CN110262568A

CN110262568A - A kind of unmanned plane barrier-avoiding method, device and unmanned plane based on target following

Info

Publication number: CN110262568A
Application number: CN201910655674.8A
Authority: CN
Inventors: 黄金鑫
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2019-07-19
Filing date: 2019-07-19
Publication date: 2019-09-20
Anticipated expiration: 2039-07-19
Also published as: CN110262568B; WO2021013110A1

Abstract

The present embodiments relate to unmanned plane automatic obstacle avoiding technical fields, more particularly to a kind of unmanned plane barrier-avoiding method, device and unmanned plane based on target following.Wherein, the unmanned plane barrier-avoiding method based on target following comprises determining that the expection forward speed of unmanned plane, it is contemplated that forward speed is for making unmanned plane and target keep initial level distance；The depth map of environment in front of unmanned plane is obtained, and according to depth map, determines the grating map centered on unmanned plane；According to grating map, the optimal heading of unmanned plane and the minimum range of unmanned plane and barrier are determined；According to minimum range, expected forward speed and optimal heading, the optimal flying speed of unmanned plane is determined；Control unmanned plane is flown with optimal flying speed along optimal heading, to hide the barrier of environment in front of unmanned plane.By the above-mentioned means, the embodiment of the present invention can carry out path planning to entire flight space, the accuracy of automatic obstacle avoiding in object tracking process is improved.

Description

A kind of unmanned plane barrier-avoiding method, device and unmanned plane based on target following

Technical field

The present embodiments relate to unmanned plane automatic obstacle avoiding technical fields, more particularly to a kind of nothing based on target following Man-machine barrier-avoiding method, device and unmanned plane.

Background technique

Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus.With The development of unmanned plane the relevant technologies and its complicated variation of application scenarios, unmanned plane automatic sensing ability and path planning are calculated The requirement of method is higher and higher, especially in the automatic obstacle avoiding technology of unmanned plane, unmanned plane is needed to pass through the movement shape of perception itself The environment of state and surrounding, and path planning algorithm is combined, it flies, avoids safely, without collision in the environment for having barrier It collides with barrier.

Currently, when unmanned plane is based on target following progress automatic obstacle avoiding, the main flight rail by being set in the library of track The flying speed at each moment set on mark and flight path is flown, but flight path set by this kind of mode without Method covers entire flight space, so that unmanned plane can not carry out path planning to the region outside flight path, if in flight space There are dynamic changes, then unmanned plane can not carry out accurate avoidance.

Summary of the invention

The embodiment of the present invention is intended to provide a kind of unmanned plane barrier-avoiding method, device and unmanned plane based on target following, energy It is enough that path planning is carried out to entire flight space, improve the accuracy of automatic obstacle avoiding in object tracking process.

In order to solve the above technical problems, a technical solution used in the embodiment of the present invention is: providing a kind of based on target The unmanned plane barrier-avoiding method of tracking, which comprises

Determine the expection forward speed of unmanned plane, the expected forward speed is for keeping the unmanned plane and target just Beginning horizontal distance；

The depth map of environment in front of the unmanned plane is obtained, and according to the depth map, determines with the unmanned plane and be The grating map of the heart；

According to the grating map, the optimal heading and the unmanned plane and barrier of the unmanned plane are determined Minimum range；

According to the minimum range, the expected forward speed and the optimal heading, the unmanned plane is determined Optimal flying speed；

The unmanned plane is controlled to fly with the optimal flying speed along the optimal heading, with hide it is described nobody The barrier of environment in front of machine.

Optionally, the expection forward speed of the determining unmanned plane, comprising:

Obtain the initial level distance of the unmanned plane Yu the target；

Determine the present level distance of the unmanned plane Yu the target；

Based on the initial level distance, P I D is carried out to the present level distance and is adjusted, with the determination unmanned plane The expected forward speed.

Optionally, the unmanned plane includes holder, the method also includes:

The center for controlling the holder is directed at the target；Then,

The present level distance of the determination unmanned plane and the target, comprising:

Obtain the holder current distance away the ground and current pitch angle；

The current of the unmanned plane and the target is determined according to the current distance away the ground and the current pitch angle Horizontal distance.

Optionally, the method also includes:

Determine the current forward speed of the unmanned plane；Then,

It is described according to the grating map, determine the optimal heading and the unmanned plane and obstacle of the unmanned plane The minimum range of object, comprising:

According to the current forward speed and the expected forward speed, detection of obstacles is determined in the grating map Region；

In the detection of obstacles region, determine the unmanned plane optimal heading and the unmanned plane and barrier Hinder the minimum range of object.

Optionally, described according to the current forward speed and the expected forward speed, in the grating map really Determine detection of obstacles region, comprising:

Compare the current forward speed and the expected forward speed；

If the current forward speed is less than the expected forward speed, according to the expected forward speed in the grid The detection of obstacles region is determined in lattice map；

If the current forward speed is greater than the expected forward speed, according to the current forward speed in the grid True the detection of obstacles region in lattice map.

Optionally, when determining detection of obstacles region in the grating map according to the expected forward speed, institute It is bigger to state expected forward speed, the detection of obstacles region is bigger；

When determining detection of obstacles region in the grating map according to the current forward speed, it is described it is current before Bigger to speed, the detection of obstacles region is bigger.

Optionally, described in the detection of obstacles region, determine the optimal heading of the unmanned plane, comprising:

In the detection of obstacles region, determine the unmanned plane can traffic areas, wherein it is described can traffic areas For there is no the regions of barrier；

According to it is described can traffic areas, determine the candidate heading of the unmanned plane；

The cost function value of candidate's heading according to cost function calculation；

The smallest candidate heading of the cost function value is determined as to the optimal heading of the unmanned plane.

Optionally, described in the detection of obstacles region, determine the unmanned plane can traffic areas, comprising:

Centered on the unmanned plane, predetermined angle is interval, is divided to the detection of obstacles region, by institute Stating detection of obstacles region division is multiple regions；

Sample the coordinate of barrier；

Determine that the region that the coordinate is not fallen within can traffic areas for described in.

Optionally, the coordinate of the sampling barrier, comprising:

Sample the center point coordinate of the grid occupied in the detection of obstacles region by the barrier and/or described The angular coordinate for the grid that barrier occupies.

Optionally, the cost function are as follows:

F=k₁×g(direc_goal,direc_cur)+k₂×g(direc_pre,direc_cur)-k₃×sum

Wherein, g (direc_goal,direc_cur) indicate one of candidate heading in the candidate heading With the consistency in the direction of the target, g (direc_pre,direc_cur) indicate the candidate heading and a preceding decision The consistency of optimal heading, sum expression described in can traffic areas quantity, k₁、k₂、k₃For weight coefficient.

Optionally, described in the detection of obstacles region, it determines the minimum range of the unmanned plane and barrier, wraps It includes:

It determines in the detection of obstacles region with the unmanned plane apart from the smallest barrier as target obstacle；

The target obstacle is determined as the minimum range at a distance from the unmanned plane.

Optionally, the optimal flying speed includes optimal forward speed and optimal side velocity；Then,

It is described according to the minimum range, the expected forward speed and the optimal heading, determine the nothing Man-machine optimal flying speed, comprising:

According to the minimum range, the maximum forward speed of the unmanned plane is calculated；

According to the maximum forward speed and the expected forward speed, the optimal forward speed is determined；

According to the optimal forward speed and the optimal heading, the optimal side velocity is determined.

Optionally, described according to the maximum forward speed and the expected forward speed, determine the optimal forward direction speed Degree, comprising:

Compare the maximum forward speed and the expected forward speed；

If the maximum forward speed is greater than the expected forward speed, it is determined that the expected forward speed be it is described most Excellent forward speed；

If the maximum forward speed is not more than the expected forward speed, it is determined that the maximum forward speed is described Optimal forward speed.

Optionally, the optimal heading corresponds to optimal flight angle；Then,

It is described according to the optimal forward speed and the optimal heading, determine the optimal side velocity, comprising:

It is determined according to the product of the tangent value of the optimal flight angle and the optimal forward speed described optimal lateral Speed.

Optionally, the depth map for obtaining environment in front of the unmanned plane, comprising:

The depth map of environment in front of the unmanned plane is obtained by the depth transducer of the unmanned plane.

Optionally, described before determining the grating map centered on the unmanned plane described according to the depth map Method further include:

Judge the depth transducer with the presence or absence of pitch angle；

If so, carrying out depth compensation to the depth map.

Optionally, the depth transducer is depth camera；Then,

If there are pitch angles for the depth transducer, described to carry out depth compensation to the depth map, comprising:

Calculate the number of lines of pixels of the depth compensation, the number of lines of pixels of the depth compensation are as follows:

Row_see=tan θ₂× f, wherein θ₂For the pitch angle of the depth camera, f is the focal length of the depth camera；

The row rope as plane on the depth map of the unmanned plane is determined according to the number of lines of pixels of the depth compensation Draw, the line index row_horizon as plane on the depth map of the unmanned plane are as follows:

Row_horizon=row_half+row_see, wherein row_half is the half of the depth map line number.

In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: providing a kind of based on mesh The unmanned plane obstacle avoidance apparatus of tracking is marked, described device includes:

First determining module, for determining that the expection forward speed of unmanned plane, the expected forward speed are described for making Unmanned plane and target keep initial level distance；

Module is obtained, for obtaining the depth map of environment in front of the unmanned plane, and according to the depth map, is determined with institute State the grating map centered on unmanned plane；

Second determining module, for determining optimal heading and the institute of the unmanned plane according to the grating map State the minimum range of unmanned plane and barrier；And

For determining the nothing according to the minimum range, the expected forward speed and the optimal heading Man-machine optimal flying speed；

Control module is flown with the optimal flying speed along the optimal heading for controlling the unmanned plane, To hide the barrier of environment in front of the unmanned plane.

Optionally, first determining module is specifically used for:

Obtain the initial level distance of the unmanned plane Yu the target；

Determine the present level distance of the unmanned plane Yu the target；

Optionally, the unmanned plane includes holder, and the control module is also used to:

The center for controlling the holder is directed at the target；Then,

First determining module is specifically used for:

Obtain the holder current distance away the ground and current pitch angle；

Optionally, first determining module is also used to:

Determine the current forward speed of the unmanned plane；Then,

Second determining module is specifically used for:

Optionally, second determining module is specifically used for:

Compare the current forward speed and the expected forward speed；

Optionally, second determining module is specifically used for:

Sample the coordinate of barrier；

Optionally, second determining module is specifically used for:

Optionally, the cost function are as follows:

F=k₁×g(direc_goal,direc_cur)+k₂×g(direc_pre,direc_cur)-k₃×sum

Optionally, second determining module is specifically used for:

Second determining module is specifically used for:

Optionally, second determining module is specifically used for:

Compare the maximum forward speed and the expected forward speed；

Optionally, the optimal heading corresponds to optimal flight angle；Then,

Second determining module is specifically used for:

Optionally, the acquisition module is specifically used for:

Optionally, described before determining the grating map centered on the unmanned plane described according to the depth map Module is obtained to be also used to:

Judge the depth transducer with the presence or absence of pitch angle；

If so, carrying out depth compensation to the depth map.

Optionally, the depth transducer is depth camera；Then,

The acquisition module is specifically used for:

In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: a kind of unmanned plane is provided, Include:

Fuselage；

Horn is connected with the fuselage；

Power device is set to the horn；

Holder is connected with the fuselage；

Depth camera is connected with the fuselage；

At least one processor is set in the fuselage；And

The memory being connect at least one described processor communication；Wherein, the memory be stored with can by it is described extremely The instruction that a few processor executes, described instruction are executed by least one described processor, so that at least one described processing Device can be used in the above-described unmanned plane barrier-avoiding method based on target following.

In order to solve the above technical problems, another technical solution used in the embodiment of the present invention is: providing a kind of non-volatile Property computer readable storage medium, which is characterized in that the non-volatile computer readable storage medium storing program for executing is stored with computer can It executes instruction, the computer executable instructions are kept away for making unmanned plane execute the above-described unmanned plane based on target following Barrier method.

The beneficial effect of the embodiment of the present invention is: being in contrast to the prior art down, the embodiment of the present invention provides one kind Unmanned plane barrier-avoiding method, device and unmanned plane based on target following, in the unmanned plane barrier-avoiding method based on target following, really Determine for making unmanned plane and target keep the expection forward speed of initial level distance, and according to the depth of environment in front of unmanned plane After figure determines grating map centered on unmanned plane, according to grating map determine unmanned plane optimal heading and nobody The minimum range of machine and barrier, and determined according to identified minimum range, expected forward speed and optimal heading Then the optimal flying speed of unmanned plane is controlled unmanned plane and is flown with optimal flying speed along optimal heading, before hiding The barrier of square environment.In the above method, since the depth map of environment in front of unmanned plane can be with the flight of unmanned plane Journey reflects the environmental aspect on unmanned plane during flying path in real time, therefore, the grid determined according to the depth map of environment in front of unmanned plane Lattice map determines the optimal heading of unmanned plane, enables the unmanned plane to carry out path planning to entire flight space, real When strain flight space in dynamic change；Meanwhile according to identified minimum range, expected forward speed and optimal flight Direction determines optimal flying speed of the unmanned plane on optimal heading, enables unmanned plane according to actual environment situation It plans optimal flying speed, prevents unmanned plane because of the too fast collision obstacle of speed, improve automatic obstacle avoiding in object tracking process Accuracy.

Detailed description of the invention

One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove Non- to have special statement, composition does not limit the figure in attached drawing.

Fig. 1 is a kind of structural schematic diagram of unmanned plane provided in an embodiment of the present invention；

Fig. 2 is to work as depth transducer in a kind of unmanned plane barrier-avoiding method based on target following provided in an embodiment of the present invention There are pitch angles, and the schematic illustration of depth compensation is carried out to depth map；

Fig. 3 is the structural schematic diagram of grating map；

Fig. 4 is a kind of flow diagram of unmanned plane barrier-avoiding method based on target following provided in an embodiment of the present invention；

Fig. 5 is a kind of structural schematic diagram of unmanned plane obstacle avoidance apparatus based on target following provided in an embodiment of the present invention；

Fig. 6 is a kind of hardware structural diagram of unmanned plane provided in an embodiment of the present invention.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.It should be appreciated that specific embodiment described herein is only to solve The present invention is released, is not intended to limit the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not making Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.

It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element, Or there may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it can be with It is directly to another element or there may be one or more elements placed in the middle therebetween.Used in this specification Term "vertical", "horizontal", "left" and "right" and similar statement are for illustrative purposes only.

As long as in addition, technical characteristic involved in each embodiment of invention described below non-structure each other It can be combined with each other at conflict.

The present invention provides a kind of unmanned plane barrier-avoiding method and device based on target following, this method and device are applied to Unmanned plane is cooked up so that the unmanned plane can carry out path planning in entire flight space according to real flight conditions Optimal heading and optimal flying speed, and flown with optimal flying speed along optimal heading, before accurately hiding The barrier of square environment.Wherein, optimal heading refers to the direction there is no barrier.

Unmanned plane in the present invention can be the High Altitude UAV or low latitude unmanned plane of any suitable type, including fixation Wing unmanned plane, rotor wing unmanned aerial vehicle, umbrella wing unmanned plane or flapping wing unmanned plane etc..

In the following, the present invention will be specifically addressed by specific embodiment.

Embodiment one

Referring to Fig. 1, being a kind of present invention unmanned plane 100 that wherein an embodiment provides, which is quadrotor Unmanned plane, comprising: fuselage 10, horn 20, power device 30, holder 40, filming apparatus 50, depth transducer (not shown), One gyroscope (not shown), the second gyroscope (not shown), undercarriage 60, intelligent battery (not shown) and flight control system (figure Do not show).Horn 20, holder 40, depth transducer and undercarriage 60 are connect with fuselage 10, and power device 30 is set to horn On 20, filming apparatus 50 and the first gyroscope are installed on holder 40, and the second gyroscope, intelligent battery and flight control system are then set It is placed in fuselage 10.Wherein, power device 30, holder 40, filming apparatus 50, depth transducer, the first gyroscope, the second gyro Instrument and undercarriage 60 are communicated to connect with flight control system, and flight control system is enabled to control unmanned plane by power device 30 100 flight obtains the ambient conditions in front of 100 flight path of unmanned plane by depth transducer, additionally it is possible to control holder 40 Rotation, control filming apparatus 50 are taken photo by plane and are controlled undercarriage 60 and open and pack up, additionally it is possible to receive the first gyroscope, the second top The measurement data of spiral shell instrument.

Preferably, 20 quantity of horn is 4, is uniformly distributed in 10 surrounding of fuselage, is fixedly connected with fuselage 10, dynamic for carrying Power device 30.Wherein, horn 20 and fuselage 10 are integrally formed.

Power device 30 includes motor and the propeller with motor axis connection, and motor is able to drive propeller rotation and thinks Unmanned plane 100 provides lift or thrust, realizes flight；Motor can also change nothing by changing revolving speed and the direction of propeller Man-machine 100 heading.When power device 30 and flight control system communicate to connect, flight control system can by control motor come Control the flight of unmanned plane 100.

The power device 30 is set to one end that horn 20 is not connect with fuselage 10, and connects horn 20 by motor.

Preferably, it is provided with power device 30 on 4 horns of unmanned plane 100, so that unmanned plane 100 can be steady Flight.

Holder 40 is then set to 10 bottom of fuselage, for carrying filming apparatus 50.Preferably, which is electronic cloud Platform can be rotated under the control of flight control system, to realize the tracking to target.Wherein, flight control system controls holder 40 When rotation, the center alignment target of holder 40 is controlled.

The electric platform includes but is not limited to rotate horizontally holder, all-directional tripod head etc..

When holder 40 is to rotate horizontally holder, flight control system can control the holder 40 left-right rotation in the horizontal direction； When holder 40 is all-directional tripod head, flight control system can control the holder 40 left-right rotation in the horizontal direction, and, control should The lower rotation in the vertical direction of holder 40.

Preferably, in embodiments of the present invention, holder 40 be all-directional tripod head, with can it is comprehensive to target carry out with Track.

Filming apparatus 50 can shoot the electronic equipment of video image then for camera, video camera etc., for flying It takes photo by plane under the control of control system.

The filming apparatus 50 is fixed on holder 40, can rotate with the rotation of holder 40；Also, the filming apparatus 50 Taking lens be located on the center line of holder 40, when the center alignment target of holder 40, the taking lens of filming apparatus 50 Also alignment target, at this point, target is located at video image captured by filming apparatus 50 if filming apparatus 50 shoots video image Center.

First gyroscope is then installed on holder 40, for measuring the posture information of holder 40, the posture information of the holder 40 Pitch angle including holder.Wherein, when the pitch angle of holder 40 is 0, the centerline parallel of holder 40 is in horizontal direction.

After the first gyroscope and flight control system communicate to connect, flight control system can obtain holder 40 from the first gyroscope Posture information.

Depth transducer is then fixed on fuselage 10, and posture and the posture of fuselage 10 are consistent.The depth transducer is used In the depth map (Depth Map) of acquisition 100 front environment of unmanned plane, which is comprising the table with the scenario objects of viewpoint Image or image channel of the identity distance from related information, in depth map, each of which pixel value indicates depth transducer apart from object The actual range of body, thus depth transducer sampling depth figure namely sampling depth sensor and front environmental objects it is practical away from From.When depth transducer and flight control system communicate to connect, flight control system can obtain ring in front of unmanned plane from depth transducer The depth map in border, namely the actual range of depth transducer and front environmental objects is obtained, to obtain 100 flight path of unmanned plane The ambient conditions in front.

The depth transducer is depth camera, including but not limited to: binocular camera, TOF (Time of Flight, flight Time) camera etc..

Second gyroscope is then installed in fuselage 10, for measuring the posture information of fuselage 10, also that is, the sensing that fathoms The posture information of the posture information of device, the depth transducer includes the pitch angle of depth transducer.Wherein, when depth transducer When pitch angle is 0, the detection direction of depth transducer is horizontal direction.

After the second gyroscope and flight control system communicate to connect, flight control system can obtain depth sensing from the second gyroscope The posture information of device.

Further, when the first gyroscope and the second gyroscope do not generate attitudes vibration, the center line court of holder 40 To consistent with the detection direction of depth transducer.

Undercarriage 60 is then set to 10 bottom opposite sides of fuselage, is connected via drive in fuselage 10, undercarriage 60 It is able to carry out opening under the drive of the drive and packs up.Unmanned plane 100 when being contacted with ground, driving device control rise and fall Frame 60 is opened, so that unmanned plane 100 can pass through undercarriage 60 and ground face contact；In 100 flight course of unmanned plane, driving dress It sets control undercarriage 60 to pack up, influences unmanned plane 100 to avoid undercarriage 60 and fly.When undercarriage 60 and flight control system communication link When connecing, flight control system can be controlled the opening of undercarriage 60 by control driving device and be packed up.

Intelligent battery is then used to power for unmanned plane 100, so that the power device 30 of unmanned plane 100, holder 40, shooting dress Setting 50, depth transducer, the first gyroscope, the second gyroscope, undercarriage 60 and flight control system can be powered operation.Wherein, Intelligent battery includes but is not limited to: dry cell, lead storage battery and lithium battery etc..

Flight control system then with power device 30, holder 40, filming apparatus 50, depth transducer, the first gyroscope, the second top Spiral shell instrument and undercarriage 60 are communicatively coupled by way of wired connection or wireless connection.Wherein, wireless connection includes But it is not limited to: WiFi, bluetooth, ZigBee etc..

The flight control system is empty with the entire flight to unmanned plane for executing the unmanned plane barrier-avoiding method based on target following Between carry out path planning, improve the accuracy of automatic obstacle avoiding in object tracking process.

Specifically, in 100 flight course of unmanned plane, flight control system controls the center alignment target of holder 40, to realize Tracking of the unmanned plane 100 to target.

Wherein, target is the object of tracking during unmanned plane during flying, which is located at ground, can be in ground moving.

When flight control system controls the center alignment target of holder 40, the direction of target is obtained in real time, then, according to target Direction, control holder 40 is rotated, until the target-bound direction in center of holder 40, with target alignment.

During unmanned plane 100 tracks target, flight control system determines Xiang Su before the expection of unmanned plane 100 Degree, the expection forward speed is for making unmanned plane 100 and target keep initial level distance, the i.e. forward speed of unmanned plane 100 When to be expected forward speed, unmanned plane 100 could keep initial level distance with target.

Then, when determining the expection forward speed of unmanned plane 100, firstly, obtaining the initial level of unmanned plane 100 and target Distance；Then, it is determined that the present level distance of unmanned plane 100 and target；Finally, based on acquired initial level distance, it is right Identified present level distance carries out PID adjusting, to determine the expection forward speed of unmanned plane 100.

Wherein, initial level distance be unmanned plane 100 initialize when position and target position in the horizontal direction On relative distance, which stores after capable of being set by user to memory, also can be by flight control system It stores after being calculated when unmanned plane 100 initializes to memory.

Therefore, the initial level distance of unmanned plane 100 Yu target can be obtained in memory.

Present level distance then for 100 present position of unmanned plane and target present position in the horizontal direction Relative distance.

Ground is located at due to target and is aligned with the center of holder 40, can by the pitch angle of holder 40 and The distance away the ground of holder 40 calculates unmanned plane 100 and the relative distance of target in the horizontal direction, also that is, unmanned plane 100 with Horizontal distance between target.Specifically, the horizontal distance between unmanned plane 100 and targetH is pair of holder 40 Ground height, θ₁For the pitch angle of holder 40.

Then, flight control system determine the present level of unmanned plane and target apart from when, obtain the current high over the ground of holder 40 After the current pitch angle of degree and holder 40, unmanned plane 100 is calculated according to acquired current distance away the ground and current pitch angle With the present level distance of target.

Similarly, flight control system can according to unmanned plane 100 initialize when holder 40 pitch angle and holder 40 over the ground Highly, it calculates the initial level distance of unmanned plane 100 and target and stores to memory.

Based on acquired initial level distance, PID adjusting is carried out to identified present level distance, to determine nothing In the step of man-machine 100 expection forward speed, then closed-loop control is carried out with PID controller.

In PID controller, initial level distance is the desired value of controlled variable, and present level distance is controlled variable Actual value, and it is expected forward speed then and is the response output of PID controller.When present level distance and initial level distance exist When deviation, then adjusting expected forward speed enables present level distance to reach initial level distance.

Further, after flight control system determines the expection forward speed of unmanned plane 100, nobody is obtained by depth transducer The depth map of 100 front environment of machine, and according to depth map, determine the grating map centered on unmanned plane 100.

Wherein, grating map is then the planar grid by being mapped to the depth information in depth map centered on body It is formed in figure, each grid gives a probable value, indicates the probability that the grid is occupied by barrier.When in environment depth map There are when barrier, barrier occupies grid in grating map, can know barrier by being occupied the coordinate of grid Position.

The grid of grating map is arranged in matrix, for example, the grid of grating map is arranged in the matrix of 10*10.

In some other embodiment of the present invention, if unmanned plane 100 generates pitch angle in flight course, nobody can be made 100 forward sight of machine is no longer horizontal, at this point, the depth map of depth transducer acquisition is no longer the depth in the horizontal front of unmanned plane 100 Degree figure, so that error occurs in the depth information that depth map is reflected, causes the inaccuracy of grating map.Then, flight control system exists Before determining the grating map centered on unmanned plane 100 according to depth map, also need to judge depth transducer with the presence or absence of pitching Angle, if depth transducer there are pitch angle, after flight control system carries out after depth compensation further according to depth compensation depth map Depth map determines the grating map centered on unmanned plane 100.

Wherein, flight control system can measure the triaxial attitude angle of unmanned plane 100 by the second gyroscope, according to three axis appearances State angle judges depth transducer with the presence or absence of pitch angle.

Flight control system carries out depth compensation to depth map and specifically includes: flight control system calculates the number of lines of pixels of depth compensation, And after the number of lines of pixels of depth compensation is calculated, the picture plane of unmanned plane is determined according to the number of lines of pixels of the depth compensation Line index on depth map.

Specifically, referring to Fig. 2, when depth transducer is depth camera, the number of lines of pixels row_see of the depth compensation Are as follows:

Row_see=tan θ₂× f, wherein θ₂For the pitch angle of depth camera, f is the focal length of depth camera；

The line index row_horizon as plane on depth map of the unmanned plane are as follows:

Row_horizon=row_half+row_see, wherein row_half is the half of depth map line number.

Further, after flight control system determines the grating map centered on unmanned plane 100, according to identified grid Figure, determines the optimal heading of unmanned plane 100 and the minimum range of unmanned plane 100 and barrier.

Wherein, during due to unmanned plane during flying, the forward speed of unmanned plane 100 is bigger, the probability with barrier collision It is bigger, need to consider earlier the distribution of obstacles situation of 100 front environment of unmanned plane；And the forward speed of unmanned plane 100 is got over Small, with regard to smaller, the distribution of obstacles situation of too early consideration 100 front environment of unmanned plane is easy the probability with barrier collision Unnecessary barrier is taken into account, the judgement inaccuracy of optimal heading is caused.

Then, according to identified grating map, the optimal heading and unmanned plane 100 of unmanned plane 100 are determined Before the minimum range of barrier, flight control system is also it needs to be determined that the current forward speed of unmanned plane 100, then, according to working as Preceding forward speed and expected forward speed, after determining detection of obstacles region in grating map, then in detection of obstacles region In, determine the optimal heading of unmanned plane 100 and the minimum range of unmanned plane 100 and barrier.That is, by unmanned plane 100 Forward speed in conjunction with the detection range of barrier, a suitable barrier is determined according to the forward speed of unmanned plane 100 Detection range, to increase the accuracy of detection of obstacles.

Wherein, detection of obstacles region is in grating map for detecting the region of barrier, the detection of obstacles region Positioned at the top half (i.e. 100 front of unmanned plane) of grating map, the columns in the detection of obstacles region and the column of grating map The half that identical, line number is less than or equal to the line number of grating map is counted, i.e. the detection of obstacles region is less than or equal to grid The half of lattice map.For example, referring to Fig. 3, solid line region P1 is detection of obstacles region.

The optimal heading of unmanned plane 100 is that there is no the directions of barrier；The most narrow spacing of unmanned plane 100 and barrier From i.e. unmanned plane 100 at a distance from nearest barrier within sweep of the eye.

Specifically, according to current forward speed and expected forward speed, detection of obstacles region is determined in grating map, It include: the current forward speed of comparison and expected forward speed, if current forward speed is less than expected forward speed, according to expection Forward speed determines detection of obstacles region in grating map, at this time, it is contemplated that forward speed is bigger, identified obstacle quality testing It is bigger to survey region；If current forward speed is greater than expected forward speed, determined in grating map according to current forward speed Detection of obstacles region, at this point, current forward speed is bigger, identified detection of obstacles region is bigger.

In identified detection of obstacles region, the optimal heading of unmanned plane 100 is determined, comprising: firstly, in institute In determining detection of obstacles region, determine unmanned plane 100 can traffic areas.

Wherein, can traffic areas be detection of obstacles region in be not present barrier region.

Flight control system in identified detection of obstacles region, determine unmanned plane 100 can traffic areas, it is specific to wrap Include: centered on unmanned plane 100, predetermined angle is interval, is divided to detection of obstacles region, by detection of obstacles area Domain is divided into multiple regions, then, samples the coordinate of barrier, and whether the obstacle article coordinate for judging that sampling obtains falls into obstacle In the region of analyte detection region division, the region that obstacle article coordinate is not fallen within is determined as can traffic areas.For example, please referring to figure 3, centered on unmanned plane 100, predetermined angle θ₃For interval, multiple fan-shaped regions, institute are divided in the P1 of detection of obstacles region The fan-shaped region of division is respectively B1 to B11 from left to right；Then, the coordinate for sampling barrier Z1, Z2 and Z3, determines barrier The coordinate of Z1 falls into the region B2 and B3, and the coordinate of barrier Z2 falls into B6 to the region B9, and the coordinate of barrier Z3 does not fall within barrier Hinder in the P1 of analyte detection region, accordingly, it is determined that region B1, B4, B5, B10 and B11 that barrier is not fallen within are can traffic areas.

Wherein, each region that flight control system marks off in detection of obstacles region is fan-shaped region.

When dividing to detection of obstacles region, predetermined angle is bigger, and the region of division is bigger, the region marked off Quantity is then fewer；Predetermined angle is smaller, and the region of division is smaller, and the region quantity marked off is then more.

The coordinate of flight control system sampling barrier, comprising: the grid occupied in sampling detection of obstacles region by barrier Center point coordinate and/or the grid occupied by barrier angular coordinate.

Flight control system is by the center point coordinate of the grid occupied by barrier and/or the angle point of the grid occupied by barrier The region that coordinate is not fallen within is determined as can traffic areas.Based on this, if the region division of grating map is too small, it is easy The case where existing region is covered by barrier, but the coordinate sampled does not fall within region, at this point, be mistaken for can in impassabitity region Traffic areas；And if the region division of grating map is excessive, will lead to that heading is very few, is unfavorable for optimal heading Determine.Then, in order to guarantee that the reliability of flight control system path planning, flight control system can adjust default according to practical flight effect The size of angle.

Flight control system adjusts predetermined angle according to the robustness of depth map data and the accuracy in planning direction.

Secondly, can determine the candidate heading of unmanned plane 100 in traffic areas identified.

Based on can the candidate heading that determines of traffic areas be there is no the direction of barrier, flight control system by it is all can The corresponding direction in traffic areas is determined as candidate heading.

Then, according to the cost function value of cost function calculation candidate's heading, by the smallest candidate of cost function value Heading is determined as the optimal heading of unmanned plane 100.

Above-mentioned least cost function value is the minimum flight cost gone out by cost function calculation, that is, determines flight cost most Small candidate heading is the optimal heading of unmanned plane 100.

Wherein, cost function are as follows:

F=k₁×g(direc_goal,direc_cur)+k₂×g(direc_pre,direc_cur)-k₃× sum,

Wherein, g (direc_goal,direc_cur) indicate one of candidate heading and mesh in candidate heading The consistency in target direction, g (direc_pre,direc_cur) indicate the optimal heading of candidate heading and a preceding decision Consistency, sum indicate can traffic areas quantity, k₁、k₂、k₃For weight coefficient.

It is higher, higher with the consistency of the optimal heading of a preceding decision and can with the consistency in the direction of target The cost of the more candidate heading of the quantity of traffic areas is smaller.

k₁、k₂、k₃Relative size determine the priority orders of three kinds of factors.To make determining candidate heading It is consistent as far as possible with the direction of target, then makes k₁>k₂、k₃；To make determining candidate heading and a preceding decision Optimal heading be consistent as far as possible, then make k₂>k₁、k₃；To guarantee determining candidate heading safe enough, Then make k₃>k₂、k₁。

In identified detection of obstacles region, the minimum range of unmanned plane 100 Yu barrier is determined, comprising: determine In detection of obstacles region with unmanned plane 100 apart from the smallest barrier as target obstacle, then, by target obstacle with The distance of unmanned plane 100 is determined as minimum range.For example, referring to Fig. 3, flight control system determines barrier Z1 and unmanned plane 100 Distance it is minimum, therefore flight control system determines that barrier Z1 is target obstacle, then, by barrier Z1 and unmanned plane 100 away from From being determined as minimum range.

Further, the optimal heading and unmanned plane 100 and barrier that flight control system determines unmanned plane 100 are most After small distance, according to identified minimum range, expected forward speed and optimal heading, unmanned plane 100 is determined most Excellent flying speed.

Wherein, optimal flying speed includes optimal forward speed and optimal side velocity.

Unmanned plane is determined according to identified minimum range, expected forward speed and optimal heading based on this 100 optimal flying speed, specifically includes: according to minimum range, the maximum forward speed of unmanned plane 100 is calculated, then, according to Maximum forward speed and expected forward speed, determine optimal forward speed, then, according to optimal forward speed and optimal flight side To determining optimal side velocity.

Wherein, the maximum forward speed of unmanned plane 100 is to guarantee that unmanned plane 100 will not collide the forward direction of nearest barrier Speed, if the forward speed of unmanned plane 100 is greater than maximum forward speed, unmanned plane 100 may collide nearest barrier.

According to maximum forward speed and expected forward speed, determines optimal forward speed, specifically include: comparing maximum forward Speed and expected forward speed, if maximum forward speed is greater than expected forward speed, it is determined that it is expected that before forward speed is optimal To speed, at this point, optimal forward speed not only can guarantee that unmanned plane 100 will not collide nearest barrier, but also unmanned plane can guarantee 100 keep initial level distance with target；If maximum forward speed is not more than expected forward speed, it is determined that maximum forward speed For optimal forward speed, at this point, since expected forward speed is greater than maximum forward speed, if to be expected forward speed as optimal Forward speed, although can guarantee that unmanned plane 100 and target keep initial level distance, unmanned plane 100 may be collided recently Barrier, therefore determine that maximum forward speed is optimal forward speed, to guarantee that unmanned plane 100 will not collide nearest barrier.

It is from by pre- when determining the optimal heading of unmanned plane 100 in detection of obstacles region due to flight control system If angular divisions can determine optimal heading in the corresponding candidate heading in traffic areas, therefore optimal heading Corresponding optimal flight angle.

Based on this, according to optimal forward speed and optimal heading, when determining optimal side velocity, according to optimal flight The product of the tangent value of angle and optimal forward speed determines optimal side velocity.

Optimal forward speed and optimal side velocity determined by flight control system, which collectively constitute, instructs the flight of unmanned plane 100 Optimal flying speed.

Further, it after flight control system determines the optimal flying speed of unmanned plane 100, controls unmanned plane 100 and is flown with optimal Scanning frequency degree flies along optimal heading, to hide the barrier of 100 front environment of unmanned plane.

When the optimal forward speed in optimal flying speed is maximum forward speed, flight control system controls unmanned plane 100 When with optimal flying speed along optimal heading flight, unmanned plane 100 being capable of accurate avoidance；When in optimal flying speed most When excellent forward speed is expected forward speed, flight control system controls unmanned plane 100 with optimal flying speed along optimal heading When flight, unmanned plane 100 can accurate avoidance while, with target keep initial level distance.

In embodiments of the present invention, unmanned plane, which passes through, executes the unmanned plane barrier-avoiding method based on target following, and being capable of root Grating map is determined according to the depth map of acquired front environment, and then optimal heading, and root are determined according to grating map According to identified minimum range, expected forward speed and optimal heading, the optimal flight on optimal heading is determined Speed is realized and carries out path planning to entire flight space, to strain the dynamic change of flight space in real time, improves target following The accuracy of automatic obstacle avoiding in the process.

Embodiment two

Referring to Fig. 4, being a kind of present invention unmanned plane barrier-avoiding method based on target following that wherein an embodiment provides Flow diagram, be applied to unmanned plane, the unmanned plane be above-described embodiment described in unmanned plane 100, and the present invention implement The method that example provides is executed by above-mentioned flight control system, is carried out path planning for the entire flight space to unmanned plane, is improved mesh The accuracy of automatic obstacle avoiding during mark tracking, being somebody's turn to do the unmanned plane barrier-avoiding method based on target following includes:

S100: the expection forward speed of unmanned plane is determined.

Above-mentioned " it is expected that forward speed " is for making unmanned plane and target keep initial level distance, i.e. the forward direction speed of unmanned plane When degree is is expected forward speed, unmanned plane could keep initial level distance with target.Wherein, target is unmanned plane during flying process The object of middle tracking, the target are located at ground, can be in ground moving.

Then, when determining the expection forward speed of unmanned plane, firstly, obtaining the initial level distance of unmanned plane and target； Then, it is determined that the present level distance of unmanned plane and target；Finally, based on acquired initial level distance, to identified Present level distance carries out P I D and adjusts, to determine the expection forward speed of unmanned plane.

Wherein, position and target position be in the horizontal direction when initial level distance is unmanned plane initialization Relative distance, the initial level distance are stored after capable of being set by user to memory, also can be by flight control system in nothing It is stored after being calculated when man-machine initialization to memory.

Based on this, the initial level distance of unmanned plane and target can be obtained in memory.

Present level distance is then phase of the unmanned plane present position with target present position in the horizontal direction It adjusts the distance.

Since expected forward speed is determined based on the object tracking process of unmanned plane, therefore in the expection for determining unmanned plane Before forward speed, this method further include: control the center alignment target of holder.

Specifically, when controlling the center alignment target of holder, the direction of target is obtained in real time, then, according to the side of target To control holder is rotated, until the target-bound direction in center of holder realizes unmanned plane to target with target alignment Tracking.

Based on this, ground is located at due to target and is aligned with the center of holder, can by the pitch angle of holder with And the distance away the ground of holder, calculate unmanned plane and the relative distance of target in the horizontal direction, also that is, unmanned plane and target it Between horizontal distance.Specifically, the horizontal distance between unmanned plane and targetH is the distance away the ground of holder, θ₁For The pitch angle of holder.

Then, determine the present level of unmanned plane and target apart from when, obtain the current distance away the ground and holder of holder After current pitch angle, the present level of unmanned plane and target is calculated according to acquired current distance away the ground and current pitch angle Distance.

Similarly, the distance away the ground of the pitch angle of holder and holder, calculates nobody when can be initialized according to unmanned plane Machine and the initial level of target distance are simultaneously stored to memory.

Based on acquired initial level distance, PID adjusting is carried out to identified present level distance, to determine nothing In the step of man-machine expection forward speed, then closed-loop control is carried out with PID controller.

S200: obtaining the depth map of environment in front of the unmanned plane, and according to the depth map, determines with the unmanned plane Centered on grating map.

Above-mentioned " depth map (Depth Map) " is the figure comprising information related with the surface distance of the scenario objects of viewpoint Picture or image channel, in depth map, each of which pixel value indicates actual range of the depth transducer apart from object.

In an embodiment of the present invention, the depth map that environment in front of unmanned plane is obtained by depth transducer, passes through depth Spending sensor to obtain the depth map of environment in front of unmanned plane is the actual range for obtaining depth transducer and front environmental objects.

Above-mentioned " grating map " is then the planar gate by being mapped to the depth information in depth map centered on body It is formed in trrellis diagram, each grid gives a probable value, indicates the probability that the grid is occupied by barrier.When environment depth map In there are when barrier, barrier occupies grid in grating map, can know barrier by being occupied the coordinate of grid Position.

In an embodiment of the present invention, if unmanned plane generates pitch angle in flight course, unmanned plane forward sight can be made not It is horizontal again, at this point, the depth map of depth transducer acquisition is no longer the depth map in the horizontal front of unmanned plane, so that depth map There is error in the depth information reflected, causes the inaccuracy of grating map.Then, it is with unmanned plane determining according to depth map Before the grating map at center, also need to judge depth transducer with the presence or absence of pitch angle, if depth transducer there are pitch angle, To the grating map determined after depth map progress depth compensation further according to the depth map after depth compensation centered on unmanned plane.

Wherein, the triaxial attitude angle of unmanned plane can be measured by the second gyroscope, it is deep to be judged according to triaxial attitude angle Spending sensor whether there is pitch angle.

Depth compensation is carried out to depth map to specifically include: calculating the number of lines of pixels of depth compensation, and depth is being calculated After the number of lines of pixels of compensation, the row rope as plane on depth map of unmanned plane is determined according to the number of lines of pixels of the depth compensation Draw.

S300: according to the grating map, the optimal heading and the unmanned plane and barrier of the unmanned plane are determined Hinder the minimum range of object.

During unmanned plane during flying, the forward speed of unmanned plane is bigger, bigger with the probability of barrier collision, needs The distribution of obstacles situation of environment in front of unmanned plane is considered earlier；And the forward speed of unmanned plane is smaller, collides with barrier Probability with regard to smaller, the too early distribution of obstacles situation for considering environment in front of unmanned plane is easy to examine on unnecessary barrier Worry is entered, and the judgement inaccuracy of optimal heading is caused.

Then, in an embodiment of the present invention, according to identified grating map, the optimal flight side of unmanned plane is determined To and the minimum range of unmanned plane and barrier before, it is also necessary to the current forward speed of unmanned plane is determined, then, according to working as Preceding forward speed and expected forward speed, after determining detection of obstacles region in grating map, then in detection of obstacles region In, determine the optimal heading of unmanned plane and the minimum range of unmanned plane and barrier.That is, by the forward speed of unmanned plane In conjunction with the detection range of barrier, a suitable detection of obstacles range is determined according to the forward speed of unmanned plane, to increase Add the accuracy of detection of obstacles.

The optimal heading of unmanned plane is that there is no the directions of barrier；Minimum range, that is, nothing of unmanned plane and barrier It is man-machine at a distance from nearest barrier within sweep of the eye.

Further, in an embodiment of the present invention, according to current forward speed and expected forward speed, in grating map Middle determining detection of obstacles region, comprising: more current forward speed and expected forward speed, if current forward speed is less than in advance Phase forward speed then determines detection of obstacles region according to expected forward speed, at this time, it is contemplated that forward speed in grating map Bigger, identified detection of obstacles region is bigger；If current forward speed is greater than expected forward speed, according to current forward direction Speed determines detection of obstacles region in grating map, at this point, current forward speed is bigger, identified detection of obstacles area Domain is bigger.

Further, in an embodiment of the present invention, in identified detection of obstacles region, determine unmanned plane most Excellent heading, comprising: firstly, in identified detection of obstacles region, determine unmanned plane can traffic areas.

In identified detection of obstacles region, determine unmanned plane can traffic areas, specifically include: being with unmanned plane Center, predetermined angle are interval, are divided to detection of obstacles region, are multiple areas by detection of obstacles region division Then domain samples the coordinate of barrier, and whether the obstacle article coordinate for judging that sampling obtains falls into detection of obstacles region division Region in, the region that obstacle article coordinate is not fallen within is determined as can traffic areas.For example, referring to Fig. 3, with unmanned plane 100 Centered on, predetermined angle θ₃For interval, multiple fan-shaped regions are divided in the P1 of detection of obstacles region, the fan-shaped region divided It is from left to right respectively B1 to B11；Then, the coordinate for sampling barrier Z1, Z2 and Z3, determines that the coordinate of barrier Z1 falls into B2 With the region B3, the coordinate of barrier Z2 falls into B6 to the region B9, and the coordinate of barrier Z3 does not fall within detection of obstacles region P1 In, accordingly, it is determined that region B1, B4, B5, B10 and B11 that barrier is not fallen within are can traffic areas.

Wherein, each region marked off in detection of obstacles region is fan-shaped region.

Sample the coordinate of barrier, comprising: the central point of the grid occupied in sampling detection of obstacles region by barrier The angular coordinate of coordinate and/or the grid occupied by barrier.

Not by the angular coordinate of the center point coordinate of the grid occupied by barrier and/or the grid occupied by barrier The region fallen into is determined as can traffic areas.Based on this, if the region division of grating map is too small, it is easy to appear region quilt Barrier covering, but the coordinate the case where not falling within region sampled, at this point, be mistaken for can FOH in impassabitity region Domain；And if the region division of grating map is excessive, will lead to that heading is very few, is unfavorable for the judgement of optimal heading. Then, in order to guarantee the reliability of path planning, the size of predetermined angle can be adjusted according to practical flight effect.

Predetermined angle is adjusted according to the robustness of depth map data and the accuracy in planning direction.

Secondly, can determine the candidate heading of unmanned plane in traffic areas identified.

Based on can the candidate heading that determines of traffic areas be there is no the direction of barrier, by it is all can traffic areas Corresponding direction is determined as candidate heading.

Then, according to the cost function value of cost function calculation candidate's heading, by the smallest candidate of cost function value Heading is determined as the optimal heading of unmanned plane.

Above-mentioned least cost function value is the minimum flight cost gone out by cost function calculation, that is, determines flight cost most Small candidate heading is the optimal heading of unmanned plane.

Wherein, cost function are as follows:

F=k₁×g(direc_goal,direc_cur)+k₂×g(direc_pre,direc_cur)-k₃× sum,

Further, in an embodiment of the present invention, in identified detection of obstacles region, unmanned plane and barrier are determined Hinder the minimum range of object, comprising: determine in detection of obstacles region with unmanned plane apart from the smallest barrier as target disorders Then target obstacle is determined as minimum range by object at a distance from unmanned plane.For example, referring to Fig. 3, determining barrier Z1 With it is minimum at a distance from unmanned plane 100, therefore determine that barrier Z1 is target obstacle, then, by barrier Z1 and unmanned plane 100 Distance is determined as minimum range.

S400: according to the minimum range, the expected forward speed and the optimal heading, the nothing is determined Man-machine optimal flying speed.

In an embodiment of the present invention, optimal flying speed includes optimal forward speed and optimal side velocity.

Unmanned plane is determined according to identified minimum range, expected forward speed and optimal heading based on this Optimal flying speed, specifically includes: according to minimum range, the maximum forward speed of unmanned plane is calculated, then, according to maximum forward Speed and expected forward speed, determine optimal forward speed, then, according to optimal forward speed and optimal heading, determine Optimal side velocity.

Wherein, the maximum forward speed of unmanned plane is to guarantee that unmanned plane will not collide the forward speed of nearest barrier, If nobody forward speed is greater than maximum forward speed, unmanned plane may collide nearest barrier.

In an embodiment of the present invention, it according to maximum forward speed and expected forward speed, determines optimal forward speed, has Body includes: to compare maximum forward speed and expected forward speed, if maximum forward speed is greater than expected forward speed, it is determined that pre- Phase forward speed is optimal forward speed, at this point, optimal forward speed both can guarantee that unmanned plane will not collide nearest barrier, It can guarantee that unmanned plane and target keep initial level distance again；If maximum forward speed is not more than expected forward speed, it is determined that Maximum forward speed is optimal forward speed, at this point, since expected forward speed is greater than maximum forward speed, if with before expected to Speed is as optimal forward speed, although can guarantee that unmanned plane and target keep initial level distance, unmanned plane may be collided To nearest barrier, therefore determine that maximum forward speed is optimal forward speed, to guarantee that unmanned plane will not collide nearest obstacle Object.

When in an embodiment of the present invention, due to the optimal heading of unmanned plane determining in detection of obstacles region, It is that can determine optimal heading in the corresponding candidate heading in traffic areas from what is divided by predetermined angle, therefore it is optimal Heading corresponds to optimal flight angle.

Identified optimal forward speed and optimal side velocity collectively constitute the optimal flight speed for instructing unmanned plane during flying Degree.

S500: it controls the unmanned plane and is flown with the optimal flying speed along the optimal heading, to hide State the barrier of environment in front of unmanned plane.

When the optimal forward speed in optimal flying speed is maximum forward speed, unmanned plane is controlled with optimal flight speed When degree is along optimal heading flight, unmanned plane being capable of accurate avoidance；When the optimal forward speed in optimal flying speed is pre- When phase forward speed, control unmanned plane with optimal flying speed along optimal heading flight when, unmanned plane being capable of accurate avoidance While, initial level distance is kept with target.

In embodiments of the present invention, nothing is determined by obtaining the grating map that the depth map of environment in front of unmanned plane determines Man-machine optimal heading enables unmanned plane to carry out path planning to entire flight space, strains flight space in real time Dynamic change, meanwhile, according to identified minimum range, expected forward speed and optimal heading, determine unmanned plane Optimal flying speed on optimal heading enables unmanned plane to plan optimal flight speed according to actual environment situation Degree improves the accuracy of automatic obstacle avoiding in object tracking process.

Embodiment three

Term " module " used below is the combination that the software and/or hardware of predetermined function may be implemented.Although with Device described in lower embodiment can be realized with software, but the combined realization of hardware or software and hardware is also It may be contemplated.

Referring to Fig. 5, be a kind of present invention unmanned plane obstacle avoidance apparatus based on target following that wherein an embodiment provides, The device is applied to unmanned plane, which is unmanned plane 100 described in above-described embodiment, and provided in an embodiment of the present invention The function of device modules is executed by above-mentioned flight control system, carries out path planning for the entire flight space to unmanned plane, The accuracy of automatic obstacle avoiding in object tracking process is improved, being somebody's turn to do the unmanned plane obstacle avoidance apparatus based on target following includes:

First determining module 200, for determining the expection forward speed of unmanned plane, the expected forward speed is for making institute It states unmanned plane and target keeps initial level distance；

Module 300 is obtained, for obtaining the depth map of environment in front of the unmanned plane, and according to the depth map, is determined Grating map centered on the unmanned plane；

Second determining module 400, for according to the grating map, determine the unmanned plane optimal heading and The minimum range of the unmanned plane and barrier；And

Control module 500 is flown with the optimal flying speed along the optimal heading for controlling the unmanned plane Row, to hide the barrier of environment in front of the unmanned plane.

In some other embodiment, first determining module 200 is specifically used for:

Obtain the initial level distance of the unmanned plane Yu the target；

Determine the present level distance of the unmanned plane Yu the target；

Based on the initial level distance, PID adjusting is carried out to the present level distance, with the determination unmanned plane The expected forward speed.

In some other embodiment, the unmanned plane includes holder, and the control module 500 is also used to:

The center for controlling the holder is directed at the target；Then,

First determining module 200 is specifically used for:

Obtain the holder current distance away the ground and current pitch angle；

In some other embodiment, first determining module 200 is also used to:

Determine the current forward speed of the unmanned plane；Then,

Second determining module 400 is specifically used for:

In some other embodiment, second determining module 400 is specifically used for:

Compare the current forward speed and the expected forward speed；

In some other embodiment, when according to the expected forward speed in the grating map determine obstacle quality testing When surveying region, the expected forward speed is bigger, and the detection of obstacles region is bigger；

Sample the coordinate of barrier；

In some other embodiment, the cost function are as follows:

F=k₁×g(direc_goal,direc_cur)+k₂×g(direc_pre,direc_cur)-k₃×sum

In some other embodiment, the optimal flying speed includes optimal forward speed and optimal side velocity；Then,

Second determining module 400 is specifically used for:

Compare the maximum forward speed and the expected forward speed；

In some other embodiment, the optimal heading corresponds to optimal flight angle；Then,

Second determining module 400 is specifically used for:

In some other embodiment, the acquisition module 300 is specifically used for:

In some other embodiment, described according to the depth map, the grid centered on the unmanned plane is determined Before map, the acquisition module 300 is also used to:

Judge the depth transducer with the presence or absence of pitch angle；

If so, carrying out depth compensation to the depth map.

In some other embodiment, the depth transducer is depth camera；Then,

The acquisition module 300 is specifically used for:

Certainly, in some other alternate embodiments, above-mentioned first determining module 200 obtains module 300, second really Cover half block 400 and control module 500 can be the winged control chip in flight control system.

Since Installation practice and embodiment of the method under the premise of content does not conflict mutually, are filled based on same design The content for setting embodiment can be with quoting method embodiment, and this is no longer going to repeat them.

Example IV

Referring to Fig. 6, being a kind of hardware structural diagram of present invention unmanned plane that wherein an embodiment provides, the present invention The hardware module that embodiment provides can be integrated in flight control system described in above-described embodiment, also can be directly as flight control system It is set in fuselage 10, so that unmanned plane 100 is able to carry out a kind of unmanned plane based on target following described in above embodiments Barrier-avoiding method, moreover it is possible to realize a kind of modules of the unmanned plane obstacle avoidance apparatus based on target following described in above embodiments Function.The unmanned plane 100 includes:

One or more processors 110 and memory 120.Wherein, in Fig. 6 by taking a processor 110 as an example.

Processor 110 can be connected with memory 120 by bus or other modes, to be connected by bus in Fig. 6 For.

Memory 120 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey Sequence, non-volatile computer executable program and module, such as one of the above embodiment of the present invention based on target following The corresponding program instruction of unmanned plane barrier-avoiding method and a kind of corresponding module (example of unmanned plane obstacle avoidance apparatus based on target following Such as, the first determining module 200, acquisition module 300, the second determining module 400 and control module 500 etc.).Processor 110 passes through Non-volatile software program, instruction and the module being stored in memory 120 are run, is based on target following thereby executing one kind Unmanned plane barrier-avoiding method various function application and data processing, i.e. realization one of above method embodiment is based on mesh Mark the function of the unmanned plane barrier-avoiding method of tracking and the modules of above-mentioned apparatus embodiment.

Memory 120 may include storing program area and storage data area, wherein storing program area can store operation system Application program required for system, at least one function；Storage data area can be stored according to a kind of unmanned plane based on target following Obstacle avoidance apparatus uses created data etc..

The storage data area is also stored with preset data, including initial level distance, predetermined angle etc..

In addition, memory 120 may include high-speed random access memory, it can also include nonvolatile memory, example Such as at least one disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, it deposits Optional reservoir 120 includes the memory remotely located relative to processor 110, these remote memories can pass through network connection To processor 110.The example of above-mentioned network include but is not limited to internet, intranet, local area network, mobile radio communication and its Combination.

Described program instruction and one or more module are stored in the memory 120, when by one or When multiple processors 110 execute, unmanned plane avoidance side of one of the above-mentioned any means embodiment based on target following is executed Each step of method, alternatively, realizing unmanned plane obstacle avoidance apparatus of one of the above-mentioned any device embodiment based on target following Modules function.

Method provided by the above embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method And beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to side provided by the above embodiment of the present invention Method.

The embodiment of the invention also provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage Media storage has computer executable instructions, which is executed by one or more processors, such as in Fig. 6 A processor 110, may make computer to execute nobody based on target following of one of above-mentioned any means embodiment Each step of machine barrier-avoiding method, alternatively, realizing unmanned plane of one of the above-mentioned any device embodiment based on target following The function of the modules of obstacle avoidance apparatus.

The embodiment of the invention also provides a kind of computer program product, the computer program product is non-including being stored in Computer program on volatile computer readable storage medium storing program for executing, the computer program include program instruction, work as described program Instruction is executed by one or more processors, such as in Fig. 6 a processor 110, and it is above-mentioned any to may make that computer executes Each step of unmanned plane barrier-avoiding method of one of the embodiment of the method based on target following, alternatively, realizing above-mentioned any dress Set the function of the modules of unmanned plane obstacle avoidance apparatus of one of the embodiment based on target following.

The apparatus embodiments described above are merely exemplary, wherein described, module can as illustrated by the separation member It is physically separated with being or may not be, the component shown as module may or may not be physics list Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs In some or all of the modules achieve the purpose of the solution of this embodiment.

By the description of above embodiment, those of ordinary skill in the art can be understood that each embodiment can borrow Help software that the mode of general hardware platform is added to realize, naturally it is also possible to pass through hardware.Those of ordinary skill in the art can manage All or part of the process in solution realization above-described embodiment method is can be by the relevant hardware of computer program instructions come complete At the program can be stored in a computer-readable storage medium, and the program is when being executed, it may include such as above-mentioned each side The process of the implementation method of method.Wherein, the storage medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (RandomAccessMemory, RAM) etc..

The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills Art field, is included within the scope of the present invention.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill Art feature is equivalently replaced；And these are modified or replaceed, each reality of the application that it does not separate the essence of the corresponding technical solution Apply the range of a technical solution.

Claims

1. a kind of unmanned plane barrier-avoiding method based on target following, which is characterized in that the described method includes:

Determine the expection forward speed of unmanned plane, the expected forward speed is for making the unmanned plane and target keep initial water Flat distance；

The depth map of environment in front of the unmanned plane is obtained, and according to the depth map, is determined centered on the unmanned plane Grating map；

According to the grating map, the optimal heading of the unmanned plane and the minimum of the unmanned plane and barrier are determined Distance；

According to the minimum range, the expected forward speed and the optimal heading, the unmanned plane is determined most Excellent flying speed；

It controls the unmanned plane to fly with the optimal flying speed along the optimal heading, before hiding the unmanned plane The barrier of square environment.

2. the method according to claim 1, wherein the expection forward speed of the determining unmanned plane, comprising:

Obtain the initial level distance of the unmanned plane Yu the target；

Determine the present level distance of the unmanned plane Yu the target；

Based on the initial level distance, PID adjusting is carried out to the present level distance, described in the determination unmanned plane It is expected that forward speed.

3. according to the method described in claim 2, it is characterized in that, the unmanned plane includes holder, the method also includes:

The center for controlling the holder is directed at the target；Then,

Obtain the holder current distance away the ground and current pitch angle；

The present level of the unmanned plane Yu the target is determined according to the current distance away the ground and the current pitch angle Distance.

4. according to the method in any one of claims 1 to 3, which is characterized in that the method also includes:

Determine the current forward speed of the unmanned plane；Then,

It is described according to the grating map, determine the optimal heading and the unmanned plane and barrier of the unmanned plane Minimum range, comprising:

According to the current forward speed and the expected forward speed, detection of obstacles area is determined in the grating map Domain；

In the detection of obstacles region, the optimal heading and the unmanned plane and barrier of the unmanned plane are determined Minimum range.

5. according to the method described in claim 4, it is characterized in that, it is described according to the current forward speed and the expection before To speed, detection of obstacles region is determined in the grating map, comprising:

Compare the current forward speed and the expected forward speed；

If the current forward speed is less than the expected forward speed, in the grid according to the expected forward speed The detection of obstacles region is determined in figure；

If the current forward speed is greater than the expected forward speed, in the grid according to the current forward speed True the detection of obstacles region in figure.

6. according to the method described in claim 5, it is characterized in that,

When determining detection of obstacles region in the grating map according to the expected forward speed, Xiang Su before the expection Degree is bigger, and the detection of obstacles region is bigger；

When determining detection of obstacles region in the grating map according to the current forward speed, the current forward direction speed Degree is bigger, and the detection of obstacles region is bigger.

7. the method according to any one of claim 4 to 6, which is characterized in that described in the detection of obstacles region In, determine the optimal heading of the unmanned plane, comprising:

In the detection of obstacles region, determine the unmanned plane can traffic areas, wherein it is described can traffic areas be not There are the regions of barrier；

8. the method according to the description of claim 7 is characterized in that described in the detection of obstacles region, determine described in Unmanned plane can traffic areas, comprising:

Centered on the unmanned plane, predetermined angle is interval, is divided to the detection of obstacles region, by the barrier Hindering analyte detection region division is multiple regions；

Sample the coordinate of barrier；

9. according to the method described in claim 8, it is characterized in that, the coordinate of the sampling barrier, comprising:

Sample the center point coordinate of the grid occupied in the detection of obstacles region by the barrier and/or by the obstacle The angular coordinate for the grid that object occupies.

10. method according to any one of claims 7 to 9, which is characterized in that the cost function are as follows:

F=k₁×g(direc_goal,direc_cur)+k₂×g(direc_pre,direc_cur)-k₃×sum

Wherein, g (direc_goal,direc_cur) indicate one of candidate heading in the candidate heading with it is described The consistency in the direction of target, g (direc_pre,direc_cur) indicate that the candidate heading and the optimal of a preceding decision fly The consistency of line direction, sum expression described in can traffic areas quantity, k₁、k₂、k₃For weight coefficient.

11. the method according to any one of claim 4 to 10, which is characterized in that described in the detection of obstacles area In domain, the minimum range of the unmanned plane and barrier is determined, comprising:

12. method according to any one of claim 1 to 11, which is characterized in that the optimal flying speed includes most Excellent forward speed and optimal side velocity；Then,

It is described according to the minimum range, the expected forward speed and the optimal heading, determine the unmanned plane Optimal flying speed, comprising:

13. according to the method for claim 12, which is characterized in that described according to the maximum forward speed and the expection Forward speed determines the optimal forward speed, comprising:

Compare the maximum forward speed and the expected forward speed；

If the maximum forward speed be greater than the expected forward speed, it is determined that the expected forward speed be it is described it is optimal before To speed；

14. method according to claim 12 or 13, which is characterized in that the optimal heading corresponds to optimal flying angle Degree；Then,

The optimal side velocity is determined according to the product of the tangent value of the optimal flight angle and the optimal forward speed.

15. according to claim 1 to method described in any one of 14, which is characterized in that described to obtain in front of the unmanned plane The depth map of environment, comprising:

16. according to the method for claim 15, which is characterized in that described according to the depth map, determine with the nothing Before grating map centered on man-machine, the method also includes:

Judge the depth transducer with the presence or absence of pitch angle；

If so, carrying out depth compensation to the depth map.

17. according to the method for claim 16, which is characterized in that the depth transducer is depth camera；Then,

The line index as plane on the depth map of the unmanned plane, institute are determined according to the number of lines of pixels of the depth compensation State the line index row_horizon as plane on the depth map of unmanned plane are as follows:

18. a kind of unmanned plane obstacle avoidance apparatus based on target following, which is characterized in that described device includes:

First determining module, for determining the expection forward speed of unmanned plane, the expected forward speed for make it is described nobody Machine and target keep initial level distance；

Module is obtained, for obtaining the depth map of environment in front of the unmanned plane, and according to the depth map, is determined with the nothing Grating map centered on man-machine；

Second determining module, for according to the grating map, determine the unmanned plane optimal heading and the nothing The man-machine minimum range with barrier；And

For determining the unmanned plane according to the minimum range, the expected forward speed and the optimal heading Optimal flying speed；

Control module is flown for controlling the unmanned plane with the optimal flying speed along the optimal heading, to hide Refuge states the barrier of environment in front of unmanned plane.

19. device according to claim 18, which is characterized in that first determining module is specifically used for:

Obtain the initial level distance of the unmanned plane Yu the target；

Determine the present level distance of the unmanned plane Yu the target；

20. device according to claim 19, which is characterized in that the unmanned plane includes holder, and the control module is also For:

The center for controlling the holder is directed at the target；Then,

First determining module is specifically used for:

Obtain the holder current distance away the ground and current pitch angle；

21. device described in any one of 8 to 20 according to claim 1, which is characterized in that first determining module is also used In:

Determine the current forward speed of the unmanned plane；Then,

Second determining module is specifically used for:

22. device according to claim 21, which is characterized in that second determining module is specifically used for:

Compare the current forward speed and the expected forward speed；

23. device according to claim 22, which is characterized in that

24. the device according to any one of claim 21 to 23, which is characterized in that second determining module is specifically used In:

25. device according to claim 24, which is characterized in that second determining module is specifically used for:

Sample the coordinate of barrier；

26. device according to claim 25, which is characterized in that second determining module is specifically used for:

27. the device according to any one of claim 24 to 26, which is characterized in that the cost function are as follows:

F=k₁×g(direc_goal,direc_cur)+k₂×g(direc_pre,direc_cur)-k₃×sum

28. the device according to any one of claim 21 to 27, which is characterized in that second determining module is specifically used In:

29. device described in any one of 8 to 28 according to claim 1, which is characterized in that the optimal flying speed includes most Excellent forward speed and optimal side velocity；Then,

Second determining module is specifically used for:

30. device according to claim 29, which is characterized in that second determining module is specifically used for:

Compare the maximum forward speed and the expected forward speed；

31. the device according to claim 29 or 30, which is characterized in that the optimal heading corresponds to optimal flying angle Degree；Then,

Second determining module is specifically used for:

32. device described in any one of 8 to 31 according to claim 1, which is characterized in that the acquisition module is specifically used for:

33. device according to claim 32, which is characterized in that described according to the depth map, determine with the nothing Before grating map centered on man-machine, the acquisition module is also used to:

Judge the depth transducer with the presence or absence of pitch angle；

If so, carrying out depth compensation to the depth map.

34. device according to claim 33, which is characterized in that the depth transducer is depth camera；Then,

The acquisition module is specifically used for:

35. a kind of unmanned plane characterized by comprising

Fuselage；

Horn is connected with the fuselage；

Power device is set to the horn；

Holder is connected with the fuselage；

Depth camera is connected with the fuselage；

At least one processor is set in the fuselage；And

The memory being connect at least one described processor communication；Wherein, be stored with can be by described at least one for the memory The instruction that a processor executes, described instruction is executed by least one described processor, so that at least one described processor energy It is enough in the unmanned plane barrier-avoiding method based on target following executed as described in any one of claim 1-17.

36. a kind of non-volatile computer readable storage medium storing program for executing, which is characterized in that the non-volatile computer readable storage medium Matter is stored with computer executable instructions, and the computer executable instructions are for executing unmanned plane as in claim 1-17 Described in any item unmanned plane barrier-avoiding methods based on target following.