CN110045749A - Method, apparatus and unmanned vehicle for unmanned vehicle detection barrier - Google Patents
Method, apparatus and unmanned vehicle for unmanned vehicle detection barrier Download PDFInfo
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- CN110045749A CN110045749A CN201910286209.1A CN201910286209A CN110045749A CN 110045749 A CN110045749 A CN 110045749A CN 201910286209 A CN201910286209 A CN 201910286209A CN 110045749 A CN110045749 A CN 110045749A
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- unmanned vehicle
- obstacle
- distance
- barrier
- horizontal distance
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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
Embodiment of the present invention provides a kind of method, apparatus and unmanned vehicle for unmanned vehicle detection barrier, belongs to unmanned vehicle field.The described method includes: the front of detection unmanned vehicle is with the presence or absence of the horizontal distance between obstacle and unmanned vehicle and obstacle；In the case where detecting the presence of obstacle, control unmanned vehicle moves in the vertical direction；Detect the horizontal distance under different terrain clearances；Detection unmanned vehicle move in the vertical direction during in the horizontal direction on travel distance；And determine whether obstacle is barrier according to the variable quantity of horizontal distance and travel distance corresponding with the variable quantity.Through the above technical solution, when unmanned vehicle detects that there are in the case where obstacle in front, whether the obstacle that may determine that front is barrier that trees, electric pole or building etc. are not easy to cross, so as to effectively unmanned vehicle be avoided to collide with barrier.
Description
Technical field
The present invention relates to unmanned vehicle fields, more particularly to the method for unmanned vehicle detection barrier, dress
It sets and unmanned vehicle.
Background technique
Current social, unmanned vehicle using more and more extensive, at present unmanned vehicle have been applied to take photo by plane, agriculture
The fields such as industry, plant protection, express transportation and disaster relief.As the application of unmanned vehicle is gradually extensive, unmanned vehicle is also needed
Cope with more flight environment of vehicle.For plant protection drone, need to cope with various topography variations.Current plant protection without
It is man-machine during carrying out low latitude plant protection operation to vegetation such as farmlands, it is not perfect due to detection of obstacles function, often
Aircraft bombing accident is caused to occur due to hitting the barriers such as chance electric pole, trees or building, to influence the safety of unmanned vehicle
It uses.
Summary of the invention
The purpose of embodiment of the present invention is to provide a kind of method, apparatus and nothing for unmanned vehicle detection barrier
People's aircraft, so that unmanned vehicle can more accurately detect the barrier in front.
To achieve the goals above, embodiment of the present invention provides a kind of side for unmanned vehicle detection barrier
Method, which comprises detect the front of the unmanned vehicle direction of travel with the presence or absence of obstacle and it is described nobody fly
Horizontal distance between row device and the obstacle；In the case where detecting the presence of the obstacle, control is described, and nobody flies
Row device moves in the vertical direction；The unmanned vehicle is detected in the water under different terrain clearances between the obstacle
Flat distance；Detect during the unmanned vehicle moves in the vertical direction the travel distance in the horizontal direction；And
According to the variable quantity of the horizontal distance and the travel distance corresponding with the variable quantity determine the obstacle whether be
The barrier.
Optionally, described that whether the obstacle is determined according to the variable quantity and the travel distance of the horizontal distance
It include: difference between the variable quantity and the travel distance of the horizontal distance in pre-determined distance range for the barrier
In the case where interior, determine that the obstacle is the barrier.
Optionally, the method also includes: detect the moving distance of the unmanned vehicle in the vertical direction；According to institute
State the slope that moving distance, the variable quantity of the horizontal distance and the travel distance determine the obstacle；And institute
In the case where the slope of obstacle is stated in default slope range, determine that the obstacle is the barrier.
Optionally, pre-determined distance range or default slope range are true according to the maximum climbing speed of the unmanned vehicle
It is fixed.
Optionally, movement includes: to be less than in the horizontal distance to the control unmanned vehicle in the vertical direction
Or it in the case where being equal to pre-determined distance threshold value, controls the unmanned vehicle and moves in the vertical direction.
Optionally, during being moved in the vertical direction the method also includes: the unmanned vehicle, every default
Time detects the primary horizontal distance or every movement presets vertical distance and detects the primary horizontal distance.
Optionally, the method also includes: determine the obstacle be the barrier in the case where, control the nothing
People's aircraft is moved in the lateral direction to bypass the barrier.
On the other hand, embodiment of the present invention also provides a kind of device for unmanned vehicle detection barrier, described
Device includes: detection module, be configured as detecting the front of the unmanned vehicle direction of travel with the presence or absence of obstacle and
Horizontal distance between the unmanned vehicle and the obstacle；Control module is configured as: detecting the presence of the resistance
In the case where block material, controls the unmanned vehicle and move in the vertical direction；Obtain the unmanned vehicle it is different from
Horizontal distance under ground height between the obstacle；Obtain the unmanned vehicle in the vertical direction move during
Travel distance in the horizontal direction；And variable quantity and the row corresponding with the variable quantity according to the horizontal distance
Determine whether the obstacle is the barrier into distance.
Optionally, the control module determines the resistance according to the variable quantity and the travel distance of the horizontal distance
It includes: difference between the variable quantity and the travel distance of the horizontal distance default that whether block material, which is the barrier,
In the case where in distance range, determine that the obstacle is the barrier.
Optionally, the detection module be additionally configured to detect the movement of the unmanned vehicle in the vertical direction away from
From；The control module be also configured to according to the moving distance, the horizontal distance variable quantity and it is described advance away from
Slope from the determination obstacle；And in the case where the slope of the obstacle is in default slope range, determine institute
Stating obstacle is the barrier.
Optionally, pre-determined distance range or default slope range are true according to the maximum climbing speed of the unmanned vehicle
It is fixed.
Optionally, movement includes: in the level to the control module control unmanned vehicle in the vertical direction
In the case that distance is less than or equal to pre-determined distance threshold value, controls the unmanned vehicle and move in the vertical direction.
Optionally, the detection module be also configured to the unmanned vehicle in the vertical direction move during,
The primary horizontal distance is detected every preset time or every movement presets vertical distance and detects the primary horizontal distance.
Optionally, the control module is also configured to the control in the case where determining the obstacle is the barrier
The unmanned vehicle is made to be moved in the lateral direction around the barrier.
Correspondingly, embodiment of the present invention also provides a kind of unmanned vehicle, which includes above-mentioned be used for
The device of unmanned vehicle detection barrier.
Through the above technical solutions, when unmanned vehicle detects that front there are in the case where obstacle, can pass through inspection
The variable quantity of horizontal distance and corresponding travel distance are surveyed under different height between unmanned vehicle and front obstacle to judge
Whether the obstacle in front is barrier that trees, electric pole or building etc. are not easy to cross, so as to effectively avoid nobody from flying
Row device collides with barrier, and the detection method is simple, is easily achieved and at low cost.
The other feature and advantage of embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to embodiment of the present invention, and constitute part of specification, with
Following specific embodiment is used to explain the present invention embodiment together, but does not constitute the limit to embodiment of the present invention
System.In the accompanying drawings:
Fig. 1 illustrates the method for unmanned vehicle detection barrier of one embodiment of the present invention offer
Flow chart；
Fig. 2 illustrates the showing when unmanned vehicle that a kind of optional embodiment of the present invention provides encounters barrier
It is intended to；
Fig. 3 illustrates the showing when unmanned vehicle that a kind of optional embodiment of the present invention provides encounters barrier
It is intended to；
Fig. 4 illustrates the showing when unmanned vehicle that a kind of optional embodiment of the present invention provides encounters obstacle
It is intended to；
Fig. 5 illustrates the showing when unmanned vehicle that a kind of optional embodiment of the present invention provides encounters barrier
It is intended to；
Fig. 6 illustrates the device for unmanned vehicle detection barrier of one embodiment of the present invention offer
Block diagram；And
Fig. 7 illustrates the block diagram for the detection module that a kind of optional embodiment of the present invention provides.
Description of symbols
10 detection module, 20 control module
The 11 horizontal distance measuring units of vertical distance measuring unit 12
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
It is to be appreciated that if related in embodiment of the present invention directionality instruction (such as upper and lower, left and right, it is preceding,
Afterwards ...), then directionality instruction is only used for explaining opposite between each component under a certain particular pose (as shown in the picture)
Positional relationship, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, if relating to the description of " first ", " second " etc. in embodiment of the present invention, it should " first ", " second "
Deng description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated
The quantity of technical characteristic." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one and be somebody's turn to do
Feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill people
Based on member can be realized, this technical solution will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
Combination be not present, also not the present invention claims protection scope within.
As shown in Figure 1, embodiment of the present invention provides a kind of method for unmanned vehicle detection barrier, this method
The following steps are included:
Step S10, the front of detection unmanned vehicle direction of travel is with the presence or absence of obstacle and unmanned vehicle and resistance
Horizontal distance between block material.
Step S20, in the case where detecting the presence of obstacle, control unmanned vehicle moves in the vertical direction.
Step S30 detects horizontal distance of the unmanned vehicle under different terrain clearances between obstacle.
Step S40, detection unmanned vehicle move in the vertical direction during in the horizontal direction on travel distance.
Step S50, in the horizontal direction according to the variable quantity of horizontal distance and unmanned vehicle corresponding with the variable quantity
On travel distance determine whether obstacle is barrier.
In this way, when unmanned vehicle detects that front, can be by under detection different height there are in the case where obstacle
The variable quantity of horizontal distance and corresponding travel distance judge the obstacle in front between unmanned vehicle and front obstacle
It whether is barrier that trees, electric pole or building etc. are not easy to cross, so as to effectively avoid unmanned vehicle and barrier
It collides, the detection method is simple, is easily achieved and at low cost.
Specifically, unmanned vehicle can be plant protection drone, unmanned plane of taking photo by plane, patrol unmanned machine or mapping unmanned plane
Deng, it is carried out in operation process in unmanned vehicle, it can be by being located at the horizontal distance measuring unit detection in front of the unmanned vehicle
The front of unmanned vehicle whether there is obstacle, and there are obstacle, and detection unmanned vehicle and front hinder
Horizontal distance between block material.Wherein, which can be tellurometer survey module, ultrasonic distance measuring module, infrared
Range finder module, laser ranging module or depth perception camera etc..There are in the case where obstacle in front of detecting, can control
Unmanned vehicle processed moves in the vertical direction, and detects unmanned vehicle and be under different terrain clearances between obstacle
Horizontal distance.Wherein, during unmanned vehicle moves in the vertical direction, a sub-level can be detected every preset time
Distance or every movement preset vertical distance and detect a horizontal distance.The preset time and default vertical distance can be according to realities
Border situation predefines.It is understood that unmanned vehicle may be used also during unmanned vehicle moves in the vertical direction
There can be travel speed in the horizontal direction, it is therefore desirable to while detecting the process that unmanned vehicle moves in the vertical direction
In in the horizontal direction on travel distance.As shown in Figures 2 and 3, when obstacle is that the blocking surfaces such as trees, building or electric pole become
In vertically or when slightly object inclined to unmanned vehicle direction, the change of unmanned vehicle horizontal distance at different terrain clearances
Change amount is greater than or equal to forward travel distance during unmanned vehicle moves in the vertical direction, therefore can be according to nothing
People's aircraft is sentenced in the travel distance of the variable quantity unmanned vehicle corresponding with the variable quantity of the horizontal distance of different height
Whether the obstacle in disconnected front is barrier.
For example, as shown in Figures 2 to 4, unmanned vehicle is moved to horizontal position B by horizontal position A, when nobody flies
When the horizontal position of row device is A, the horizontal distance away from obstacle is d1, and the ground clearance away from ground is h1, at this time due to nobody
Aircraft detects that there are obstacles in front, therefore unmanned vehicle starts to move in the vertical direction.For example, unmanned vehicle
Can climb a Duan Gaodu, and be moved to horizontal position B.When the horizontal position of unmanned vehicle is B, the interval away from barrier
Distance is d1 ', and the ground clearance away from ground is h1 '.Unmanned vehicle is moved to what horizontal position B was passed through by horizontal position A
Travel distance is l1.When the front of unmanned vehicle is the barriers such as vertical trees shown in Fig. 2 or shown in Fig. 3 to nobody
When the barriers such as the inclined trees in aircraft direction, horizontal distance d1, horizontal distance d1 ' and travel distance l1 meet d1-d1 '
>=l1, therefore in the case that the difference of horizontal distance d1 and horizontal distance d1 ' is greater than or equal to travel distance l1, it can determine nothing
There are barrier as shown in Figure 2 or Figure 3 in front of people aircraft, this barrier unmanned vehicle not easily passs through the modes such as climb
It crosses, it is therefore desirable to control unmanned vehicle hovering, rerouting or make a return voyage, bump against to avoid with barrier.And when it is horizontal away from
In the case where being less than travel distance l1 from the difference of d1 and horizontal distance d1 ', it can determine in front of unmanned vehicle and exist such as Fig. 4 institute
Slope shown etc. can be by the non-barrier crossed that climbs, at this time can be by adjusting unmanned vehicle in the vertical direction
Movement speed, to pass through the obstacle.
In a kind of optional embodiment of the present invention, step S40 may include: horizontal distance variable quantity and advance away from
In the case that difference between is within the scope of pre-determined distance, determine that obstacle is barrier.
Specifically, as shown in Figures 2 to 4, in variable quantity △ d (the △ d=d1- for judging travel distance l1 and horizontal distance
D1 ') between size relation when, the two can be made the difference, difference s (s=d1-d1 '-l1) within a preset range the case where
Under, it can determine that the obstacle in front of unmanned vehicle is barrier.For example, when needing to judge whether obstacle is Fig. 2 or Fig. 3
Shown in barrier when, pre-determined distance range can be set to [0 ,+∞), i.e., when horizontal distance d1 and horizontal distance d1 ' it
In the case that difference is greater than or equal to travel distance l1, determine that there are barriers as shown in Figure 2 or Figure 3 in front of unmanned vehicle.
However, the barriers such as trees can be tilted to the direction away from unmanned vehicle as shown in figure 5, in some cases, at this time due to
The blocking surface of barrier is still very steep, therefore unmanned vehicle is still difficult to cross, and horizontal distance d1 and horizontal distance at this time
The difference of d1 ' is less than travel distance l1.In order to accurately determine barrier shown in fig. 5, it is therefore desirable to adjust above-mentioned default
Distance range.In general, being easy to happen inclined barrier is trees, electric pole etc., and it is relative to the inclined of vertical direction
Digression degree is not too big.Therefore can be by statistics trees, electric pole etc. under inclination conditions, top position and bottom position are in water
Square upward distance determines pre-determined distance range, such as in the case where unit is millimeter, which can be with
Be set as [- 100 ,+∞).
In a kind of optional embodiment of the present invention, the method for unmanned vehicle detection barrier can also include:
Step S41, the moving distance of detection unmanned vehicle in the vertical direction.
Step S42 is determined according to the moving distance of unmanned vehicle, the variable quantity of horizontal distance and travel distance and is stopped
The slope of object.
Step S43 determines that obstacle is barrier in the case where the slope of obstacle is in default slope range.
Specifically, as shown in Figures 2 to 5, it can be detected by being located at the vertical distance measuring unit of unmanned vehicle bottom
Unmanned vehicle is in the ground clearance at different terrain clearances, and then can calculate unmanned vehicle in the vertical direction
Moving distance h=h1 '-h1, wherein h1 is ground clearance when unmanned vehicle is located at location A, and h1 ' is located at for unmanned vehicle
Ground clearance when B location.After determining moving distance h, slope tan θ=h/s of obstacle can be calculated, wherein s=d1-
d1'-l1.After determining slope tan θ, according to the size of slope and the tilt angle of positive and negative determining front obstacle and it can incline
Tilted direction.Therefore, slope range locating for barrier can be preset according to the actual situation, before unmanned vehicle detects
When the slope of sheet resistance block material is in the default slope range, it can determine in front of unmanned vehicle as such as Fig. 2, Fig. 3 or Fig. 5 institute
The barrier shown.
It should be noted that when unmanned vehicle encounters obstacle, unmanned vehicle cross the ability of the obstacle with
The maximum climbing speed of the unmanned vehicle is related.In the case where the travel speed of the horizontal direction of unmanned vehicle determines,
The maximum climbing speed of unmanned vehicle is bigger, then the unmanned vehicle can cross slope the slope upper limit it is also bigger.Therefore,
The greatest gradient that the obstacle that unmanned vehicle can be crossed can be determined according to the maximum climbing speed of unmanned vehicle, into
And above-mentioned pre-determined distance range and default slope range can be determined according to the greatest gradient.
In a kind of optional embodiment of the present invention, unmanned vehicle, can be first in the case where detecting obstacle
Judge whether the horizontal distance between unmanned vehicle and obstacle is less than or equal to pre-determined distance threshold value, and in unmanned flight
In the case that horizontal distance between device and obstacle is less than or equal to the pre-determined distance threshold value, unmanned vehicle is controlled vertical
It is moved on direction.
Specifically, it needs to execute plant protection operation or mapping operation etc. by default course line in flight due to unmanned vehicle and appoint
Business.Therefore a distance threshold can be preset according to the actual situation, only when the level between unmanned vehicle and obstacle
In the case that distance is less than or equal to the pre-determined distance threshold value, just controls unmanned vehicle and move in the vertical direction, to reduce
Influence to the tasks such as plant protection operation or operation of taking photo by plane.
Method in a kind of optional embodiment of the present invention, for unmanned vehicle detection barrier further include: true
In the case where determining obstacle for barrier, control unmanned vehicle is moved in the lateral direction with cut-through object.
Specifically, when determining in front of unmanned vehicle as such as Fig. 2, Fig. 3 or barrier shown in fig. 5, it can control nothing
People's aircraft is moved up in the right and left vertical with plane where horizontal direction and vertical direction.For example, unmanned vehicle can
To move a certain distance to the left, and in the case where detecting that barrier is not present in front, move further along.It is moving forward
After certain distance, unmanned vehicle returns preset operation course line, to continue operation around the barrier.
As shown in Figure 6 and Figure 7, embodiment of the present invention also provides a kind of dress for unmanned vehicle detection barrier
It sets, which includes detection module 10 and control module 20.It is electrically connected between detection module 10 and control module 20.Wherein,
Detection module 10 be configured as the front of detection unmanned vehicle direction of travel with the presence or absence of obstacle and unmanned vehicle with
Horizontal distance between obstacle.Control module 20 is configured as in the case where detecting the presence of obstacle, is controlled nobody and is flown
Row device moves in the vertical direction, and obtains horizontal distance of the unmanned vehicle under different terrain clearances between obstacle
And unmanned vehicle move in the vertical direction during in the horizontal direction on travel distance, then according to horizontal distance
Variable quantity and unmanned vehicle corresponding with the variable quantity travel distance in the horizontal direction determine obstacle whether be
Barrier.Wherein, which can include but is not limited to single-chip microcontroller, chip, integrated circuit, microcontroller or processor
Deng.
In this way, when unmanned vehicle detects that front, can be by under detection different height there are in the case where obstacle
The variable quantity of horizontal distance and corresponding travel distance judge the obstacle in front between unmanned vehicle and front obstacle
It whether is barrier that trees, electric pole or building etc. are not easy to cross, so as to effectively avoid unmanned vehicle and barrier
It collides, the detection method is simple, is easily achieved and at low cost.
Specifically, unmanned vehicle can be plant protection drone, unmanned plane of taking photo by plane, patrol unmanned machine or mapping unmanned plane
Deng.Detection unit 10 may include the horizontal distance measuring unit 12 in front of unmanned vehicle, carry out operation in unmanned vehicle
In the process, the front that unmanned vehicle can be detected by horizontal distance measuring unit 12 whether there is obstacle, and stop existing
In the case where object, the horizontal distance between unmanned vehicle and front obstacle is detected by horizontal distance measuring unit 12.Wherein, should
Horizontal distance measuring unit 12 can be tellurometer survey module, ultrasonic distance measuring module, infrared distance measurement module, laser ranging module or depth
Degree perception camera etc..There are in the case where obstacle in front of detecting, control module 20 can control unmanned vehicle and exist
Moved on vertical direction, and by horizontal distance measuring unit 12 detect unmanned vehicle be under different terrain clearances with obstacle it
Between horizontal distance.Wherein, during unmanned vehicle moves in the vertical direction, control module 20 can be when default
Between a horizontal distance or every movement detected by horizontal distance measuring unit 12 preset vertical distance and pass through horizontal distance measuring unit 12
Detect a horizontal distance.The preset time and default vertical distance can predefine according to the actual situation.It is understood that
It is that during unmanned vehicle moves in the vertical direction, unmanned vehicle is also possible to traveling in the horizontal direction
Speed, it is therefore desirable at the same detect during unmanned vehicle moves in the vertical direction the traveling in the horizontal direction away from
From the travel distance can for example pass through the GPS of unmanned vehicle (Global Positioning System, global positioning system
System) navigation modules such as module detect.As shown in Figures 2 and 3, when obstacle is that the blocking surfaces such as trees, building or electric pole become
In vertically or when slightly object inclined to unmanned vehicle direction, the change of unmanned vehicle horizontal distance at different terrain clearances
Change amount is greater than or equal to forward travel distance during unmanned vehicle moves in the vertical direction, therefore control module 20
Can according to unmanned vehicle the variable quantity unmanned vehicle corresponding with the variable quantity of the horizontal distance of different height row
Whether the obstacle that front is judged into distance is barrier.
For example, as shown in Figures 2 to 4, unmanned vehicle is moved to horizontal position B by horizontal position A, when nobody flies
When the horizontal position of row device is A, the horizontal distance away from obstacle is d1, and the ground clearance away from ground is h1, at this time due to nobody
Aircraft detects that there are obstacles in front, therefore control module 20 needs to control unmanned vehicle and starts to move in the vertical direction
It is dynamic.It climbs a Duan Gaodu for example, control module 20 can control unmanned vehicle, and is moved to horizontal position B.Work as unmanned flight
When the horizontal position of device is B, the spacing distance away from barrier is d1 ', and the ground clearance away from ground is h1 '.Unmanned vehicle by
It is l1 that horizontal position A, which is moved to the travel distance that horizontal position B is passed through, and travel distance l1 can pass through unmanned vehicle
Navigation module obtains.When the front of unmanned vehicle is the barriers such as vertical trees shown in Fig. 2 or shown in Fig. 3 to nobody
When the barriers such as the inclined trees in aircraft direction, horizontal distance d1, horizontal distance d1 ' and travel distance l1 meet d1-d1 '
>=l1, therefore in the case that the difference of horizontal distance d1 and horizontal distance d1 ' is greater than or equal to travel distance l1, control module 20
It can determine in front of unmanned vehicle that this barrier unmanned vehicle not easily passs through there are barrier as shown in Figure 2 or Figure 3
The modes such as climb are crossed, it is therefore desirable to be controlled unmanned vehicle hovering, rerouting or be maked a return voyage, bump against to avoid with barrier.
And in the case that the difference of horizontal distance d1 and horizontal distance d1 ' is less than travel distance l1, control module 20 can determine nobody
There are slopes as shown in Figure 4 etc. in front of aircraft can be by the non-barrier crossed that climbs, at this time can be by adjusting nothing
The movement speed of people's aircraft in the vertical direction, to pass through the obstacle.
In a kind of optional embodiment of the present invention, control module 20 is configured as between unmanned vehicle and obstacle
Horizontal distance variable quantity travel distance corresponding with the variable quantity between difference within the scope of pre-determined distance in the case where,
Determine that the obstacle in front of unmanned vehicle is barrier.
Specifically, as shown in Figures 2 to 4, in variable quantity △ d (the △ d=d1- for judging travel distance l1 and horizontal distance
D1 ') between size relation when, the two can be made the difference, difference s (s=d1-d1 '-l1) within a preset range the case where
Under, it can determine that the obstacle in front of unmanned vehicle is barrier.For example, when needing to judge whether obstacle is Fig. 2 or Fig. 3
Shown in barrier when, pre-determined distance range can be set to [0 ,+∞), i.e., when horizontal distance d1 and horizontal distance d1 ' it
In the case that difference is greater than or equal to travel distance l1, determine that there are barriers as shown in Figure 2 or Figure 3 in front of unmanned vehicle.
However, the barriers such as trees can be tilted to the direction away from unmanned vehicle as shown in figure 5, in some cases, at this time due to
The blocking surface of barrier is still very steep, therefore unmanned vehicle is still difficult to cross, and horizontal distance d1 and horizontal distance at this time
The difference of d1 ' is less than travel distance l1.In order to accurately determine barrier shown in fig. 5, it is therefore desirable to adjust above-mentioned default
Distance range.In general, being easy to happen inclined barrier is trees, electric pole etc., and it is relative to the inclined of vertical direction
Digression degree is not too big.Therefore can be by statistics trees, electric pole etc. under inclination conditions, top position and bottom position are in water
Square upward distance determines pre-determined distance range, such as in the case where unit is millimeter, which can be with
Be set as [- 100 ,+∞).
In a kind of optional embodiment of the present invention, detection module 10 can also include vertical distance measuring unit 11, this is vertical
Distance measuring unit 11 is configured as the ground clearance of detection unmanned vehicle, and then can determine unmanned vehicle by ground clearance
Moving distance in moving process in the vertical direction.Wherein, which can be tellurometer survey module, ultrasound
Wave range finder module, infrared distance measurement module, laser ranging module or depth perception camera etc..Control module 20 is additionally configured to root
The slope of obstacle is determined according to the moving distance of unmanned vehicle, the variable quantity of horizontal distance and travel distance, and is being stopped
In the case that the slope of object is in default slope range, determine that obstacle is barrier.
Specifically, as shown in Figures 2 to 5, control module 20 can pass through the vertical ranging positioned at unmanned vehicle bottom
Unit 11 detects the ground clearance that unmanned vehicle is at different terrain clearances, and then can calculate unmanned vehicle and exist
Moving distance h=h1 '-h1 on vertical direction, wherein h1 is ground clearance when unmanned vehicle is located at location A, and h1 ' is nothing
People's aircraft is located at ground clearance when B location.After determining moving distance h, slope tan θ=h/ of obstacle can be calculated
S, wherein s=d1-d1 '-l1.It, can be according to obstacle in front of the size and positive and negative determination of slope after determining slope tan θ
Tilt angle and inclined direction.Therefore, slope range locating for barrier can be preset according to the actual situation, when detecting
When the slope of front obstacle is in the default slope range, control module 20 can be determined in front of unmanned vehicle as schemed
2, Fig. 3 or barrier shown in fig. 5.
It should be noted that when unmanned vehicle encounters obstacle, unmanned vehicle cross the ability of the obstacle with
The maximum climbing speed of the unmanned vehicle is related.In the case where the travel speed of the horizontal direction of unmanned vehicle determines,
The maximum climbing speed of unmanned vehicle is bigger, then the unmanned vehicle can cross slope the slope upper limit it is also bigger.Therefore,
The greatest gradient that the obstacle that unmanned vehicle can be crossed can be determined according to the maximum climbing speed of unmanned vehicle, into
And above-mentioned pre-determined distance range and default slope range can be determined according to the greatest gradient.
In a kind of optional embodiment of the present invention, control module 20 is detecting that the horizontal distance between obstacle is small
In or be equal to pre-determined distance threshold value in the case where, control unmanned vehicle move in the vertical direction.
Specifically, it needs to execute plant protection operation or mapping operation etc. by default course line in flight due to unmanned vehicle and appoint
Business.Therefore a distance threshold can be preset according to the actual situation, only when the level between unmanned vehicle and obstacle
In the case that distance is less than or equal to the pre-determined distance threshold value, control module 20 just controls unmanned vehicle and moves in the vertical direction
It is dynamic, to reduce the influence to the tasks such as plant protection operation or operation of taking photo by plane.
In a kind of optional embodiment of the present invention, control module 20 is additionally configured to determining that obstacle is barrier
In the case of, control unmanned vehicle moves in the lateral direction with cut-through object.
Specifically, when determining in front of unmanned vehicle as such as Fig. 2, Fig. 3 or barrier shown in fig. 5, control module 20
It can control unmanned vehicle to move up in the right and left vertical with plane where horizontal direction and vertical direction.For example, nothing
People's aircraft can move a certain distance to the left, and in the case where detecting that barrier is not present in front, move further along.
After moving forward certain distance, unmanned vehicle returns preset operation course line, to continue to make around the barrier
Industry.
Correspondingly, embodiment of the present invention also provides a kind of unmanned vehicle, which includes above-mentioned be used for
The device of unmanned vehicle detection barrier.Wherein, which can be plant protection drone, unmanned plane of taking photo by plane, inspection
Unmanned plane or mapping unmanned plane etc..
Optional embodiment of the invention is described in detail in conjunction with attached drawing above, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, it, can be to the skill of embodiment of the present invention in the range of the technology design of embodiment of the present invention
Art scheme carries out a variety of simple variants, these simple variants belong to the protection scope of embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, embodiment of the present invention
To various combinations of possible ways, no further explanation will be given.
It will be appreciated by those skilled in the art that realizing that all or part of the steps in above embodiment method is can to lead to
Program is crossed to instruct relevant hardware and complete, which is stored in a storage medium, including some instructions use so that
Single-chip microcontroller, chip or processor (processor) execute all or part of the steps of each embodiment the method for the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention embodiment, it should also be regarded as the disclosure of the present invention.
Claims (15)
1. a kind of method for unmanned vehicle detection barrier, which is characterized in that the described method includes:
The front of the unmanned vehicle direction of travel is detected with the presence or absence of obstacle and the unmanned vehicle and the resistance
Horizontal distance between block material；
In the case where detecting the presence of the obstacle, controls the unmanned vehicle and move in the vertical direction；
The unmanned vehicle is detected in the horizontal distance under different terrain clearances between the obstacle；
Detect during the unmanned vehicle moves in the vertical direction the travel distance in the horizontal direction；And
Determine that the obstacle is according to the variable quantity of the horizontal distance and the travel distance corresponding with the variable quantity
No is the barrier.
2. the method according to claim 1, wherein the variable quantity according to the horizontal distance and described
Travel distance determines whether the obstacle is that the barrier includes:
In the case that difference between the variable quantity of the horizontal distance and the travel distance is within the scope of pre-determined distance, really
The fixed obstacle is the barrier.
3. the method according to claim 1, wherein the method also includes:
Detect the moving distance of the unmanned vehicle in the vertical direction；
The oblique of the obstacle is determined according to the moving distance, the variable quantity of the horizontal distance and the travel distance
Rate；And
In the case where the slope of the obstacle is in default slope range, determine that the obstacle is the barrier.
4. according to the method in claim 2 or 3, which is characterized in that pre-determined distance range or default slope range are according to institute
The maximum climbing speed for stating unmanned vehicle determines.
5. according to the method in claim 2 or 3, which is characterized in that the control unmanned vehicle is in vertical direction
Upper movement includes:
In the case where the horizontal distance is less than or equal to pre-determined distance threshold value, the unmanned vehicle is controlled in vertical direction
Upper movement.
6. the method according to claim 1, wherein the method also includes:
During the unmanned vehicle moves in the vertical direction, every preset time detect the primary horizontal distance or
The every movement of person presets vertical distance and detects the primary horizontal distance.
7. the method according to claim 1, wherein the method also includes:
Determine the obstacle be the barrier in the case where, control the unmanned vehicle in the lateral direction move with
Around the barrier.
8. a kind of device for unmanned vehicle detection barrier, which is characterized in that described device includes:
Detection module is configured as detecting the front of the unmanned vehicle direction of travel with the presence or absence of obstacle and the nothing
Horizontal distance between people's aircraft and the obstacle；
Control module is configured as:
In the case where detecting the presence of the obstacle, controls the unmanned vehicle and move in the vertical direction；
The unmanned vehicle is obtained in the horizontal distance under different terrain clearances between the obstacle；
Obtain during the unmanned vehicle moves in the vertical direction the travel distance in the horizontal direction；And
According to the variable quantity of the horizontal distance and corresponding with the variable quantity described whether the obstacle is determined into distance
For the barrier.
9. device according to claim 8, which is characterized in that the control module is according to the variable quantity of the horizontal distance
And the travel distance determines whether the obstacle is that the barrier includes:
In the case that difference between the variable quantity of the horizontal distance and the travel distance is within the scope of pre-determined distance, really
The fixed obstacle is the barrier.
10. device according to claim 8, which is characterized in that
The detection module is additionally configured to detect the moving distance of the unmanned vehicle in the vertical direction；
The control module is also configured to
The oblique of the obstacle is determined according to the moving distance, the variable quantity of the horizontal distance and the travel distance
Rate；And
In the case where the slope of the obstacle is in default slope range, determine that the obstacle is the barrier.
11. device according to claim 9 or 10, which is characterized in that pre-determined distance range or default slope range according to
The maximum climbing speed of the unmanned vehicle determines.
12. device according to claim 9 or 10, which is characterized in that the control module controls the unmanned vehicle
Movement in the vertical direction includes:
In the case where the horizontal distance is less than or equal to pre-determined distance threshold value, the unmanned vehicle is controlled in vertical direction
Upper movement.
13. device according to claim 8, which is characterized in that the detection module is also configured to
During the unmanned vehicle moves in the vertical direction, every preset time detect the primary horizontal distance or
The every movement of person presets vertical distance and detects the primary horizontal distance.
14. device according to claim 8, which is characterized in that the control module is also configured to
Determine the obstacle be the barrier in the case where, control the unmanned vehicle in the lateral direction move with
Around the barrier.
15. a kind of unmanned vehicle, which is characterized in that the unmanned vehicle includes according to claim 8 to 14 any one
The device for unmanned vehicle detection barrier.
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