal information of multiple nodes, each node is set up according to avoidance object；Avoidance route is calculated according to the nodal information of the node, wherein the avoidance route establishes the virtual enclosure wall between the adjacent node Over or around.

Eighth aspect present invention provides a kind of unmanned plane, comprising: the obstacle avoidance system of the unmanned plane as described in seventh aspect present invention；Sensor, with the processor communication connection；Wherein, the sensor is used to obtain the information of avoidance object, and sends the information of the avoidance object to the processor, and the processor sets up the node according to the information of the avoidance object.

Ninth aspect present invention provides a kind of storage medium for storing one or more programs, one or more of programs include instruction, described instruction makes the unmanned plane execute the method as described in sixth aspect present invention when the unmanned plane for being included one or more processors executes.

Therefore, in some feasible embodiments of the invention, using the nodal information for obtaining the node set up according to avoidance object, avoidance route is calculated according to the nodal information of node, wherein, the avoidance route establishes the technical solution of the virtual enclosure wall between the adjacent node Over or around, achieves following technical effect:

By constructing virtual enclosure wall between adjacent node using avoidance object as node, avoidance route is calculated according to virtual enclosure wall, so that obstacle avoidance ability is higher, it can effectively avoid the collision or winding with avoidances objects such as cables, further improve safety, improve the ability of unmanned plane open air autonomous flight.

Tenth aspect present invention provides a kind of cable barrier-avoiding method of unmanned plane, which comprises obtains the location information of the supporter in front, above support is used for cable support in the sky；According to the positional information calculation avoidance route of above support, wherein the avoidance route is supported on the cable between adjacent above support Over or around.

Tenth one side of the invention provides a kind of obstacle avoidance system of unmanned plane, the system comprises: one or more processors, it independently or works together, the processor is used for: obtaining the location information of the supporter in front, above support is used for cable support in the sky；According to the positional information calculation avoidance route of above support, wherein the avoidance route establishes the cable between adjacent above support Over or around.

The twelfth aspect of the present invention provides a kind of unmanned plane, and the unmanned plane includes: the obstacle avoidance system of the unmanned plane as described in the tenth one side of the invention；Sensor, with the processor communication connection；Wherein, the sensor is used to obtain the characteristic information of supporter, and sends the characteristic information of above support to the processor；The processor calculates the location information of above support according to the characteristic information.

The 13rd aspect of the present invention provides a kind of storage medium for storing one or more programs, one or more of programs include instruction, described instruction makes the unmanned plane execute the method as described in tenth aspect present invention when the unmanned plane for being included one or more processors executes.

Therefore, in some feasible embodiments of the invention, it is identified using the supporter to supporting cable, according to the positional information calculation avoidance route of above support, wherein the avoidance route is supported on the technical solution of the cable between adjacent above support Over or around, achieves following technical effect:

Relative to cable, the size of supporter is bigger, and resolution is higher, therefore, technical solution of the present invention can in farther distance, more accurately identify front cable；To can effectively avoid collision or winding with cable, further improve safety, improve the ability of unmanned plane open air autonomous flight so that flight obstacle avoidance ability is higher.

Detailed description of the invention

Technical solution in order to illustrate the embodiments of the present invention more clearly, embodiment and attached drawing needed to be used in the description of the prior art will be briefly described below, apparently, drawings in the following description are only some embodiments of the invention, for those of ordinary skill in the art, without creative efforts, other attached drawings be can also be obtained according to these attached drawings.

Fig. 1 is a kind of flow chart of power transmission line unmanned machine barrier-avoiding method provided in an embodiment of the present invention；

Fig. 2-1 is the schematic diagram for identifying the transmission tower of rod-like structure；

Fig. 2-2 is the schematic diagram for identifying the transmission tower of tower structure；

Fig. 2-3 is the direction i.e. schematic diagram of cable trend of determining transmission tower；

Fig. 2-4 is the schematic top plan view of virtual enclosure wall；

Fig. 2-5 is the stereoscopic schematic diagram of virtual enclosure wall

Fig. 3 is a kind of structural schematic diagram of the cable obstacle avoidance system of unmanned plane of the embodiment of the present invention；

Fig. 4 is the structural schematic diagram of the cable obstacle avoidance system of another kind unmanned plane of the embodiment of the present invention；

Fig. 5 is a kind of structural schematic diagram for unmanned plane of the embodiment of the present invention；

Fig. 6 is a kind of flow chart of the barrier-avoiding method of unmanned plane of the embodiment of the present invention；

Fig. 7 is a kind of structural schematic diagram of the obstacle avoidance system of unmanned plane of the embodiment of the present invention；

Fig. 8 is the structural schematic diagram of the obstacle avoidance system of another kind unmanned plane of the embodiment of the present invention；

Fig. 9 is a kind of structural schematic diagram for unmanned plane of the embodiment of the present invention；

Figure 10 is a kind of flow chart of the barrier-avoiding method of unmanned plane of the embodiment of the present invention；

Figure 11 is a kind of structural schematic diagram of the obstacle avoidance system of unmanned plane of the embodiment of the present invention；

Figure 12 is the structural schematic diagram of the obstacle avoidance system of another kind unmanned plane of the embodiment of the present invention；

Figure 13 is a kind of structural schematic diagram for unmanned plane of the embodiment of the present invention.

Specific embodiment

In order to enable those skilled in the art to better understand the solution of the present invention, following will be combined with the drawings in the embodiments of the present invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, should fall within the scope of the present invention.

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.

Referring to FIG. 1, the embodiment of the present invention provides a kind of cable barrier-avoiding method of unmanned plane.

This method carries out flight avoidance to cable for unmanned plane, and the cable uses supporter supports in the sky.Herein, described cable for example can be power transmission cable or communications cable etc..Wherein, supporter can be any possible structure, for example, rod-like structure or tower structure.By taking power transmission cable as an example, corresponding supporter is transmission tower.By taking the communications cable as an example, corresponding supporter is communication shaft tower.

As shown in Figure 1, present invention method can include:

101, unmanned plane identifies the supporter in front in flight course, and using the above support of identification as node；Obtain the nodal information of each node.

Unlike identification cable in the prior art, in the embodiment of the present invention, in order to improve accuracy of identification, unmanned plane identifies the supporter of front carrying cable in flight course.The size of supporter includes Height and width are significantly larger than the diameter of cable, and therefore, resolution is higher, can be in farther distance, more accurately identified.

Supporter can be identified using a variety of methods.

In a kind of embodiment, the image information of available above support；According to the image information of above support, above support is identified.Specifically, unmanned plane can use the transmission tower in the transmission line of electricity of vision system identification front so that supporter is transmission tower as an example.Usually, the transmission tower includes rod-like structure and tower structure, wherein, as shown in Fig. 2-1, can be using the transmission tower of line segment detecting method identification rod-like structure, as shown in Fig. 2-2, it can be using the transmission tower of learning algorithm identification tower structure, the learning algorithm is learnt by the picture to a large amount of transmission towers, and the feature for extracting transmission tower is identified.

In another embodiment, the temperature information of available above support；According to the temperature information of above support, above support is identified.Specifically, unmanned plane can use the transmission tower in the transmission line of electricity of infrared induction camera identification front so that supporter is transmission tower as an example.The principle of which is, due to the presence of electric current in transmission line of electricity, can generate certain heat, therefore the temperature at transmission tower is higher, so can use the identification of infrared induction camera.

In other embodiment, supporter can also be identified using other way, without limitation herein for specific identification method.

Unmanned plane is after identifying supporter, further using the above support of identification as node；Obtain the nodal information of each node.The nodal information includes following at least one: the size of the node, the position of the node, the direction of the node.

Wherein it is possible to be identified using direction trend of a variety of methods to node.

It is identified in a kind of embodiment using vision system, comprising: identify the crossbeam；According to the crossbeam of identification, the determining direction with the beam vertical is the direction of the node.Specifically, by taking supporter is transmission tower as an example as Figure 2-3, crossbeam being usually provided on transmission tower, is typically provided with insulator on crossbeam, to be used for fixed cable, and cable trend is usually vertical with crossbeam direction.Therefore, herein, unmanned plane can use vision system and identify crossbeam on the transmission tower, determine the direction of the crossbeam, judge to be that cable is moved towards with the direction of the beam vertical.Herein, the cable trend is the direction of supporter.

In another embodiment, the electric field strength of the available near nodal and direction, according to described The electric field strength of near nodal and direction determine the direction of the node.Specifically, unmanned plane can use electric field strength and the direction of the transmission line of electricity near electric-field sensor perception supporter so that supporter is transmission tower as an example, moved towards according to the electric field strength of the transmission line of electricity and walking direction cable.The electric field that electric current generates in cable, intensity distribution and direction and sense of current have determining relationship, therefore, can be according to the electric field strength and walking direction sense of current of the transmission line of electricity, that is, cable trend.Herein, the cable trend is the direction of supporter.

In other embodiment, it can also be identified using direction of the other way to supporter, without limitation herein for specific identification method.

Unmanned plane also further obtains the information such as node, that is, supporter size and position.Acquisition size and the method for position may include: the image pixel variation of the above support identified according to the unmanned plane in different flight positions, and in conjunction with positioning system (such as the GPS on the unmanned plane, full name in English: Global Positioning System) data, calculate the node size of above support and position in other words, the size of the node includes the height and width of above support, and the position of the node includes longitude and latitude.

Specifically, unmanned plane can be according to the supporter periodically or in front of timing identification, since unmanned plane is in state of flight, position constantly changes, therefore, supporter can be identified in different flight positions, for using vision system identification, can identify the image of above support in different flight positions；Changed according to the pixel of the change in location and the image identified of unmanned plane and supporter, can determine the size of supporter, including height and width etc..In addition, unmanned plane can use the position that GPS determines itself each moment, and in conjunction with the relative position of unmanned plane and supporter, the position for the determining supporter that can improve, including longitude and latitude data etc..

Preferably, unmanned plane the nodal informations such as the size of the node and position and direction can be recorded in node database.Node database can be deployed at the operator or other third parties of unmanned plane.In this way, perfect with node database interior joint information data, unmanned plane can easily be directly acquired from node database the supporter near position size and position and towards etc. nodal informations.

Therefore, optionally, the supporter in front of identification above, and using the above support of identification as node；The step of obtaining the nodal information of each node is also possible to realize by interacting with node database.

102, according to the nodal information of the node, virtual enclosure wall is constructed between the adjacent node.

Unmanned plane can be managed in module such as processor at which after identifying and determining size and the nodal informations such as position and direction of supporter and construct mathematical model.So that flight control system (referred to as: flight control system) carries out avoidance using mathematical model adjustment flight line.

In mathematical model, using supporter as node, virtual enclosure wall is constructed according to preset rules among the nodes, it is specific: can be the height of the virtual enclosure wall with the height of the node, with the trend for being oriented the virtual enclosure wall of the node, virtual enclosure wall is constructed between adjacent node, the height of the virtual enclosure wall is the height of above support, and trend is consistent with cable trend.

The virtual enclosure wall is substantially the mathematical abstractions to cable-obstacle.In one example, constructed virtual enclosure wall as shown in Fig. 2-4 and Fig. 2-5, wherein be the schematic top plan view of virtual enclosure wall shown in Fig. 2-4, be the stereoscopic schematic diagram of virtual enclosure wall shown in Fig. 2-5.

103, flight line is adjusted according to the virtual enclosure wall, to carry out avoidance to the cable.

The flight control system of unmanned plane can adjust flight line according to constructed virtual enclosure wall, and flight line adjusted should hide virtual enclosure wall, then unmanned plane flies according to flight line adjusted, is achieved that cable flight avoidance.

It is appreciated that above scheme of the embodiment of the present invention can for example be embodied on unmanned plane.

Therefore in some feasible embodiments of the present invention, identified using the supporter to cable, and using supporter as node, nodal information based on node constructs virtual enclosure wall, and the technical solution of flight avoidance is carried out according to virtual enclosure wall, achieves following technical effect:

In addition, constructing virtual enclosure wall between adjacent node by using supporter as node, adjusting flight line according to virtual enclosure wall can effectively avoid collision or winding with cable so that the effect of flight avoidance is more preferable, safety is further improved, the ability of unmanned plane open air autonomous flight is improved.

For the above scheme of the better implementation embodiment of the present invention, it is also provided below for cooperating the relevant apparatus for implementing above scheme.

Referring to FIG. 3, the embodiment of the present invention provides a kind of cable obstacle avoidance system 300 of unmanned plane, it may include:

Identification module 301, in flight course, identifying the supporter in front, and described in identification Supporter is node；Obtain the nodal information of each node；

Processing module 302 constructs virtual enclosure wall between the adjacent node for the nodal information according to the node；

Fly control module 303, for adjusting flight line according to the virtual enclosure wall, to carry out avoidance to cable, the cable is supported in the sky using above support.

Wherein, identification module can correspond to vision system or electric-field sensor of unmanned plane etc., and processing module can correspond to the processor of unmanned plane, and flying control module can correspond to the flight control system of unmanned plane.

In some embodiments of the invention, the identification module 301 can include:

First recognition unit identifies above support for the image information according to above support.

Second recognition unit identifies above support for the temperature information according to above support.

In some embodiments of the invention, the nodal information includes following at least one: the size of the node, the position of the node, the direction of the node.

In some embodiments of the invention, the cable is power transmission cable, and above support is equipped with the crossbeam for carrying the power transmission cable, the identification module 301 can include:

Third recognition unit, for identification crossbeam；According to the crossbeam of identification, the determining direction with the beam vertical is the direction of the node.

4th recognition unit determines the direction of the node according to the electric field strength of the near nodal and direction for obtaining electric field strength and the direction of the near nodal.

5th recognition unit, image pixel variation for the above support identified according to the unmanned plane in different flight positions, and in conjunction with the positioning system data on the unmanned plane, calculate the size of the node and the position of the node, the size of the node includes the height and width of above support, and the position of the node includes longitude and latitude.

In some embodiments of the invention, the processing module, specifically for taking the height of the node as the height of the virtual enclosure wall, with the trend for being oriented the virtual enclosure wall of the node, in adjacent institute It states and constructs virtual enclosure wall between node.

In some embodiments of the invention, the cable obstacle avoidance system 300 of the unmanned plane may also include that

Logging modle 304, for the nodal information of the node to be recorded in node database.

It is appreciated that the function of each functional module of the cable obstacle avoidance system of the unmanned plane of the embodiment of the present invention can be implemented according to the method in above method embodiment, specific implementation process can refer to the associated description in above method embodiment, and details are not described herein again.

Therefore, in some feasible embodiments of the invention, disclose a kind of cable obstacle avoidance system of unmanned plane, it is identified using the transmission tower to transmission line of electricity, the virtual enclosure wall of building is moved towards based on transmission tower and cable, the technical solution that flight avoidance is carried out according to virtual enclosure wall achieves following technical effect:

Relative to cable, the size of transmission tower is bigger, and resolution is higher, therefore, technical solution of the present invention can in farther distance, more accurately identify front transmission line of electricity；

In addition, by using transmission tower as node, virtual enclosure wall is constructed between adjacent node, flight line is adjusted according to virtual enclosure wall, so that the effect of flight avoidance is more preferable, it can effectively avoid the collision or winding with transmission line of electricity, further improve safety, improve the ability of unmanned plane open air autonomous flight.

Please refer to Fig. 4, the embodiment of the present invention also provides a kind of system 400 for unmanned plane cable avoidance, and in the sky using supporter supports, the system 400 includes: one or more processors 401 to the cable, it independently or works together, the processor 401 is used for:

Identify the supporter in front, and using the above support of identification as node；Obtain the nodal information of each node；According to the nodal information of the node, virtual enclosure wall is constructed between the adjacent node；Flight line is adjusted according to the virtual enclosure wall, to carry out avoidance to the cable.

Optionally, it can also include memory 402 and communication interface 403, be connected and communicated by bus with processor 401.

In some embodiments of the invention, the processor is also used to obtain the image information of above support；According to the image information of above support, above support is identified.

In some embodiments of the invention, the processor is also used to obtain the temperature information of above support；According to the temperature information of above support, above support is identified.

In some embodiments of the invention, the cable is power transmission cable, and above support is equipped with the crossbeam for carrying the power transmission cable, and the processor is also used to: identifying the crossbeam；According to the crossbeam of identification, the determining direction with the beam vertical is the direction of the node.

In some embodiments of the invention, the cable is power transmission cable, above support is equipped with the crossbeam for carrying the power transmission cable, the processor is also used to: obtaining electric field strength and the direction of the near nodal, the direction of the node is determined according to the electric field strength of the near nodal and direction.

In some embodiments of the invention, the processor is also used to: according to the image pixel variation for the above support that the unmanned plane is identified in different flight positions, and in conjunction with the positioning system data on the unmanned plane, calculate the size of the node and the position of the node, the size of the node includes the height and width of above support, and the position of the node includes longitude and latitude.Specifically,

In some embodiments of the invention, the processor is also used to: in the change in location of the unmanned plane, obtaining the image of above support；Calculate the pixel change information of the change in location information of the unmanned plane and the image of above support；According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the dimension information of the node is calculated.

In some embodiments of the invention, the processor is also used to: in the change in location of the unmanned plane, obtaining the location information of the unmanned plane and the image of above support；Calculate the pixel change information of the change in location information of the unmanned plane and the image of above support；According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the relative position information of the node Yu the unmanned plane is calculated；According to the current location information of the unmanned plane and the relative position information of the node and the unmanned plane, the location information of the node is calculated.

In some embodiments of the invention, the size of the node includes height, the processor is also used to: constructing virtual enclosure wall between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.

In some embodiments of the invention, the processor is also used to: after the nodal information for obtaining each node further include: the nodal information of the node is recorded in node database.

It is understood that, the function of the processor of the embodiment of the present invention can be implemented according to the device in the method and Installation practice as shown in Figure 3 in above-mentioned embodiment of the method as shown in Figure 1, and specific implementation process can refer to the associated description in the above method and Installation practice.

Therefore in some feasible embodiment of the invention, a kind of cable obstacle avoidance system of unmanned plane is disclosed, following technical effect is achieved:

Referring to FIG. 5, the embodiment of the present invention also provides a kind of unmanned plane 500.The unmanned plane 500 can include:

The cable obstacle avoidance system 400 of unmanned plane as described in figure 4 above embodiment；

Sensor 501, with 401 communication connection of processor；

Wherein, the sensor is used to obtain the information of the supporter in front, and sends the information of above support to the processor, and the processor identifies above support according to the information of above support.

It is understood that, the function of the unmanned plane of the embodiment of the present invention can be implemented according to the device in the method and Installation practice as shown in Figure 3 in above-mentioned embodiment of the method as shown in the embodiment of fig. 1, and specific implementation process can refer to the associated description in the above method and Installation practice.

The embodiment of the present invention also provides a kind of storage medium for storing one or more programs, one or more of programs include instruction, described instruction makes the unmanned plane execute the method in embodiment of the method as shown in Figure 1 when the unmanned plane for being included one or more processors executes.

To sum up, Fig. 1 of the present invention discloses the cable barrier-avoiding method and system and unmanned plane of a kind of unmanned plane into several embodiments shown in fig. 5, it is identified using the supporter to cable, and using supporter as node, nodal information based on node constructs virtual enclosure wall, the technical solution that flight avoidance is carried out according to virtual enclosure wall achieves following technical effect:

Referring to FIG. 6, the embodiment of the present invention provides a kind of barrier-avoiding method of unmanned plane, it may include:

601, the nodal information of multiple nodes is obtained, each node is set up according to avoidance object；

602, avoidance route is calculated according to the nodal information of the node, wherein the avoidance route establishes the virtual enclosure wall between the adjacent node Over or around.

In some embodiment of the invention, before the nodal information for obtaining multiple nodes further include: obtain the image information or temperature information of the barrier in front；According to the image information or temperature information of the barrier, the barrier is identified；Node is set up according to the barrier.

In some embodiment of the invention, the nodal information includes following at least one: the size of the node, the position of the node, the direction of the node；Before the calculating avoidance route according to the nodal information of the node further include: construct virtual enclosure wall between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.

It should be noted that, avoidance object can be transmission tower, the communication shaft tower etc. in above-described embodiment one, it may be other objects, such as, avoidance object can be high buildings and large mansions, node is multiple reference points around the high buildings and large mansions that system is set automatically, or multiple reference points set by user around high buildings and large mansions.

It is appreciated that the method specific implementation of the embodiment of the present invention, specific implementation process are also referred to the associated description in figure 1 above embodiment of the method, details are not described herein again.

Referring to FIG. 7, the embodiment of the present invention provides a kind of obstacle avoidance system 700 of unmanned plane, it may include:

Module 701 is obtained, for obtaining the nodal information of multiple nodes, each node is set up according to avoidance object；

Computing module 702, for calculating avoidance route according to the nodal information of the node, wherein the avoidance route establishes the virtual enclosure wall between the adjacent node Over or around.

In some embodiment of the invention, the system also includes:

Identification module 703, the image information or temperature information of the barrier for obtaining front；According to the image information or temperature information of the barrier, the barrier is identified；Node is set up according to the barrier.

In some embodiment of the invention, the nodal information includes following at least one: the size of the node, the position of the node, the direction of the node；The system also includes:

Module 704 is constructed, for taking the height of the node as the height of the virtual enclosure wall, with the section The trend for being oriented the virtual enclosure wall of point, constructs virtual enclosure wall between the adjacent node.

It is appreciated that the function of each functional module of the system of the embodiment of the present invention can be implemented according to the method in above-mentioned Fig. 1 and Fig. 6 embodiment of the method, specific implementation process can refer to the associated description in above method embodiment, and details are not described herein again.

Referring to FIG. 8, the embodiment of the present invention provides a kind of obstacle avoidance system 800 of unmanned plane, it may include:

One or more processors 801 independently or work together, and the processor 801 is used for: obtaining the nodal information of multiple nodes, each node is set up according to avoidance object；Avoidance route is calculated according to the nodal information of the node, wherein the avoidance route establishes the virtual enclosure wall between the adjacent node Over or around.

Optionally, it can also include memory 802 and communication interface 803, be connected and communicated by bus with processor 801.

In some embodiment of the invention, the processor 801 is also used to: obtaining the image information or temperature information of the barrier in front；According to the image information or temperature information of the barrier, the barrier is identified；Node is set up according to the barrier.

In some embodiment of the invention, the nodal information includes following at least one: the size of the node, the position of the node, the direction of the node；The processor 801 is also used to: constructing virtual enclosure wall between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.

It is appreciated that the function of the system of the embodiment of the present invention can be implemented according to the method in above-mentioned Fig. 1 and Fig. 6 embodiment of the method, specific implementation process can refer to the associated description in above method embodiment, and details are not described herein again.

Referring to FIG. 9, the embodiment of the present invention also provides a kind of unmanned plane 900, it may include:

The obstacle avoidance system 800 of unmanned plane as described in figure 8 above embodiment；

Sensor 901, with the processor communication connection；

Wherein, the sensor 901 is used to obtain the information of avoidance object, and sends the information of the avoidance object to the processor, and the processor sets up the node according to the information of the avoidance object.

It is appreciated that the unmanned plane of the embodiment of the present invention can be implemented according to method or apparatus of the above-mentioned Fig. 1 and Fig. 6 into Fig. 8 embodiment, specific implementation process can refer to the associated description in above method embodiment and Installation practice, and details are not described herein again.

The embodiment of the present invention also provides a kind of storage medium for storing one or more programs, one or more of programs include instruction, described instruction makes the unmanned plane execute the method in embodiment of the method as shown in FIG. 6 when the unmanned plane for being included one or more processors executes.

To sum up, the cable barrier-avoiding method and system and unmanned plane of a kind of unmanned plane are disclosed in the several embodiments of Fig. 6 of the present invention to Fig. 9, using the nodal information for obtaining the node set up according to avoidance object, avoidance route is calculated according to the nodal information of node, wherein, the avoidance route establishes the technical solution of the virtual enclosure wall between the adjacent node Over or around, achieves following technical effect:

Referring to FIG. 10, the embodiment of the present invention provides a kind of barrier-avoiding method of unmanned plane, it may include:

1001, the location information of the supporter in front is obtained, above support is used for cable support in the sky；

1002, according to the positional information calculation avoidance route of above support, wherein the avoidance route is supported on the cable between adjacent above support Over or around.

In some embodiment of the invention, before the location information of the supporter in front of the acquisition further include: obtain the image information or temperature information of the barrier in front；According to the image information or temperature information of the barrier, the barrier is identified.

In some embodiment of the invention, before the positional information calculation avoidance route according to above support, further includes: obtain the dimension information and orientation information of above support.

It should be noted that, it is not limited to include: to construct virtual enclosure wall between the adjacent node according to the step of positional information calculation avoidance route of above support, other modes can also be used, such as, it also may include: to form warning line between the adjacent node according to the step of positional information calculation avoidance route of above support, upper area higher than the first preset height of warning line is upper safety zone, region lower than the second preset height of warning line is lower safety zone, unmanned plane can cross cable from upper safety zone, or cable is passed through from lower safety zone.

It is appreciated that the function of each functional module of the system of the embodiment of the present invention can also be according to above-mentioned Fig. 1 Method specific implementation in embodiment of the method, specific implementation process can refer to the associated description in above method embodiment, and details are not described herein again.

Figure 11 is please referred to, the embodiment of the present invention provides a kind of obstacle avoidance system 1100 of unmanned plane, it may include:

Module 1101 is obtained, the location information of the supporter for obtaining front, above support is used for cable support in the sky；

Computing module 1102, for the positional information calculation avoidance route according to above support, wherein the avoidance route is supported on the cable between adjacent above support Over or around.

In some embodiment of the invention, further includes:

Identification module 1103, the image information or temperature information of the barrier for obtaining front；According to the image information or temperature information of the barrier, the barrier is identified.

In some embodiment of the invention, the dimension information and orientation information for obtaining module 1102 and being also used to obtain above support.

It is appreciated that the function of each functional module of the system of the embodiment of the present invention can be implemented according to the method in above-mentioned Fig. 1 and Figure 10 embodiment of the method, specific implementation process can refer to the associated description in above method embodiment, and details are not described herein again.

Figure 12 is please referred to, the embodiment of the present invention provides a kind of obstacle avoidance system 1200 of unmanned plane, it may include:

One or more processors 1201 independently or work together, and the processor 1201 is used for: obtaining the location information of the supporter in front, above support is used for cable support in the sky；According to the positional information calculation avoidance route of above support, wherein the avoidance route establishes the cable between adjacent above support Over or around.

Optionally, it can also include memory 1202 and communication interface 1203, be connected and communicated by bus with processor 1201.

In some embodiment of the invention, the processor 1201 is also used to: obtaining the image information or temperature information of the barrier in front；According to the image information or temperature information of the barrier, the barrier is identified.

In some embodiment of the invention, the processor 1201 is also used to: obtaining the dimension information and orientation information of above support.

It is appreciated that the function of the system of the embodiment of the present invention can be implemented according to the method in above-mentioned Fig. 1 and Figure 10 embodiment of the method, specific implementation process can refer to the associated description in above method embodiment, Details are not described herein again.

Figure 13 is please referred to, the embodiment of the present invention also provides a kind of unmanned plane 1300, it may include:

The obstacle avoidance system of unmanned plane as described in figure 12 above embodiment；

Sensor 1301, with 1201 communication connection of processor；

Wherein, the sensor is used to obtain the characteristic information of supporter, and sends the characteristic information of above support to the processor；The processor calculates the location information of above support according to the characteristic information.

It is understood that, the function of the unmanned plane of the embodiment of the present invention can be implemented according to method of the above-mentioned Fig. 1 and Fig. 6 into Figure 12 embodiment of the method and Installation practice, its specific implementation process can refer to the associated description in above method embodiment and Installation practice, and details are not described herein again.

The embodiment of the present invention also provides a kind of storage medium for storing one or more programs, one or more of programs include instruction, described instruction makes the unmanned plane execute the method in embodiment of the method as shown in Figure 10 when the unmanned plane for being included one or more processors executes.

To sum up, the cable barrier-avoiding method and system and unmanned plane of a kind of unmanned plane are disclosed in the several embodiments of Figure 10 of the present invention to Figure 13, it is identified using the supporter to supporting cable, according to the positional information calculation avoidance route of above support, wherein the avoidance route is supported on the technical solution of the cable between adjacent above support Over or around, achieves following technical effect:

In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, the part being not described in some embodiment may refer to the associated description of other embodiments.

It should be noted that, for the various method embodiments described above, for simple description, therefore, it is stated as a series of action combinations, but those skilled in the art should understand that, the present invention is not limited by described sequence of movement, because according to the present invention, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art should also know that, embodiment described in this description belongs to be preferably implemented Example, related actions and modules are not necessarily necessary for the present invention.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is relevant hardware can be instructed to complete by program, the program can be stored in a computer readable storage medium, and storage medium may include: ROM, RAM, disk or CD etc..

The cable barrier-avoiding method and system and unmanned plane for being provided for the embodiments of the invention unmanned plane above are described in detail, used herein a specific example illustrates the principle and implementation of the invention, and the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；At the same time, for those skilled in the art, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion the contents of this specification are not to be construed as limiting the invention.

Claims

A kind of cable barrier-avoiding method of unmanned plane, the cable use supporter supports in the sky, which is characterized in that the described method includes:

Unmanned plane identifies the supporter in front in flight course, and using the above support of identification as node；

Obtain the nodal information of each node；

According to the nodal information of the node, virtual enclosure wall is constructed between the adjacent node；

Flight line is adjusted according to the virtual enclosure wall, to carry out avoidance to the cable.
The method according to claim 1, wherein the supporter in front of the identification includes:

Obtain the image information of above support；

According to the image information of above support, above support is identified.
The method according to claim 1, wherein the supporter in front of the identification includes:

Obtain the temperature information of above support；

According to the temperature information of above support, above support is identified.
Method according to any one of claims 1 to 3, which is characterized in that the nodal information includes following at least one:

The size of the node, the position of the node, the direction of the node.
According to the method described in claim 4, above support is equipped with the crossbeam for carrying the power transmission cable, and the nodal information for obtaining each node includes: it is characterized in that, the cable is power transmission cable

Identify the crossbeam；

According to the crossbeam of identification, the determining direction with the beam vertical is the direction of the node.
According to the method described in claim 4, above support is equipped with the crossbeam for carrying the power transmission cable, and the nodal information for obtaining each node includes: it is characterized in that, the cable is power transmission cable

Electric field strength and the direction for obtaining the near nodal, the direction of the node is determined according to the electric field strength of the near nodal and direction.
According to the method described in claim 4, it is characterized in that, the nodal information for obtaining each node includes:

In the change in location of the unmanned plane, the image of above support is obtained；

Calculate the pixel change information of the change in location information of the unmanned plane and the image of above support；

According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the dimension information of the node is calculated.
According to the method described in claim 4, it is characterized in that, the nodal information for obtaining each node includes:

In the change in location of the unmanned plane, the location information of the unmanned plane and the image of above support are obtained；

Calculate the pixel change information of the change in location information of the unmanned plane and the image of above support；

According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the relative position information of the node Yu the unmanned plane is calculated；

According to the current location information of the unmanned plane and the relative position information of the node and the unmanned plane, the location information of the node is calculated.
According to the method described in claim 4, it is characterized in that, the size of the node includes height, it is described to construct virtual enclosure wall between the adjacent node and include:

Virtual enclosure wall is constructed between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.
According to claim 1 to any method in 9, which is characterized in that after the nodal information for obtaining each node further include:

The nodal information of the node is recorded in node database.
A kind of cable obstacle avoidance system of unmanned plane characterized by comprising

Identification module, in flight course, identifying the supporter in front, and using the above support of identification as node；Obtain the nodal information of each node；

Processing module constructs virtual enclosure wall between the adjacent node for the nodal information according to the node；

Fly control module, for adjusting flight line according to the virtual enclosure wall, to carry out avoidance to cable, the cable is supported in the sky using above support.
Unmanned plane according to claim 11, which is characterized in that the identification module includes:

First recognition unit, for obtaining the image information of above support；According to the image information of above support, above support is identified.
Unmanned plane according to claim 11, which is characterized in that the identification module includes:

Second recognition unit, for obtaining the temperature information of above support；According to the temperature information of above support, above support is identified.
Any unmanned plane in 1 to 13 according to claim 1, which is characterized in that the nodal information includes following at least one:

The size of the node, the position of the node, the direction of the node.
Unmanned plane according to claim 14, which is characterized in that the cable is power transmission cable, and above support is equipped with the crossbeam for carrying the power transmission cable, and the identification module includes:

Third recognition unit, for identification crossbeam；According to the crossbeam of identification, the determining direction with the beam vertical is the direction of the node.
Unmanned plane according to claim 14, which is characterized in that the cable is power transmission cable, and above support is equipped with the crossbeam for carrying the power transmission cable, and the identification module includes:

4th recognition unit determines the direction of the node according to the electric field strength of the near nodal and direction for obtaining electric field strength and the direction of the near nodal.
Unmanned plane according to claim 14, which is characterized in that the identification module includes:

5th recognition unit, for obtaining the image of above support in the change in location of the unmanned plane；Calculate the pixel change information of the change in location information of the unmanned plane and the image of above support；According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the dimension information of the node is calculated.
Unmanned plane according to claim 14, which is characterized in that the identification module includes:

6th recognition unit, in the change in location of the unmanned plane, obtaining the location information of the unmanned plane and the image of above support；Calculate the pixel change information of the change in location information of the unmanned plane and the image of above support；According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the relative position information of the node Yu the unmanned plane is calculated；According to the current location information of the unmanned plane and the relative position information of the node and the unmanned plane, the location information of the node is calculated.
Unmanned plane according to claim 14, which is characterized in that

The processing module, specifically for constructing virtual enclosure wall between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.
Any unmanned plane in 1 to 19 according to claim 1, which is characterized in that further include:

Logging modle, for the nodal information of the node to be recorded in node database.
A kind of cable obstacle avoidance system of unmanned plane, the cable use supporter supports in the sky, which is characterized in that the system comprises:

One or more processors independently or work together, and the processor is used for:

Identify the supporter in front, and using the above support of identification as node；

Obtain the nodal information of each node；

According to the nodal information of the node, virtual enclosure wall is constructed between the adjacent node；

Flight line is adjusted according to the virtual enclosure wall, to carry out avoidance to the cable.
System according to claim 21, which is characterized in that

The processor is also used to: according to the image information of above support, identifying above support.
System according to claim 21, which is characterized in that

The processor is also used to: according to the temperature information of above support, identifying above support.
According to the system any in claim 21 to 23, which is characterized in that the nodal information includes following at least one: the size of the node, the position of the node, the direction of the node.
System according to claim 24, which is characterized in that the cable is power transmission cable, and above support is equipped with the crossbeam for carrying the power transmission cable；

The processor is also used to: identifying the crossbeam；According to the crossbeam of identification, the determining direction with the beam vertical is the direction of the node.
System according to claim 24, which is characterized in that the cable is power transmission cable, and above support is equipped with the crossbeam for carrying the power transmission cable；

The processor is also used to: obtaining electric field strength and the direction of the near nodal, the direction of the node is determined according to the electric field strength of the near nodal and direction.
System according to claim 24, which is characterized in that

The processor is also used to: in the change in location of the unmanned plane, calculating the position of the unmanned plane The pixel change information of the image of change information and above support；According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the dimension information of the node is calculated.
System according to claim 24, which is characterized in that

The processor is also used to: in the change in location of the unmanned plane, calculating the pixel change information of the change in location information of the unmanned plane and the image of above support；According to the pixel change information of the change in location information of the unmanned plane and the image of above support, the relative position information of the node Yu the unmanned plane is calculated；According to the current location information of the unmanned plane and the relative position information of the node and the unmanned plane, the location information of the node is calculated.
System according to claim 24, which is characterized in that the size of the node includes height, and the processor is also used to:

Virtual enclosure wall is constructed between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.
According to the system any in claim 21 to 29, which is characterized in that

The processor is also used to: the nodal information of the node is recorded in node database.
A kind of unmanned plane characterized by comprising

The cable obstacle avoidance system of unmanned plane as described in any in claim 21 to 30；

Sensor, with the processor communication connection；

Wherein, the sensor is used to obtain the information of the supporter in front, and sends the information of above support to the processor, and the processor identifies above support according to the information of above support.
A kind of storage medium storing one or more programs, one or more of programs include instruction, and described instruction makes the unmanned plane execute method as described in any one of claim 1 to 10 when the unmanned plane for being included one or more processors executes.
A kind of barrier-avoiding method of unmanned plane, which is characterized in that the described method includes:

The nodal information of multiple nodes is obtained, each node is set up according to avoidance object；

Avoidance route is calculated according to the nodal information of the node, wherein the avoidance route establishes the virtual enclosure wall between the adjacent node Over or around.
According to the method for claim 33, which is characterized in that before the nodal information for obtaining multiple nodes further include:

Obtain the image information or temperature information of the barrier in front；

According to the image information or temperature information of the barrier, the barrier is identified；

Node is set up according to the barrier.
According to the method for claim 33, which is characterized in that the nodal information includes following at least one: the size of the node, the position of the node, the direction of the node；Before the calculating avoidance route according to the nodal information of the node further include:

Virtual enclosure wall is constructed between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.
A kind of obstacle avoidance system of unmanned plane, which is characterized in that the system comprises:

One or more processors independently or work together, and the processor is used for:

The nodal information of multiple nodes is obtained, each node is set up according to avoidance object；

Avoidance route is calculated according to the nodal information of the node, wherein the avoidance route establishes the virtual enclosure wall between the adjacent node Over or around.
System according to claim 36, which is characterized in that

The processor is also used to: obtaining the image information or temperature information of the barrier in front；According to the image information or temperature information of the barrier, the barrier is identified；Node is set up according to the barrier.
System according to claim 36, which is characterized in that the nodal information includes following at least one: the size of the node, the position of the node, the direction of the node；

The processor is also used to: constructing virtual enclosure wall between the adjacent node with the trend for being oriented the virtual enclosure wall of the node with the height that the height of the node is the virtual enclosure wall.
A kind of unmanned plane, which is characterized in that the unmanned plane includes:

The obstacle avoidance system of unmanned plane as described in any in claim 36 to 38；

Sensor, with the processor communication connection；

Wherein, the sensor is used to obtain the information of avoidance object, and sends the information of the avoidance object to the processor, and the processor sets up the node according to the information of the avoidance object.
A kind of storage medium storing one or more programs, one or more of programs include instruction, and described instruction makes the unmanned plane execute such as the described in any item methods of claim 33 to 35 when the unmanned plane for being included one or more processors executes.
A kind of barrier-avoiding method of unmanned plane, which is characterized in that the described method includes:

The location information of the supporter in front is obtained, above support is used for cable support in the sky；

According to the positional information calculation avoidance route of above support, wherein the avoidance route is supported on the cable between adjacent above support Over or around.
According to the method for claim 41, which is characterized in that before the location information of the supporter in front of the acquisition further include:

Obtain the image information or temperature information of the barrier in front；

According to the image information or temperature information of the barrier, the barrier is identified.
According to the method for claim 41, which is characterized in that before the positional information calculation avoidance route according to above support, further includes:

Obtain the dimension information and orientation information of above support.
A kind of obstacle avoidance system of unmanned plane, which is characterized in that the system comprises:

One or more processors independently or work together, and the processor is used for:

The location information of the supporter in front is obtained, above support is used for cable support in the sky；

According to the positional information calculation avoidance route of above support, wherein the avoidance route establishes the cable between adjacent above support Over or around.
System according to claim 44, which is characterized in that

The processor is also used to: obtaining the image information or temperature information of the barrier in front；

According to the image information or temperature information of the barrier, the barrier is identified.
System according to claim 44, which is characterized in that

The processor is also used to: obtaining the dimension information and orientation information of above support.
A kind of unmanned plane, which is characterized in that the unmanned plane includes:

The obstacle avoidance system of unmanned plane as described in any in claim 44 to 46；

Sensor, with the processor communication connection；

Wherein, the sensor is used to obtain the characteristic information of supporter, and sends the characteristic information of above support to the processor；The processor calculates the location information of above support according to the characteristic information.
A kind of storage medium storing one or more programs, one or more of programs include instruction, and described instruction executes the unmanned plane as weighed when the unmanned plane for being included one or more processors executes Benefit requires 41 to 43 described in any item methods.