CN110119162A - A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium - Google Patents
A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium Download PDFInfo
- Publication number
- CN110119162A CN110119162A CN201910538342.1A CN201910538342A CN110119162A CN 110119162 A CN110119162 A CN 110119162A CN 201910538342 A CN201910538342 A CN 201910538342A CN 110119162 A CN110119162 A CN 110119162A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- distance
- obstacle distance
- obstacle
- lower section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000003860 storage Methods 0.000 title claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims abstract description 92
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 85
- 230000015654 memory Effects 0.000 claims description 31
- 238000012360 testing method Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 5
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 230000001360 synchronised effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 230000005291 magnetic effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000008034 disappearance Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000010721 machine oil Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage mediums, applied to unmanned plane, it include: according to unmanned plane and front obstacle distance, the flight forward speed of adjustment unmanned plane in real time, and when unmanned plane and front obstacle distance are less than default second distance, the flight forward speed of control unmanned plane is reduced to zero, and controls the rapid vertical ascent of the unmanned plane；According to unmanned plane and lower section obstacle distance, unmanned plane throttle is adjusted in real time, and control unmanned plane and lower section obstacle distance height are maintained at default third distance.Through the embodiment of the present invention, it can be to avoid unmanned plane in high-speed forward flight, the strikes obstacles or because observing that obstacle distance is too small and unmanned plane during flying excessive velocities due to can not observe barrier, brake is not in time to strikes obstacles, avoid unmanned plane from eminence target point lower simultaneously, to stop at unmanned plane below occur when there is barrier strikes obstacles even aircraft bombing the case where.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of unmanned plane avoidance obstacle method, unmanned plane and computer can
Read storage medium.
Background technique
Currently, unmanned plane is widely used in each industry.Big multiple no-manned plane is not know during high-speed forward flight
Whether there is barrier in front of road, understands strikes obstacles because that can not observe barrier when encountering barrier, or because observing
The distance of barrier is too small and aircraft itself flying speed is too fast, and brake is not in time to strikes obstacles, so as to cause spiral
Paddle fractures or even horn fracture, final aircraft bombing.
In the prior art, some more more advanced unmanned planes are in order to accomplish the function of forward direction avoidance, the biography utilized
Sensor is ultrasonic distance measurement or infrared distance measuring, and ultrasonic distance-measuring sensor may only generally detect the range within 6 meters, and
There are a minimum detection blind area, i.e., within 30 millimeters.And the shortcomings that infrared distance measuring sensor is that anti-interference is very poor, it is outdoor
Once there is sunlight interference, can substantially stop working.
It is therefore proposed that another unmanned plane barrier-avoiding method just seem it is necessary to, with solve presently, there are the above skill
Art problem improves the obstacle avoidance ability of unmanned plane.
Summary of the invention
It can in view of this, the purpose of the present invention is to provide a kind of unmanned plane avoidance obstacle method, unmanned plane and computers
Read storage medium, can to avoid unmanned plane in high-speed forward flight, due to can not observe barrier strikes obstacles or because
Observe that the distance of barrier is too small and unmanned plane itself flying speed is too fast, brake is not in time to strikes obstacles, simultaneously
It avoids unmanned plane from flying to next target point lower from eminence, occurs hitting obstacle when there is barrier to stop at unmanned plane lower section
The case where object or even aircraft bombing.
It is as follows that the present invention solves technical solution used by above-mentioned technical problem:
According to an aspect of the present invention, a kind of unmanned plane avoidance obstacle method is provided, unmanned plane, the method are applied to
Include:
According to the unmanned plane and front obstacle distance, the flight forward speed of the unmanned plane is adjusted in real time, and
When the unmanned plane and front obstacle distance are less than default second distance, the flight forward speed of the unmanned plane is controlled
It is reduced to zero, and controls the rapid vertical ascent of the unmanned plane；
According to the unmanned plane and lower section obstacle distance, the unmanned plane throttle is adjusted in real time, controls the unmanned plane
Default third distance is maintained at the lower section obstacle distance height.
According to another aspect of the present invention, a kind of unmanned plane provided, comprising: memory, processor and be stored in institute
State one or more computer program that can be run in memory and on the processor, one or more of calculating
The step of when machine program is executed by the processor to realize a kind of unmanned plane avoidance obstacle method provided in an embodiment of the present invention.
According to another aspect of the present invention, a kind of computer readable storage medium provided, it is described computer-readable to deposit
Unmanned plane avoidance obstacle method program is stored on storage media, when the unmanned plane avoidance obstacle method program is executed by processor
The step of realizing a kind of described unmanned plane avoidance obstacle method provided in an embodiment of the present invention.
Compared with the relevant technologies, a kind of unmanned plane avoidance obstacle method provided by the invention, unmanned plane and computer-readable
Storage medium is applied to unmanned plane, comprising: according to the unmanned plane and front obstacle distance, adjust the unmanned plane in real time
Flight forward speed, and when the unmanned plane and front obstacle distance are less than default second distance, described in control
The flight forward speed of unmanned plane is reduced to zero, and controls the rapid vertical ascent of the unmanned plane；According to the unmanned plane under
Square obstacle distance adjusts the unmanned plane throttle in real time, controls the unmanned plane and the lower section obstacle distance height is protected
It holds in default third distance.Through the embodiment of the present invention, unmanned plane can be hindered using for keeping away for automatic Pilot, it can be to avoid nothing
It is man-machine in high-speed forward flight, the strikes obstacles or because observing that the distance of barrier is too small due to can not observe barrier
And unmanned plane itself flying speed is too fast, brake is not in time to strikes obstacles；Unmanned plane is avoided to fly to down from eminence simultaneously
One target point lower, to stop at occur when there is barrier below unmanned plane strikes obstacles even aircraft bombing the case where.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of unmanned plane avoidance obstacle method provided in an embodiment of the present invention；
Fig. 2 is a kind of unmanned plane provided in an embodiment of the present invention in the schematic diagram for evading front obstacle；
Fig. 3 is a kind of unmanned plane provided in an embodiment of the present invention in the schematic diagram for evading lower section barrier；
Fig. 4 is a kind of unmanned plane provided in an embodiment of the present invention in the signal for evading front obstacle and lower section barrier
Figure；
Fig. 5 is the structural schematic diagram of the unmanned plane provided in an embodiment of the present invention using the method for the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
In order to be clearer and more clear technical problems, technical solutions and advantages to be solved, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
In subsequent description, it is only using the suffix for indicating such as " module ", " component " or " unit " of element
Be conducive to explanation of the invention, itself there is no a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Please refer to figs. 1 to 4.The embodiment of the present invention provides a kind of unmanned plane avoidance obstacle method, is applied to have binocular
The unmanned plane of camera and ultrasonic sensor, wherein the binocular camera is mounted in front of the unmanned plane, for detecting
The front obstacle of the unmanned plane direction of advance, the ultrasonic sensor is mounted below the unmanned plane, for detecting
The lower section barrier of the unmanned plane；The described method includes:
Step S1 adjusts the flight forward speed of the unmanned plane according to the unmanned plane and front obstacle distance in real time
Degree, and when the unmanned plane and front obstacle distance are less than default second distance, control the unmanned plane forward
Flying speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane；
Step S2 adjusts the unmanned plane throttle according to the unmanned plane and lower section obstacle distance in real time, described in control
Unmanned plane and lower section obstacle distance height are maintained at default third distance.
Please refer to Fig. 2.Further, described according to the unmanned plane and front obstacle distance in the step S1, it is real
When adjust the flight forward speed of the unmanned plane；Include:
The unmanned plane and front obstacle distance are detected, the obstacle distance real-time Transmission that will test is to flight
Control system；
The flight control system adjusts the unmanned plane according to the unmanned plane and the front obstacle distance in real time
Flight forward speed:
When the unmanned plane and front obstacle distance are greater than default first distance, the unmanned plane is controlled with default
Flight forward speed flight forward；Preferably, the default first distance is 50 meters；
When the unmanned plane and the front obstacle distance are between default first distance and default second distance, control
The unmanned plane gradually reduces flight forward speed；Wherein, the second distance is less than the first distance；Preferably, described
Default second distance is 5 meters；
When the unmanned plane and front obstacle distance are less than default second distance, the unmanned plane is controlled forward
Flying speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Further, the detection unmanned plane and front obstacle distance, the obstacle distance that will test
Real-time Transmission is to flight control system, comprising:
The binocular camera detects the front obstacle of the unmanned plane, calculates front obstacle distance in real time, and real
When send the front obstacle distance to flight control system；Include:
The front obstacle that the binocular camera detects the unmanned plane go forward side by side row distance measurement；
The binocular camera merges the unmanned plane real time speed information and the range information of the measurement, according to institute
The flight time for stating unmanned plane calculates the unmanned plane apart from front obstacle distance, and the front that will be calculated in real time
Obstacle distance sends flight control system to.
In the present embodiment, the binocular camera is mounted in front of the unmanned plane, before detecting the unmanned plane
Into the front obstacle in direction, and there is the ability for calculating front obstacle distance in real time, maximum detection effective range > 100 meter,
And send the front obstacle distance being calculated to flight control system in real time.
Further, in the step S1, the binocular camera detect front obstacle only one, and it is described before
Square barrier is not at the front of the unmanned plane direction of motion, the step S1 further include:
The flight control system judges whether the unmanned plane can pass through, if judgement can pass through, described in control
Unmanned plane moves on；If judgement cannot pass through, the order for the hovering vertical ascent that slows down is issued, the unmanned plane is controlled
Flight forward speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Further, described when the binocular camera detects that the front obstacle has multiple in the step S1
Step S1 further include:
The photo of shooting is divided into left, center, right three parts by the binocular camera, and is calculated all in the three parts
All front obstacle distances are sent to flight control system by front obstacle distance；
The flight control system analyzes and determines all front obstacle distances in the three parts, and is sentenced according to analysis
Disconnected result controls the unmanned plane and carries out avoidance；Include:
According to analyzing and determining that result is that middle section barrier is closer, the flight forward speed drop of the unmanned plane is controlled
Down to zero, and control the rapid vertical ascent of the unmanned plane；
According to analyzing and determining that result is that middle section barrier is distant, controls the unmanned plane and continue flight forward；
It is that middle section does not have barrier and the right and left has barrier according to analytical judgment result, further described in judgement
Whether the ratio that binocular camera sends back the right and left obstacle distance and the unmanned plane width that come is default greater than ratio
Value: if the ratio of the right and left obstacle distance and the unmanned plane width be greater than the ratio preset value, control described in
Unmanned plane continues flight forward；If the ratio of the right and left obstacle distance and the unmanned plane width is less than or equal to the ratio
Example preset value, then the flight forward speed for controlling the unmanned plane is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Preferably, the ratio preset value is 300%.
Further, the step S1 further include: the unmanned plane and front obstacle distance are greater than default first
Apart from when, control the unmanned plane and stop vertical ascent, maintain present level, and control the unmanned plane accelerate to it is default forward
Flying speed flight forward.
Please refer to Fig. 3.Further, described according to the unmanned plane and lower section obstacle distance in the step S2, it is real
When adjust the unmanned plane throttle, control the unmanned plane and lower section obstacle distance height be maintained at default third away from
From；Include:
The lower section obstacle distance real-time Transmission that detects the unmanned plane and lower section obstacle distance, and will test
To flight control system；
The flight control system adjusts the unmanned machine oil according to the unmanned plane and lower section obstacle distance in real time
Door:
When the lower section obstacle distance be less than default third apart from when, adjust the unmanned plane throttle in real time, control institute
It states unmanned plane and lower section obstacle distance height is maintained at default third distance H；Preferably, the default third distance H
It is 3 meters.
Further, the detection unmanned plane and lower section obstacle distance, and the lower section obstacle that will test
Object is apart from real-time Transmission to flight control system；Include:
The ultrasonic sensor detects the no aircraft and lower section obstacle distance；
The lower obstacle distance information is merged with barometer and GPS elevation information, and will test it is described under
Obstacle distance real-time Transmission is to flight control system.
In the present embodiment, the ultrasonic sensor is mounted below the unmanned plane, for detecting the unmanned plane
Lower section barrier, the range information that can detecte the unmanned plane and lower section obstacle distance, and will test and barometer and
GPS elevation information is merged, and will test the lower obstacle distance real-time Transmission to flight control system.
Further, the flight control system is according to the unmanned plane and lower section obstacle distance, in real time described in adjustment
Unmanned plane throttle, comprising:
Presently described lower section obstacle distance and the default third distance are done difference in height by the flight control system, will
Obtained height difference is transferred to the positioner of the unmanned plane；
The positioner adjusts the unmanned plane throttle by the revolution speed of propeller of the change unmanned plane in real time,
The flight control system controls the unmanned plane and lower section obstacle distance height is maintained at default third distance.
Further, the step S2 further include: when the unmanned plane assert that barrier is not present in lower section, the flight control
System processed stops controlling the unmanned plane and lower section obstacle distance height is maintained at the difference in height control of default third distance
System.It wherein, include the lower section barrier disappearance or the lower section obstacle there is no barrier below the unmanned plane identification
Object distance is more than the default third distance or is more than the ultrasonic sensor detection range.
The embodiment of the present invention provides a kind of unmanned plane avoidance obstacle method, is applied to pass with binocular camera and ultrasonic wave
The unmanned plane of sensor, wherein the binocular camera is mounted in front of the unmanned plane, for detecting the unmanned plane advance side
To front obstacle, the ultrasonic sensor is mounted below the unmanned plane, for detecting the lower section of the unmanned plane
Barrier；It include: the flight forward speed for adjusting the unmanned plane in real time according to the unmanned plane and front obstacle distance,
And when the unmanned plane and front obstacle distance are less than default second distance, the flight forward of the unmanned plane is controlled
Speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane；According to the unmanned plane and lower section obstacle distance, in real time
The unmanned plane throttle is adjusted, the unmanned plane is controlled and lower section obstacle distance height is maintained at default third distance.
Through the embodiment of the present invention, unmanned plane can be hindered using for keeping away for automatic Pilot, can flown forward at a high speed to avoid unmanned plane
When row, due to can not observe barrier strikes obstacles or because the distance for observing barrier is too small and unmanned plane itself fly
Excessive velocities, brake is not in time to strikes obstacles；Unmanned plane is avoided to fly to next target point lower from eminence simultaneously, in
Way occurs occurring the case where strikes obstacles or even aircraft bombing when barrier below unmanned plane.
Technical solution of the present invention is described in further detail with reference to embodiments.
Embodiment 1:
Please refer to figs. 1 to 4.
In the present embodiment, unmanned plane is in the offline mode of automatic Pilot.An aerial mission is received with unmanned plane
For be illustrated, the aerial mission be straight line soared surely to next target point.
In the present embodiment, the default first distance for 50 meters, the default second distance is for 5 meters, institute
Default third distance is stated for 3 meters, the ratio preset value is illustrated by taking 300% (3 times) as an example.
The embodiment of the present invention provides a kind of unmanned plane avoidance obstacle method, hinders nothing applied in keeping away for automatic driving mode
It is man-machine, the unmanned plane have binocular camera and ultrasonic sensor, wherein the binocular camera be mounted on it is described nobody
In front of machine, for detecting the front obstacle of the unmanned plane direction of advance, the ultrasonic sensor be mounted on it is described nobody
Below machine, for detecting the lower section barrier of the unmanned plane.
After unmanned plane takes off, receive that earth station (including smart phone APP etc.) transmits " straight line is soared surely to next
The aerial mission of target point ".
The unmanned plane is in flight course, the obstacle information in always on binocular camera observation front.Institute
Stating binocular camera has the ability that can calculate front obstacle distance in real time, and maximum detects effective range > 100 meter, and
Send front obstacle distance to flight control system in real time.
When the unmanned plane carries out range measurement, the binocular camera to front obstacle using the binocular camera
The real-time velocity information of unmanned plane and the range information of the measurement are merged, institute is calculated according to the time of the unmanned plane during flying
Information of the unmanned plane apart from barrier is stated, and sends front obstacle distance to flight control system in real time.
The flight control system can be believed according to the current speed of the unmanned plane oneself and front obstacle distance
Breath is merged, and calculates the unmanned plane apart from obstacle distance using current velocity information, and adjust the nothing in real time
Man-machine flight forward speed.As shown in Figure 2.
When being 100 meters apart from barrier B1, controls the unmanned plane and normally continued forward with default flight forward speed
Flight.
When being 50 meters apart from barrier B1, controlling the unmanned plane suitably reduces flight forward speed.
When being 20 meters apart from barrier B1, continue to control the unmanned plane reduction flight forward speed.
When being 5 meters apart from barrier B1, controlling the unmanned plane reduces flight forward speed to 0.0m/s.
At this point, the unmanned plane is in floating state, but without target point is reached, currently also in task rank to be executed
Section.
After the unmanned plane hovering, the flight control system controls the rapid vertical ascent of unmanned plane.In rising
In the process, the obstacle information in the unmanned plane always on binocular camera observation front.
When the binocular camera measurement detects front obstacle B2 apart from the unmanned plane distance less than 30 meters, institute
It states flight control system and determines that the unmanned plane is unable to flight forward, the unmanned plane continues to rise.
When the binocular camera measurement detects front obstacle B2 apart from the unmanned plane distance between 30-50 meters
When, the flight control system determines that the unmanned plane can control the unmanned plane with flight forward, the flight control system
Low speed flight forward.
When the binocular camera measurement detects that front obstacle B2 is greater than 50 meters apart from the unmanned plane distance, institute
It states the flight control system control unmanned plane and accelerates to default flight forward speed flight forward, until the binocular camera
When detecting that the unmanned plane front obstacle B2 distance is 50 meters, the flight control system controls the unmanned plane and suitably drops
Low flight forward speed, when being 20 meters apart from barrier B2, continuation, which further controls the unmanned plane, reduces flight forward speed
Degree, when being 5 meters apart from barrier B2, the flight forward speed for controlling the unmanned plane is reduced to 0.0m/s.
The unmanned plane when preceding line direction encounters barrier, repeat more than flight course.
When occurring a barrier in front of the binocular camera:
The binocular camera detect front obstacle only one, and the front obstacle is not in the unmanned plane
When the front of the direction of motion, the flight control system judges whether the unmanned plane can pass through, if judgement can pass through,
The unmanned plane is controlled to move on；If judgement cannot pass through, the order for the hovering vertical ascent that slows down is issued, described in control
The flight forward speed of unmanned plane is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
When there are multiple barriers in front of the binocular camera:
The photo of shooting is divided into left, center, right three parts by the binocular camera, and is calculated all in the three parts
All front obstacle distances are sent to flight control system by front obstacle distance；
The flight control system analyzes and determines all front obstacle distances in the three parts, and is sentenced according to analysis
Disconnected result controls the unmanned plane and carries out avoidance；Include:
According to analyzing and determining that result is that middle section barrier is closer, the flight forward speed drop of the unmanned plane is controlled
Down to zero, and control the rapid vertical ascent of the unmanned plane；
According to analyzing and determining that result is that middle section barrier is distant, controls the unmanned plane and continue flight forward；
It is that middle section does not have barrier and the right and left has barrier according to analytical judgment result, further described in judgement
Binocular camera sends back 3 times that whether the right and left obstacle distance come is greater than the unmanned plane width:
If the right and left obstacle distance is greater than 3 times of the unmanned plane width, control the unmanned plane continue to
Preceding flight；
If the right and left obstacle distance is less than or equal to 3 times of the unmanned plane width, the unmanned plane is controlled
Flight forward speed be reduced to zero, and control the rapid vertical ascent of the unmanned plane.
If the unmanned plane currently hovers in higher position at this time, and passes through calculating by the flight control system
Position height and target point height at this time show that position height is higher than target point height at this time, need to fly to a height and compare and work as
The low target point of preceding height.
At this point, range difference of the flight control system by calculating current position and the three-dimensional coordinate of aiming spot,
Change the revolution speed of propeller of the unmanned plane, and then modify the current pose of the unmanned plane, thus target point.
There are the barriers such as trees when reducing flying height, in the lower section of the unmanned plane in the unmanned plane, and at
The detection for avoiding the binocular camera of function.As shown in Figure 3.The supersonic sensing being mounted below the unmanned plane at this time
Device can detecte unmanned plane lower section barrier at a distance from aircraft, and the range information that will test and barometer and GPS high
Degree information is merged, and will test the lower obstacle distance real-time Transmission to flight control system.
When the lower section obstacle distance is less than 3 meters, the flight control system will work as front lower place obstacle distance and 3
The distance of rice does difference in height, and obtained height difference is conveyed to the positioner of the unmanned plane.
The positioner adjusts the unmanned plane throttle by the revolution speed of propeller of the change unmanned plane in real time,
The flight control system controls the unmanned plane and lower section obstacle distance height is maintained at default third distance H (3
Rice).At the same time, the flight control system controls the unmanned plane continuation flight forward target point.
If when front lower place barrier disappears or the lower section obstacle distance is more than 3 meters or can be with more than ultrasonic wave
The range detected, the unmanned plane assert that lower section is not present barrier, the flight control system stop control it is described nobody
The difference in height that machine and lower section obstacle distance height are maintained at 3 meters controls, and continues according to current flying height and target
The object height of point carries out doing difference in height, continues to control while unmanned plane is winged forward on one side and descents altitude, until flying to mesh
After punctuate, target point is hovered over.
In the unmanned plane during target point, while when encountering front obstacle and lower section barrier, such as
Shown in Fig. 4.At this point, the unmanned plane can be hindered according to the barrier-avoiding method of front obstacle and the barrier-avoiding method of lower section barrier
Hinder object to be evaded, after flying to target point, hovers over target point.
The embodiment of the present invention provides a kind of unmanned plane avoidance obstacle method, hinders nothing applied in keeping away for automatic driving mode
It is man-machine.When unmanned plane is in the offline mode of automatic Pilot, unmanned plane during straight line is soared surely to next target point,
It is to slow down first when detecting barrier in front of unmanned plane, gives the operation of the more avoiding obstacles of unmanned plane
Space, when unmanned plane apart from barrier it is shorter apart from when, unmanned plane, which hovers, makes the movement of vertical ascent, until obstacle
Object has the distance greater than 30m apart from unmanned plane, then controls unmanned plane flight forward to terminal, when the barrier is located at unmanned plane
When lower section, ultrasonic sensor detects the height of obstacle distance unmanned plane, when the obstacle distance is less than 3m, flight control
The distance of current barrier can be done difference in height at a distance from 3 meters by system, and obtained height difference is conveyed to unmanned plane
Positioner, positioner is by changing wind stick revolving speed, to guarantee that unmanned plane and lower section barrier are kept
There is 3 meters of distance, continue at the same time to flight forward to destination, if when front lower place barrier disappears or apart from more than super
The range that sound wave can observe, unmanned plane assert that barrier is not present in lower section, so that it may continue according to current flying height
It carries out doing difference in height with the object height of target point, continues flight forward side descent altitude, until flying to target point.
Embodiment 2:
In the present embodiment, unmanned plane is in manual control mode.By taking unmanned plane receives an aerial mission as an example into
Row explanation, the aerial mission are that straight line is soared surely to next target point.
In the present embodiment, the default first distance for 50 meters, the default second distance is for 5 meters, institute
Default third distance is stated for 3 meters, the ratio preset value is illustrated by taking 300% (3 times) as an example.
The embodiment of the present invention provides a kind of unmanned plane avoidance obstacle method, hinders nothing applied in keeping away for manual control mode
It is man-machine, the unmanned plane have binocular camera and ultrasonic sensor, wherein the binocular camera be mounted on it is described nobody
In front of machine, for detecting the front obstacle of the unmanned plane direction of advance, the ultrasonic sensor be mounted on it is described nobody
Below machine, for detecting the lower section barrier of the unmanned plane.
The avoidance process of unmanned plane in manual control mode, it is similar in the avoidance process of automatic driving mode,
Encountering front has barrier to arrive, and when being 100 meters apart from barrier, can manually manipulate the unmanned plane to preset flight forward
Speed normally continues flight forward.When being 50 meters apart from barrier, can manually continue to manipulate the unmanned plane flight forward,
But the unmanned plane can reduce flight forward speed automatically.When being 20 meters apart from barrier, can manually continue described in manipulation
Unmanned plane flight forward, but the unmanned plane can further reduce flight forward speed automatically.Until being 3-5 meters apart from barrier
When, even if manually continuing to manipulate the unmanned plane flight forward, at this point, the unmanned plane can reduce automatically the unmanned plane forward
For flying speed to 0.0m/s, the unmanned plane is not responding to artificial forward direction operation, is only at floating state, unmanned plane priority processing
Barrier is handled, the unmanned plane is manually only dragged at this time and draws high vertical ascent, or control unmanned plane or so flight, ability
Unmanned plane is set to change posture, binocular camera can control unmanned plane at this time and barrier keeps certain forward direction distance, prevent from colliding
Occur.
When encountering binocular camera front has one or more barriers, with the avoidance process class for being in automatic driving mode
Seemingly, unmanned plane meeting priority processing handles barrier, then responds manual operation.
When the downward flight of unmanned plane described in manual control, when encountering lower section barrier, with keeping away in automatic driving mode
It is similar to hinder process, unmanned plane meeting priority processing processing lower section barrier, then respond manual operation.
In addition, the embodiment of the present invention also provides a kind of unmanned plane, as shown in Fig. 2, the unmanned plane 900 includes: memory
902, processor 901 and one or more meter that is stored in the memory 902 and can be run on the processor 901
Calculation machine program, the memory 902 and the processor 901 are coupled by bus system 903, one or more
To realize a kind of unmanned plane avoidance obstacle side provided in an embodiment of the present invention when a computer program is executed by the processor 901
The following steps of method:
Step S1 adjusts the flight forward speed of the unmanned plane according to the unmanned plane and front obstacle distance in real time
Degree, and when the unmanned plane and front obstacle distance are less than default second distance, control the unmanned plane forward
Flying speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane；
Step S2 adjusts the unmanned plane throttle according to the unmanned plane and lower section obstacle distance in real time, described in control
Unmanned plane and lower section obstacle distance height are maintained at default third distance.
Further, described according to the unmanned plane and front obstacle distance in the step S1, in real time described in adjustment
The flight forward speed of unmanned plane；Include:
The unmanned plane and front obstacle distance are detected, the obstacle distance real-time Transmission that will test is to flight
Control system；
The flight control system adjusts the unmanned plane according to the unmanned plane and the front obstacle distance in real time
Flight forward speed:
When the unmanned plane and front obstacle distance are greater than default first distance, the unmanned plane is controlled with default
Flight forward speed flight forward；Preferably, the default first distance is 50 meters；
When the unmanned plane and the front obstacle distance are between default first distance and default second distance, control
The unmanned plane gradually reduces flight forward speed；Wherein, the second distance is less than the first distance；Preferably, described
Default second distance is 5 meters；
When the unmanned plane and front obstacle distance are less than default second distance, the unmanned plane is controlled forward
Flying speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Further, the detection unmanned plane and front obstacle distance, the obstacle distance that will test
Real-time Transmission is to flight control system, comprising:
The binocular camera detects the front obstacle of the unmanned plane, calculates front obstacle distance in real time, and real
When send the front obstacle distance to flight control system；Include:
The front obstacle that the binocular camera detects the unmanned plane go forward side by side row distance measurement；
The binocular camera merges the unmanned plane real time speed information and the range information of the measurement, according to institute
The flight time for stating unmanned plane calculates the unmanned plane apart from front obstacle distance, and the front that will be calculated in real time
Obstacle distance sends flight control system to.
Further, in the step S1, the binocular camera detect front obstacle only one, and it is described before
Square barrier is not at the front of the unmanned plane direction of motion, the step S1 further include:
The flight control system judges whether the unmanned plane can pass through, if judgement can pass through, described in control
Unmanned plane moves on；If judgement cannot pass through, the order for the hovering vertical ascent that slows down is issued, the unmanned plane is controlled
Flight forward speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Further, described when the binocular camera detects that the front obstacle has multiple in the step S1
Step S1 further include:
The photo of shooting is divided into left, center, right three parts by the binocular camera, and is calculated all in the three parts
All front obstacle distances are sent to flight control system by front obstacle distance；
The flight control system analyzes and determines all front obstacle distances in the three parts, and is sentenced according to analysis
Disconnected result controls the unmanned plane and carries out avoidance；Include:
According to analyzing and determining that result is that middle section barrier is closer, the flight forward speed drop of the unmanned plane is controlled
Down to zero, and control the rapid vertical ascent of the unmanned plane；
According to analyzing and determining that result is that middle section barrier is distant, controls the unmanned plane and continue flight forward；
It is that middle section does not have barrier and the right and left has barrier according to analytical judgment result, further described in judgement
Whether the ratio that binocular camera sends back the right and left obstacle distance and the unmanned plane width that come is default greater than ratio
Value: if the ratio of the right and left obstacle distance and the unmanned plane width be greater than the ratio preset value, control described in
Unmanned plane continues flight forward；If the ratio of the right and left obstacle distance and the unmanned plane width is less than or equal to the ratio
Example preset value, then the flight forward speed for controlling the unmanned plane is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Preferably, the ratio preset value is 300%.
Further, the step S1 further include: the unmanned plane and front obstacle distance are greater than default first
Apart from when, control the unmanned plane and stop vertical ascent, maintain present level, and control the unmanned plane accelerate to it is default forward
Flying speed flight forward.
Further, described according to the unmanned plane and lower section obstacle distance in the step S2, in real time described in adjustment
Unmanned plane throttle, controls the unmanned plane and lower section obstacle distance height is maintained at default third distance；Include:
The lower section obstacle distance real-time Transmission that detects the unmanned plane and lower section obstacle distance, and will test
To flight control system；
The flight control system adjusts the unmanned machine oil according to the unmanned plane and lower section obstacle distance in real time
Door:
When the lower section obstacle distance be less than default third apart from when, adjust the unmanned plane throttle in real time, control institute
It states unmanned plane and lower section obstacle distance height is maintained at default third distance；Preferably, the default third distance is 3
Rice.
Further, the detection unmanned plane and lower section obstacle distance, and the lower section obstacle that will test
Object is apart from real-time Transmission to flight control system；Include:
The ultrasonic sensor detects the no aircraft and lower section obstacle distance；
The lower obstacle distance information is merged with barometer and GPS elevation information, and will test it is described under
Obstacle distance real-time Transmission is to flight control system.
Further, the flight control system is according to the unmanned plane and lower section obstacle distance, in real time described in adjustment
Unmanned plane throttle, comprising:
Presently described lower section obstacle distance and the default third distance are done difference in height by the flight control system, will
Obtained height difference is transferred to the positioner of the unmanned plane；
The positioner adjusts the unmanned plane throttle by the revolution speed of propeller of the change unmanned plane in real time,
The flight control system controls the unmanned plane and lower section obstacle distance height is maintained at default third distance.
Further, the step S2 further include: when the unmanned plane assert that barrier is not present in lower section, the flight control
System processed stops controlling the unmanned plane and lower section obstacle distance height is maintained at the difference in height control of default third distance
System.It wherein, include the lower section barrier disappearance or the lower section obstacle there is no barrier below the unmanned plane identification
Object distance is more than the default third distance or is more than the ultrasonic sensor detection range.
The method that the embodiments of the present invention disclose can be applied in the processor 901, or by the processor
901 realize.The processor 901 may be a kind of IC chip, have signal handling capacity.During realization, on
Each step for stating method can be complete by the integrated logic circuit of the hardware in the processor 901 or the instruction of software form
At.The processor 901 can be general processor, DSP or other programmable logic device, discrete gate or transistor
Logical device, discrete hardware components etc..The processor 901 may be implemented or execute disclosed each in the embodiment of the present invention
Method, step and logic diagram.General processor can be microprocessor or any conventional processor etc..In conjunction with the present invention
The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or be handled with decoding
Hardware and software module combination in device execute completion.Software module can be located in storage medium, which, which is located at, deposits
The step of reservoir 902, the processor 901 reads the information in memory 902, completes preceding method in conjunction with its hardware.
It is appreciated that the memory 902 of the embodiment of the present invention can be volatile memory or nonvolatile memory,
It also may include both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (ROM,
Read-Only Memory), it is programmable read only memory (PROM, Programmable Read-Only Memory), erasable
Programmable read only memory (EPROM, Erasable Read-Only Memory), electricallyerasable ROM (EEROM) (EEPROM,
Electrically Erasable Programmable Read-Only Memory), magnetic RAM (FRAM,
Ferromagnetic Random Access Memory), flash memory (Flash Memory) or other memory technologies, CD only
Read memory (CD-ROM, Compact Disk Read-Only Memory), digital versatile disc (DVD, Digital Video
) or other optical disc storages, magnetic holder, tape, disk storage or other magnetic memory apparatus Disk；Volatile memory can be at random
It accesses memory (RAM, Random Access Memory), by exemplary but be not restricted explanation, the RAM of many forms
It can use, such as static random access memory (SRAM, Static Random Access Memory), static random-access are deposited
Reservoir (SSRAM, Synchronous Static Random Access Memory), dynamic random access memory (DRAM,
Dynamic Random Access Memory), Synchronous Dynamic Random Access Memory (SDRAM, Synchronous
Dynamic Random Access Memory), double data speed synchronous dynamic RAM (DDRSDRAM,
Double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random
Access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronized links
Dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), direct rambus
Random access memory (DRRAM, Direct Rambus Random Access Memory).Description of the embodiment of the present invention is deposited
Reservoir is intended to include but is not limited to the memory of these and any other suitable type.
It should be noted that above-mentioned unmanned aerial vehicle example and embodiment of the method belong to same design, process is implemented
It is detailed in embodiment of the method, and the technical characteristic in embodiment of the method is corresponding applicable in unmanned aerial vehicle example, it is no longer superfluous here
It states.
In addition, in the exemplary embodiment, the embodiment of the present invention also provides a kind of computer storage medium, specially calculate
Machine readable storage medium storing program for executing is stored with nothing in the computer storage medium for example including the memory 902 for storing computer program
One or more program of man-machine avoidance obstacle method, one or more program quilt of the unmanned plane avoidance obstacle method
A kind of following steps of unmanned plane avoidance obstacle method provided in an embodiment of the present invention are realized when processor 901 executes:
Step S1 adjusts the flight forward speed of the unmanned plane according to the unmanned plane and front obstacle distance in real time
Degree, and when the unmanned plane and front obstacle distance are less than default second distance, control the unmanned plane forward
Flying speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane；
Step S2 adjusts the unmanned plane throttle according to the unmanned plane and lower section obstacle distance in real time, described in control
Unmanned plane and lower section obstacle distance height are maintained at default third distance.
Further, described according to the unmanned plane and front obstacle distance in the step S1, in real time described in adjustment
The flight forward speed of unmanned plane；Include:
The unmanned plane and front obstacle distance are detected, the obstacle distance real-time Transmission that will test is to flight
Control system；
The flight control system adjusts the unmanned plane according to the unmanned plane and the front obstacle distance in real time
Flight forward speed:
When the unmanned plane and front obstacle distance are greater than default first distance, the unmanned plane is controlled with default
Flight forward speed flight forward；Preferably, the default first distance is 50 meters；
When the unmanned plane and the front obstacle distance are between default first distance and default second distance, control
The unmanned plane gradually reduces flight forward speed；Wherein, the second distance is less than the first distance；Preferably, described
Default second distance is 5 meters；
When the unmanned plane and front obstacle distance are less than default second distance, the unmanned plane is controlled forward
Flying speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Further, the detection unmanned plane and front obstacle distance, the obstacle distance that will test
Real-time Transmission is to flight control system, comprising:
The binocular camera detects the front obstacle of the unmanned plane, calculates front obstacle distance in real time, and real
When send the front obstacle distance to flight control system；Include:
The front obstacle that the binocular camera detects the unmanned plane go forward side by side row distance measurement；
The binocular camera merges the unmanned plane real time speed information and the range information of the measurement, according to institute
The flight time for stating unmanned plane calculates the unmanned plane apart from front obstacle distance, and the front that will be calculated in real time
Obstacle distance sends flight control system to.
Further, in the step S1, the binocular camera detect front obstacle only one, and it is described before
Square barrier is not at the front of the unmanned plane direction of motion, the step S1 further include:
The flight control system judges whether the unmanned plane can pass through, if judgement can pass through, described in control
Unmanned plane moves on；If judgement cannot pass through, the order for the hovering vertical ascent that slows down is issued, the unmanned plane is controlled
Flight forward speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Further, described when the binocular camera detects that the front obstacle has multiple in the step S1
Step S1 further include:
The photo of shooting is divided into left, center, right three parts by the binocular camera, and is calculated all in the three parts
All front obstacle distances are sent to flight control system by front obstacle distance；
The flight control system analyzes and determines all front obstacle distances in the three parts, and is sentenced according to analysis
Disconnected result controls the unmanned plane and carries out avoidance；Include:
According to analyzing and determining that result is that middle section barrier is closer, the flight forward speed drop of the unmanned plane is controlled
Down to zero, and control the rapid vertical ascent of the unmanned plane；
According to analyzing and determining that result is that middle section barrier is distant, controls the unmanned plane and continue flight forward；
It is that middle section does not have barrier and the right and left has barrier according to analytical judgment result, further described in judgement
Whether the ratio that binocular camera sends back the right and left obstacle distance and the unmanned plane width that come is default greater than ratio
Value: if the ratio of the right and left obstacle distance and the unmanned plane width be greater than the ratio preset value, control described in
Unmanned plane continues flight forward；If the ratio of the right and left obstacle distance and the unmanned plane width is less than or equal to the ratio
Example preset value, then the flight forward speed for controlling the unmanned plane is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
Preferably, the ratio preset value is 300%.
Further, the step S1 further include: the unmanned plane and front obstacle distance are greater than default first
Apart from when, control the unmanned plane and stop vertical ascent, maintain present level, and control the unmanned plane accelerate to it is default forward
Flying speed flight forward.
Further, described according to the unmanned plane and lower section obstacle distance in the step S2, in real time described in adjustment
Unmanned plane throttle, controls the unmanned plane and lower section obstacle distance height is maintained at default third distance；Include:
The lower section obstacle distance real-time Transmission that detects the unmanned plane and lower section obstacle distance, and will test
To flight control system；
The flight control system adjusts the unmanned machine oil according to the unmanned plane and lower section obstacle distance in real time
Door:
When the lower section obstacle distance be less than default third apart from when, adjust the unmanned plane throttle in real time, control institute
It states unmanned plane and lower section obstacle distance height is maintained at default third distance；Preferably, the default third distance is 3
Rice.
Further, the detection unmanned plane and lower section obstacle distance, and the lower section obstacle that will test
Object is apart from real-time Transmission to flight control system；Include:
The ultrasonic sensor detects the no aircraft and lower section obstacle distance；
The lower obstacle distance information is merged with barometer and GPS elevation information, and will test it is described under
Obstacle distance real-time Transmission is to flight control system.
Further, the flight control system is according to the unmanned plane and lower section obstacle distance, in real time described in adjustment
Unmanned plane throttle, comprising:
Presently described lower section obstacle distance and the default third distance are done difference in height by the flight control system, will
Obtained height difference is transferred to the positioner of the unmanned plane；
The positioner adjusts the unmanned plane throttle by the revolution speed of propeller of the change unmanned plane in real time,
The flight control system controls the unmanned plane and lower section obstacle distance height is maintained at default third distance.
Further, the step S2 further include: when the unmanned plane assert that barrier is not present in lower section, the flight control
System processed stops controlling the unmanned plane and lower section obstacle distance height is maintained at the difference in height control of default third distance
System.It wherein, include the lower section barrier disappearance or the lower section obstacle there is no barrier below the unmanned plane identification
Object distance is more than the default third distance or is more than the ultrasonic sensor detection range.
It should be noted that unmanned plane avoidance obstacle embodiment of the method and method on above-mentioned computer readable storage medium
Embodiment belongs to same design, and specific implementation process is detailed in embodiment of the method, and the technical characteristic in embodiment of the method is upper
It states to correspond in the embodiment of computer readable storage medium and be applicable in, which is not described herein again.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (14)
1. a kind of unmanned plane avoidance obstacle method is applied to unmanned plane characterized by comprising
According to the unmanned plane and front obstacle distance, the flight forward speed of the unmanned plane is adjusted in real time, and described
When unmanned plane and front obstacle distance are less than default second distance, the flight forward speed for controlling the unmanned plane is reduced
To zero, and control the rapid vertical ascent of the unmanned plane；
According to the unmanned plane and lower section obstacle distance, the unmanned plane throttle is adjusted in real time, controls the unmanned plane and institute
It states lower section obstacle distance height and is maintained at default third distance.
2. the method according to claim 1, wherein described according to the unmanned plane and front obstacle distance,
The flight forward speed of the unmanned plane is adjusted in real time；Include:
The unmanned plane and front obstacle distance are detected, the obstacle distance real-time Transmission that will test gives flight control
System；
The flight control system according to the unmanned plane and the front obstacle distance, adjust in real time the unmanned plane to
Preceding flying speed.
3. according to the method described in claim 2, it is characterized in that, the flight control system according to the unmanned plane with it is described
Front obstacle distance adjusts the flight forward speed of the unmanned plane in real time, comprising:
When the unmanned plane and front obstacle distance are greater than default first distance, the unmanned plane is controlled to preset forward
Flying speed flight forward；
When the unmanned plane and the front obstacle distance are between default first distance and default second distance, described in control
Unmanned plane gradually reduces flight forward speed；Wherein, the second distance is less than the first distance；
When the unmanned plane and front obstacle distance are less than default second distance, the flight forward of the unmanned plane is controlled
Speed is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
4. according to the method described in claim 2, it is characterized in that, the unmanned plane includes being mounted in front of the unmanned plane
Binocular camera, for detecting the front obstacle of the unmanned plane direction of advance；
The detection unmanned plane is with front obstacle distance, and the obstacle distance real-time Transmission that will test is to flight
Control system, comprising: the binocular camera detects the front obstacle of the unmanned plane, calculates preceding object object distance in real time
From, and send the front obstacle distance to flight control system in real time.
5. according to the method described in claim 4, it is characterized in that, the binocular camera detects that front obstacle only has one
It is a, and the front obstacle is at the front of the unmanned plane direction of motion, the method also includes:
The flight control system judges whether the unmanned plane can pass through, if judgement can pass through, control it is described nobody
Machine moves on；If judgement cannot pass through, the flight forward speed for controlling the unmanned plane is reduced to zero, and described in control
The rapid vertical ascent of unmanned plane.
6. according to the method described in claim 4, it is characterized in that, the binocular camera detects that the front obstacle has
When multiple, the method also includes:
The photo of shooting is divided into left, center, right three parts by the binocular camera, and calculates all fronts in the three parts
All front obstacle distances are sent to flight control system by obstacle distance；
The flight control system analyzes and determines all front obstacle distances in the three parts, and ties according to analyzing and determining
Fruit controls the unmanned plane and carries out avoidance.
7. according to the method described in claim 6, it is characterized in that, it is described according to analyze and determine result control the unmanned plane into
Row avoidance, comprising:
According to analyzing and determining that result is that middle section barrier is closer, the flight forward speed for controlling the unmanned plane is reduced to
Zero, and control the rapid vertical ascent of the unmanned plane；
According to analyzing and determining that result is that middle section barrier is distant, controls the unmanned plane and continue flight forward；According to point
Analysis judging result is that middle section does not have barrier and the right and left has barrier, further judges the binocular camera transmission
Whether the ratio of the right and left obstacle distance and the unmanned plane width back is greater than ratio preset value, comprising:
If the ratio of the right and left obstacle distance and the unmanned plane width be greater than the ratio preset value, control described in
Unmanned plane continues flight forward；
If the ratio of the right and left obstacle distance and the unmanned plane width is less than or equal to the ratio preset value, control
The flight forward speed of the unmanned plane is reduced to zero, and controls the rapid vertical ascent of the unmanned plane.
8. the method according to claim 1, wherein the method may further comprise: the unmanned plane and institute
It when stating front obstacle distance greater than default first distance, controls the unmanned plane and stops vertical ascent, maintain present level, and
It controls the unmanned plane and accelerates to default flight forward speed flight forward.
9. the method according to claim 1, wherein described according to the unmanned plane and lower section obstacle distance,
Adjust the unmanned plane throttle in real time, control the unmanned plane and lower section obstacle distance height be maintained at default third away from
From；Include:
The lower section obstacle distance real-time Transmission that detects the unmanned plane and lower section obstacle distance, and will test is to winged
Row control system；
The flight control system adjusts the unmanned plane throttle according to the unmanned plane and lower section obstacle distance in real time: when
The lower section obstacle distance be less than default third apart from when, adjust the unmanned plane throttle in real time, control the unmanned plane with
The lower section obstacle distance height is maintained at default third distance.
10. according to the method described in claim 9, it is characterized in that, the unmanned plane includes being mounted below the unmanned plane
Ultrasonic sensor, for detecting the lower section barrier of the unmanned plane；
The detection unmanned plane and lower section obstacle distance, and the lower section obstacle distance real-time Transmission that will test
To flight control system；Include:
The ultrasonic sensor detects the no aircraft and lower section obstacle distance；
The lower obstacle distance information is merged with barometer and GPS elevation information, and will test the lower obstacle
Object is apart from real-time Transmission to flight control system.
11. according to the method described in claim 10, it is characterized in that, the flight control system is according to the unmanned plane under
Square obstacle distance adjusts the unmanned plane throttle in real time, comprising:
Presently described lower section obstacle distance and the default third distance are done difference in height by the flight control system, will be obtained
Height difference be transferred to the positioner of the unmanned plane；
The positioner adjusts the unmanned plane throttle by the revolution speed of propeller of the change unmanned plane in real time, described
Flight control system controls the unmanned plane and lower section obstacle distance height is maintained at default third distance.
12. according to the method described in claim 9, it is characterized in that, the method may further comprise: the unmanned plane identification
When barrier is not present in lower section, the flight control system stops controlling the unmanned plane and the lower section obstacle distance height
It is maintained at the difference in height control of default third distance；Wherein, under including described there is no barrier below the unmanned plane identification
Square barrier disappears or the lower section obstacle distance is more than the default third distance or is more than the supersonic sensing
Device detection range.
13. a kind of unmanned plane characterized by comprising memory, processor and storage are in the memory and can be described
One or more computer program run on processor, one or more of computer programs are held by the processor
The step of when row to realize a kind of unmanned plane avoidance obstacle method as described in any one of claims 1 to 12.
14. a kind of computer readable storage medium, which is characterized in that be stored with unmanned plane on the computer readable storage medium
Avoidance obstacle method program realizes such as claim 1 to 12 when the unmanned plane avoidance obstacle method program is executed by processor
Any one of described in a kind of unmanned plane avoidance obstacle method the step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538342.1A CN110119162A (en) | 2019-06-20 | 2019-06-20 | A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538342.1A CN110119162A (en) | 2019-06-20 | 2019-06-20 | A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110119162A true CN110119162A (en) | 2019-08-13 |
Family
ID=67524401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910538342.1A Pending CN110119162A (en) | 2019-06-20 | 2019-06-20 | A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110119162A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110568857A (en) * | 2019-08-15 | 2019-12-13 | 深圳市道通智能航空技术有限公司 | unmanned aerial vehicle flight control method and unmanned aerial vehicle |
| CN111552318A (en) * | 2020-05-15 | 2020-08-18 | 航迅信息技术有限公司 | Control method for minimum safe altitude flight of unmanned aerial vehicle |
| CN111897356A (en) * | 2020-08-10 | 2020-11-06 | 深圳市道通智能航空技术有限公司 | Obstacle avoidance method and device and unmanned aerial vehicle |
| CN112272807A (en) * | 2019-11-04 | 2021-01-26 | 深圳市大疆创新科技有限公司 | Control method, control equipment, movable platform and storage medium |
| CN112357100A (en) * | 2020-10-27 | 2021-02-12 | 苏州臻迪智能科技有限公司 | Method, device and computer-readable storage medium for displaying obstacle information |
| CN112578334A (en) * | 2019-09-27 | 2021-03-30 | 中光电智能机器人股份有限公司 | Unmanned aerial vehicle and positioning method thereof, unmanned aerial vehicle communication system and operation method thereof |
| CN112650282A (en) * | 2020-12-15 | 2021-04-13 | 易瓦特科技股份公司 | Reverse conversion fixed-distance braking method for vertical take-off and landing fixed-wing aircraft |
| WO2021088684A1 (en) * | 2019-11-07 | 2021-05-14 | 深圳市道通智能航空技术股份有限公司 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
| CN113050691A (en) * | 2021-03-25 | 2021-06-29 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium |
| CN113253762A (en) * | 2021-06-21 | 2021-08-13 | 广东电网有限责任公司佛山供电局 | Obstacle avoidance method for safe return flight of unmanned aerial vehicle inspection |
| CN116188470A (en) * | 2023-04-28 | 2023-05-30 | 成都航空职业技术学院 | Unmanned aerial vehicle aerial photographing identification-based fault positioning method and system |
| CN116736879A (en) * | 2023-08-16 | 2023-09-12 | 成都飞航智云科技有限公司 | Unmanned aerial vehicle automatic obstacle avoidance method and obstacle avoidance system based on cloud computing |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110133979A1 (en) * | 2009-11-04 | 2011-06-09 | Rockwell Collins France | Method and system for detecting ground obstacles from an airborne platform |
| CN105955304A (en) * | 2016-07-06 | 2016-09-21 | 零度智控（北京）智能科技有限公司 | Obstacle avoidance method, obstacle avoidance device and unmanned aerial vehicle |
| CN106950981A (en) * | 2017-04-25 | 2017-07-14 | 深圳大学 | A kind of unmanned plane height control method and system |
| CN107077148A (en) * | 2016-11-22 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Unmanned plane avoidance obstacle method, flight controller and unmanned vehicle |
| CN109240334A (en) * | 2018-10-22 | 2019-01-18 | 深圳市智璟科技有限公司 | A kind of barrier-avoiding method of unmanned aerial vehicle |
-
2019
- 2019-06-20 CN CN201910538342.1A patent/CN110119162A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110133979A1 (en) * | 2009-11-04 | 2011-06-09 | Rockwell Collins France | Method and system for detecting ground obstacles from an airborne platform |
| CN105955304A (en) * | 2016-07-06 | 2016-09-21 | 零度智控（北京）智能科技有限公司 | Obstacle avoidance method, obstacle avoidance device and unmanned aerial vehicle |
| CN107077148A (en) * | 2016-11-22 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Unmanned plane avoidance obstacle method, flight controller and unmanned vehicle |
| CN106950981A (en) * | 2017-04-25 | 2017-07-14 | 深圳大学 | A kind of unmanned plane height control method and system |
| CN109240334A (en) * | 2018-10-22 | 2019-01-18 | 深圳市智璟科技有限公司 | A kind of barrier-avoiding method of unmanned aerial vehicle |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110568857A (en) * | 2019-08-15 | 2019-12-13 | 深圳市道通智能航空技术有限公司 | unmanned aerial vehicle flight control method and unmanned aerial vehicle |
| WO2021027886A1 (en) * | 2019-08-15 | 2021-02-18 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle flight control method and unmanned aerial vehicle |
| CN112578334A (en) * | 2019-09-27 | 2021-03-30 | 中光电智能机器人股份有限公司 | Unmanned aerial vehicle and positioning method thereof, unmanned aerial vehicle communication system and operation method thereof |
| CN112272807A (en) * | 2019-11-04 | 2021-01-26 | 深圳市大疆创新科技有限公司 | Control method, control equipment, movable platform and storage medium |
| WO2021088684A1 (en) * | 2019-11-07 | 2021-05-14 | 深圳市道通智能航空技术股份有限公司 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
| CN111552318A (en) * | 2020-05-15 | 2020-08-18 | 航迅信息技术有限公司 | Control method for minimum safe altitude flight of unmanned aerial vehicle |
| CN111552318B (en) * | 2020-05-15 | 2023-01-10 | 航迅信息技术有限公司 | Control method for minimum safe altitude flight of unmanned aerial vehicle |
| CN111897356A (en) * | 2020-08-10 | 2020-11-06 | 深圳市道通智能航空技术有限公司 | Obstacle avoidance method and device and unmanned aerial vehicle |
| CN112357100A (en) * | 2020-10-27 | 2021-02-12 | 苏州臻迪智能科技有限公司 | Method, device and computer-readable storage medium for displaying obstacle information |
| CN112650282A (en) * | 2020-12-15 | 2021-04-13 | 易瓦特科技股份公司 | Reverse conversion fixed-distance braking method for vertical take-off and landing fixed-wing aircraft |
| CN112650282B (en) * | 2020-12-15 | 2022-07-12 | 易瓦特科技股份公司 | Reverse conversion fixed-distance braking method for vertical take-off and landing fixed-wing aircraft |
| CN113050691A (en) * | 2021-03-25 | 2021-06-29 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium |
| CN113253762A (en) * | 2021-06-21 | 2021-08-13 | 广东电网有限责任公司佛山供电局 | Obstacle avoidance method for safe return flight of unmanned aerial vehicle inspection |
| CN116188470A (en) * | 2023-04-28 | 2023-05-30 | 成都航空职业技术学院 | Unmanned aerial vehicle aerial photographing identification-based fault positioning method and system |
| CN116736879A (en) * | 2023-08-16 | 2023-09-12 | 成都飞航智云科技有限公司 | Unmanned aerial vehicle automatic obstacle avoidance method and obstacle avoidance system based on cloud computing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110119162A (en) | A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium | |
| CN106595631B (en) | A kind of method and electronic equipment of avoiding barrier | |
| CN107077148B (en) | Unmanned plane avoidance obstacle method, flight controller and unmanned vehicle | |
| CN108334103A (en) | Unmanned plane multiple spurs is from barrier-avoiding method and obstacle avoidance system | |
| CN112799426A (en) | Unmanned aerial vehicle navigation control system and method based on big data analysis | |
| CN110287529A (en) | Test method, device, equipment and storage medium | |
| WO2018071106A1 (en) | Systems and methods for landing a drone on a moving base | |
| CN109032157A (en) | Unmanned plane imitative ground operational method, device, equipment and storage medium | |
| CN109828274A (en) | Adjust the method, apparatus and unmanned plane of the main detection direction of airborne radar | |
| CN108052111A (en) | A kind of unmanned plane Real-time Obstacle Avoidance Method based on binocular vision technology | |
| CN110148308A (en) | Vehicle positioning system in parking garage | |
| CN106774387A (en) | A kind of unmanned plane barrier-avoiding method and obstacle avoidance system | |
| CN107817811A (en) | The unmanned plane collision prevention device and method of view-based access control model | |
| CN108490939B (en) | Obstacle avoidance method of potential flow method under local perception capability | |
| CN109573029A (en) | A kind of plant protection drone is maked a return voyage the method for avoidance of landing | |
| US9812020B2 (en) | Electronic device and unmanned aerial vehicle control method | |
| CN109581389A (en) | A kind of method and apparatus identifying parking space boundary | |
| CN115933754A (en) | Electric power inspection unmanned aerial vehicle obstacle avoidance method based on millimeter wave radar and binocular vision | |
| CN110134131A (en) | Control method and control device and unmanned vehicle for unmanned vehicle | |
| CN108106617A (en) | A kind of unmanned plane automatic obstacle-avoiding method | |
| CN114200471B (en) | Forest fire source detection system and method based on unmanned aerial vehicle, storage medium and equipment | |
| CN109895100A (en) | A kind of generation method of navigation map, device and robot | |
| CN110109144A (en) | Road shoulder detection method and device based on multi-line laser radar | |
| CN110132060A (en) | A kind of method of the interception unmanned plane of view-based access control model navigation | |
| CN105404310B (en) | UAV Flight Control method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190813 |
|
| RJ01 | Rejection of invention patent application after publication |