CN110673647B - Omnidirectional obstacle avoidance method and unmanned aerial vehicle - Google Patents
Omnidirectional obstacle avoidance method and unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention relates to an omnidirectional obstacle avoidance method and an unmanned aerial vehicle, wherein the omnidirectional obstacle avoidance method applied to the unmanned aerial vehicle comprises the following steps: the method comprises the steps of firstly obtaining flight speed information of the unmanned aerial vehicle, then adjusting image frame rates of a plurality of cameras in different directions according to the obtained flight speed information, and further carrying out omni-directional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rates of the cameras. By the aid of the adjusted image frame rate of the camera, the image frame rate of the camera corresponding to flight direction information is greatly improved, accordingly, the remote obstacle avoidance accuracy is improved, and the unmanned aerial vehicle can better perform omnidirectional obstacle avoidance under the condition that the vision obstacle avoidance processing performance is certain.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to an omnidirectional obstacle avoidance method and an unmanned aerial vehicle.
[ background of the invention ]
With the continuous development of the unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are being produced and developed. Unmanned aerial vehicles are also becoming increasingly popular. The unmanned aerial vehicle can be controlled in many ways, for example, through a remote controller, a mobile phone, a computer and other mobile terminals.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems: with the development of the unmanned aerial vehicle technology, the real omnidirectional obstacle avoidance requirement supports 6 directions of the front, the lower, the rear, the left, the right and the upper, the higher the remote obstacle avoidance accuracy is, the higher the resolution of the required image is, and the higher the resolution is, the higher the requirement on the visual obstacle avoidance processing performance is. However, the overall performance of the visual obstacle avoidance processing is limited, and the prior art cannot solve the problems of too many obstacle avoidance lenses and insufficient visual obstacle avoidance performance.
[ summary of the invention ]
In order to solve the technical problem, embodiments of the present invention provide an omnidirectional obstacle avoidance method for improving the accuracy of remote obstacle avoidance of an unmanned aerial vehicle under the condition that the performance of visual obstacle avoidance processing is fixed, and an unmanned aerial vehicle.
In order to solve the above technical problem, the embodiments of the present invention provide the following technical solutions: an omnidirectional obstacle avoidance method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a plurality of cameras in different directions, and the method comprises the following steps: acquiring flight speed information of the unmanned aerial vehicle;
adjusting image frame rates of the cameras in a plurality of different directions according to the flight speed information;
and carrying out omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera.
Optionally, the adjusting, according to the flight speed information, image frame rates of the cameras in a plurality of different directions includes:
obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information;
and adjusting the image frame rates of the cameras in a plurality of different directions according to the flight direction information.
Optionally, the flight speed information includes flight speeds corresponding to different directions;
the obtaining of the flight direction information of the unmanned aerial vehicle according to the flight speed information includes:
comparing the flying speeds corresponding to different directions with a preset speed threshold value;
and if one of the flight speeds is larger than the preset speed threshold value, taking the flight direction corresponding to the one of the flight speeds as the flight direction information.
Optionally, a plurality of cameras are arranged in each flight direction of the unmanned aerial vehicle;
the adjusting the image frame rates of the cameras in a plurality of different directions according to the flight direction information includes:
extracting the current flight direction of the unmanned aerial vehicle according to the flight direction information;
increasing the image frame rate of the camera corresponding to the current flight direction;
and reducing the image frame rate of the cameras corresponding to other directions.
Optionally, the increasing the image frame rate of the camera corresponding to the current flight direction includes:
increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;
the reducing the image frame rate of the cameras corresponding to other directions includes:
and reducing the image frame rate of the cameras corresponding to other directions to half of the maximum value.
Optionally, the increasing the image frame rate of the camera corresponding to the current flight direction includes:
increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;
the reducing the image frame rate of the cameras corresponding to other directions includes:
and reducing the image frame rate of the cameras corresponding to other directions to the minimum value.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an omnidirectional obstacle avoidance device. The barrier device is kept away to qxcomm technology includes: and the flight speed information acquisition module is used for acquiring the flight speed information of the unmanned aerial vehicle.
And the image frame rate adjusting module is used for adjusting the image frame rates of the cameras in a plurality of different directions according to the flight speed information.
And the comprehensive obstacle avoidance control module is used for carrying out omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera.
Optionally, the image frame rate adjusting module includes a flight direction information obtaining unit and an image frame rate control unit;
the flight direction information acquisition unit is used for acquiring flight direction information of the unmanned aerial vehicle according to the flight speed information;
the image frame rate control unit is used for adjusting the image frame rates of the cameras in a plurality of different directions according to the flight direction information.
Optionally, a plurality of cameras are arranged in each flight direction of the unmanned aerial vehicle; the image frame rate control unit comprises a current flight direction extraction subunit, an image frame rate improvement subunit and an image frame rate reduction subunit;
the current flight direction extraction subunit is used for extracting the current flight direction of the unmanned aerial vehicle according to the flight direction information;
the image frame rate increasing subunit is configured to increase an image frame rate of the camera corresponding to the current flight direction;
the image frame rate reduction subunit is configured to reduce image frame rates of the cameras corresponding to other directions.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform the omni-directional obstacle avoidance method as described above.
Compared with the prior art, the omni-directional obstacle avoidance method provided by the embodiment of the invention can be used for firstly acquiring the flight speed information of the unmanned aerial vehicle, then adjusting the image frame rates of the cameras in different directions according to the acquired flight speed information, and further performing omni-directional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rates of the cameras. By the adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, so that the remote obstacle avoidance accuracy is improved, and the unmanned aerial vehicle can better perform omnidirectional obstacle avoidance under the condition of certain visual obstacle avoidance processing performance.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
fig. 2 is a schematic flowchart of an omni-directional obstacle avoidance method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of S30 in FIG. 2;
FIG. 4 is a schematic flow chart of S31 in FIG. 3;
FIG. 5 is a schematic flow chart of S32 in FIG. 3;
fig. 6 is a block diagram of an omnidirectional obstacle avoidance apparatus according to an embodiment of the present invention;
fig. 7 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] A
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides an omnidirectional obstacle avoidance method and an unmanned aerial vehicle, wherein the omnidirectional obstacle avoidance method applied to the unmanned aerial vehicle comprises the steps of firstly acquiring flight speed information of the unmanned aerial vehicle, then adjusting image frame rates of a plurality of cameras in different directions according to the acquired flight speed information, and further carrying out omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rates of the cameras. By the adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, so that the remote obstacle avoidance accuracy is improved, and the unmanned aerial vehicle can better perform omnidirectional obstacle avoidance under the condition of certain visual obstacle avoidance processing performance.
The following illustrates an application environment of the omnidirectional obstacle avoidance method.
FIG. 1 is a schematic illustration of an environment in which an embodiment of the present invention provides an aircraft-less control method; as shown in fig. 1, the application scenario includes an unmanned aerial vehicle 10, an infrared wireless network 20, a remote control device 30, and a user 40. The user 40 can control the unmanned aerial vehicle 10 through the infrared wireless network using the remote control device 30.
Unmanned aerial vehicle 10 may be any type of powered unmanned aerial vehicle including, but not limited to, a rotor unmanned aerial vehicle, a fixed wing unmanned aerial vehicle, an umbrella wing unmanned aerial vehicle, a flapping wing unmanned aerial vehicle, a helicopter model, and the like.
The unmanned aerial vehicle 10 can have corresponding volume or power according to the needs of actual conditions, so that the loading capacity, the flight speed, the flight endurance mileage and the like which can meet the use needs are provided. One or more functional modules can be added to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can realize corresponding functions.
For example, in the present embodiment, the unmanned aerial vehicle 10 is provided with a battery module, a positioning device, an infrared emitting device, and a plurality of sets of binocular cameras.
After the battery module is connected to the unmanned aerial vehicle 10, the battery module can provide a power supply for the unmanned aerial vehicle 10. In this embodiment, the battery module includes a voltage conversion module, a voltage detection module, a current detection module, a temperature detection module, an IO input and output module, a CPU control module, a communication module, an electric quantity display module, and an interface circuit. The voltage conversion module is used for converting the battery input voltage into 5V and 3.3V voltages required by the board card; the voltage detection module is connected with the battery by adopting an equalizing plug, so that the measurement of the single voltage value and the total voltage value is realized; the power output line of the battery is connected to the current detection module, so that the acquired current value can be converted into a voltage value and sent to the CPU interface for AD acquisition; the temperature detection module is externally connected with 1-8 paths of platinum resistance sensors, so that temperature collection can be realized; the communication module is used for connecting the board card with the peripheral equipment and CAN support CAN, RS232 and RS485 interfaces. The CPU control module is connected with the voltage detection module and the current detection module temperature detection module through the interface circuit, and voltage, current and temperature are collected.
The positioning device may be a GPS positioning system for acquiring real-time geographic location information of the unmanned aerial vehicle.
The infrared transmitting device is configured to send infrared access information and receive an infrared control instruction sent by a remote control device, for example, when the remote control device sends an infrared control instruction, the infrared transmitting device receives the infrared control instruction, so that the unmanned aerial vehicle 10 controls a starting state of the unmanned aerial vehicle 10 according to the infrared control instruction. After the battery module is connected to the unmanned aerial vehicle 10, the infrared transmitting device may transmit the infrared access information obtained according to the access information of the battery module to the remote control device 30.
Binocular camera includes foresight camera, back vision camera, upward looking camera, downward looking camera, left side look camera and right side look camera, foresight camera, back vision camera, upward looking camera, downward looking camera, left side look camera and right side look the camera install respectively in on unmanned vehicles's the front end, rear end, last casing, lower casing, left end and the right end, above-mentioned camera can be used to shoot respectively and correspond ascending image information in side, and then unmanned vehicles can be based on graphic information carries out the barrier of keeping away of qxcomm technology.
The unmanned aerial vehicle 10 includes at least one flight control module as a control core for flight and data transmission of the unmanned aerial vehicle 10, and has the capability of monitoring, computing and manipulating flight and tasks of the unmanned aerial vehicle. The remote control device 30 may be any type of smart device, such as a mobile phone, a tablet computer, a laptop computer, or other mobile control terminal, for establishing a communication connection with the unmanned aerial vehicle 10.
The remote control device 30 is equipped with an infrared receiving device for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle. For example, the remote control device 30 may be configured to receive infrared access information generated by the UAV 10 when the battery module is normally accessed to the UAV. The remote control device 30 may also send an infrared control command generated according to the control command of the user 40 to the unmanned aerial vehicle 10 to control the starting state of the unmanned aerial vehicle 10. The remote control device 30 may also be equipped with a picture transmission module for controlling the positioning of the picture, the shooting of the picture by the pan/tilt and the return of the aiming picture. In this embodiment, the map transmission module may further modulate the binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
The remote control device 30 may also be equipped with one or more different user 40 interaction devices for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the remote control device 30 may be equipped with a touch display screen through which a remote control instruction of the unmanned aerial vehicle 10 by the user 40 is received.
In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can further provide more intelligent services by fusing the existing image vision processing technology. For example, the unmanned aerial vehicle 10 may capture images by means of a dual-optical camera, and the images are analyzed by the remote control device 30, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
Fig. 2 is an embodiment of an omnidirectional obstacle avoidance method according to an embodiment of the present invention. The method may be performed by the unmanned aerial vehicle of fig. 1. Specifically, referring to fig. 2, the method may include, but is not limited to, the following steps:
and S10, acquiring the flight speed information of the unmanned aerial vehicle.
Specifically, the flight speed information is flight speed vectors in different directions and comprises the current forward speed information v of the unmanned aerial vehiclexInformation on the speed of backward movement-vxLeft-right velocity information + -vyUp-down velocity information, ± vz。
Specifically, the flight speed information may be acquired by the following steps. Firstly, image information is obtained, graying processing is carried out, and an image gray-scale image is obtained. The image sensor acquires real-time image information of the ground, and grays the acquired real-time image information to acquire a continuous image grayscale image. And then, acquiring optical flow velocity by adopting a pyramid optical flow algorithm, acquiring flight velocity vectors of the unmanned aerial vehicle in different directions according to the optical flow velocity and the altitude data of the unmanned aerial vehicle, and taking the flight velocity vectors as the flight velocity information.
It should be noted that the pyramid optical flow algorithm relates the two-dimensional velocity field and the gray scale, introduces an optical flow constraint equation, and obtains a basic algorithm of optical flow calculation. Two assumptions are made based on the optical properties of the object movement: firstly, the gray scale of a moving object is kept unchanged in a short interval time; secondly, the time is continuous or the motion is small, the motion of the image along with the time is slow, and the proportion of the time change relative to the motion in the image is small enough in practice. Based on the two assumptions, the following problems exist in calculating the optical flow velocity by using the pyramid optical flow algorithm: the method has certain requirements on the flight speed, the image frequency and the processor hardware of the unmanned aerial vehicle, the speed measurement range is small, when the flight speed of the unmanned aerial vehicle is too high, the problem of large error or even complete error is easy to occur, the problem of error or error caused by too high flight speed can be solved by improving the image frequency, but the problem of calculation speed can be brought at the same time, the increase of the image frequency can cause the increase of the calculated amount of the processor, the requirement on the hardware configuration of the processor is high, and accurate measurement with low cost cannot be realized. For small movements, namely when the flight speed of the unmanned aerial vehicle is low, the accuracy of calculating the optical flow speed by using the pyramid algorithm is high, and the real-time performance is high.
It should be noted that, after acquiring the flight speed of the unmanned aerial vehicle, updating the image grayscale, and simultaneously determining whether the flight speed is greater than a first threshold, assuming that the acquired flight speed of the unmanned aerial vehicle is greater than the first threshold, acquiring the optical flow speed by using a block matching optical flow algorithm, and acquiring the flight speed of the unmanned aerial vehicle according to the optical flow speed and the altitude data of the unmanned aerial vehicle; and on the contrary, the pyramid optical flow algorithm is used for acquiring the optical flow velocity, and finally the flight velocity information of the unmanned aerial vehicle is acquired according to the acquired optical flow velocity and the altitude data of the unmanned aerial vehicle.
And S20, adjusting the image frame rates of the cameras in a plurality of different directions according to the flight speed information.
Specifically, according to the flight speed information obtained through the calculation, flight direction information of the unmanned aerial vehicle is obtained, and then according to the flight direction information, image frame rates of the cameras in the multiple different directions are adjusted.
Specifically, the flight speed information includes flight speeds of the current unmanned aerial vehicle in different directions. For example, the forward speed vx1Reverse speed vx2Left-right velocity vyUp-down velocity vz. And then respectively judging whether the flying speeds in different directions exceed a preset speed threshold value, and further determining the flying direction information of the current unmanned aerial vehicle according to the judgment result. And adjusting the image frame rates of the cameras in a plurality of different directions according to the flight direction information. For example, the image frame rate of the camera corresponding to the acquired flight direction information is increased, and the image frame rate of the camera corresponding to the other direction is decreased.
Further, the unmanned aerial vehicle is further provided with a storage device, and the storage device stores the preset speed threshold value.
Among them, the storage device may be a flash memory type memory, a hard disk type memory, a micro multimedia card type memory, a card type memory (e.g., SD or XD memory), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.
And S30, carrying out omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera.
Specifically, with the development of the unmanned aerial vehicle technology, the real omnidirectional obstacle avoidance requirement supports 6 directions of the front, the lower, the rear, the left, the right and the upper, and the image frame rate of the camera after the adjustment greatly improves the image frame rate of the camera corresponding to the flight direction information, so that the accuracy of remote obstacle avoidance is improved, and the unmanned aerial vehicle can be better subjected to omnidirectional obstacle avoidance under the condition that the processing performance of visual obstacle avoidance is certain.
The embodiment of the invention provides an omnidirectional obstacle avoidance method, which comprises the steps of firstly obtaining flight speed information of an unmanned aerial vehicle, then adjusting image frame rates of a plurality of cameras in different directions according to the obtained flight speed information, and further carrying out omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rates of the cameras. By the adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, so that the remote obstacle avoidance accuracy is improved, and the unmanned aerial vehicle can better perform omnidirectional obstacle avoidance under the condition of certain visual obstacle avoidance processing performance.
In order to better perform omni-directional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera, in some embodiments, referring to fig. 3, S30 includes the following steps:
and S31, obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information.
Specifically, the flight speed information includes flight speeds of the current unmanned aerial vehicle in different directions. For example, the forward speed vx1Reverse speed vx2Left-right velocity vyUp-down velocity vz. And then respectively judging whether the flight speeds in different directions exceed a preset speed threshold value, and further determining the flight direction information of the current unmanned aerial vehicle according to the judgment result.
And S32, adjusting the image frame rates of the cameras in a plurality of different directions according to the flight direction information.
Specifically, through the acquired flight direction information, the image frame rate of the camera in the non-use direction can be correspondingly adjusted.
For example, when the flight direction information is upward flight direction information, it indicates that the unmanned aerial vehicle is ascending, and further increases the image frame rate of the binocular camera corresponding to the upward direction, and decreases the image frame rates of the binocular cameras corresponding to the other directions. When the flight direction information is forward flight direction information, it is indicated that the unmanned aerial vehicle is flying forward, and further the image frame rate of the binocular cameras corresponding to the forward direction is increased, and the image frame rates of the binocular cameras corresponding to other directions are decreased. When the flight direction information is backward flight direction information, it is indicated that the unmanned aerial vehicle is flying backward, and further the image frame rate of the binocular cameras corresponding to the backward direction is increased, and the image frame rates of the binocular cameras corresponding to other directions are decreased. When the flight direction information is left flight direction information, it is indicated that the unmanned aerial vehicle is flying left, and further the image frame rate of the binocular camera corresponding to the left direction is increased, and the image frame rates of the binocular cameras corresponding to other directions are decreased.
In order to better obtain the flight direction information of the unmanned aerial vehicle according to the flight speed information, in some embodiments, referring to fig. 4, S31 includes the following steps:
s311: and comparing the flying speeds corresponding to different directions with a preset speed threshold value.
S312: and if one of the flight speeds is larger than the preset speed threshold value, taking the flight direction corresponding to the one of the flight speeds as the flight direction information.
For example, if the forward speed corresponding to the forward direction is vx1The backward speed corresponding to the backward direction is v at 6m/sx25m/s, corresponding to a leftward velocity v in the leftward directiony17m/s, the rightward speed corresponding to the rightward direction is vy28m/s, and an upward velocity v corresponding to the upward directionz3m/s, the downward velocity corresponding to the downward direction is vz(vi) 5m/s, if said pre-speed threshold is 7.5m/s, said forward speed v is adjustedx1At 6m/s, the backward speed vx2Left speed v of 5m/sy17m/s, rightward velocity vy28m/s, upward velocity vz3m/s, downward velocity vzComparing the speed with the preset speed threshold value of 7.5m/s for 5m/s respectively, judging whether the flying speeds in different directions 6m/s, 5m/s, 7m/s, 8m/s, 3m/s and 5m/s exceed the preset speed threshold value of 7.5m/s, and calculating to obtain the speed v only to the righty2If the speed threshold is greater than 8m/s and is 7.5m/s, it may be determined that the unmanned aerial vehicle is currently flying to the right, and the flight direction information may be a right flight directionAnd (4) sending the information.
For another example, if the forward speed vx1At a backward speed v of 9m/sx2Left speed v of 5m/sy1Right speed v of 7m/sy28m/s, upward velocity vz3m/s, downward velocity vz-5 m/s, if said pre-speed threshold is 7.5m/s, assigning said forward speed vx1At a backward speed v of 9m/sx2Left speed v of 5m/sy17m/s, rightward velocity vy28m/s, upward velocity vz3m/s, downward velocity vzComparing the speed threshold value of 7.5m/s with 5m/s respectively, judging whether the flying speeds of 9m/s, 5m/s, 7m/s, 8m/s, 3m/s and 5m/s in different directions exceed the preset speed threshold value of 7.5m/s, and calculating to obtain 9m/s of the advancing direction and the right speed v/sy2If the speed threshold is larger than 8m/s and is larger than 7.5m/s, it is determined that the unmanned aerial vehicle is currently flying to the front right, and the flight direction information is the forward right flight direction information. And so on.
In some embodiments, the preset speed thresholds are correspondingly set in different directions, and the preset speed thresholds in different directions may be the same or different. And then comparing the flying speeds corresponding to different directions with corresponding preset speed thresholds.
In order to better adjust the image frame rates of the cameras in different directions according to the flight direction information, in some embodiments, referring to fig. 5, S32 further includes the following steps:
s321: and extracting the current flight direction of the unmanned aerial vehicle according to the flight direction information.
For example, when the flight direction information is upward flight direction information, it indicates that the unmanned aerial vehicle is ascending, and the current flight direction of the unmanned aerial vehicle is upward flight. When the flight direction information is forward flight direction information, it is indicated that the unmanned aerial vehicle is flying forward, and the current flight direction of the unmanned aerial vehicle is flying forward. When the flight direction information simultaneously comprises left flight direction information and forward direction information, the unmanned aerial vehicle is indicated to fly in the left forward direction, and the current flight direction of the unmanned aerial vehicle is the left forward direction.
S322: and increasing the image frame rate of the camera corresponding to the current flight direction.
S323: and reducing the image frame rate of the cameras corresponding to other directions.
For example, if the current flying direction is the upward direction, the image frame rate of the binocular camera corresponding to the upward direction is increased, and the image frame rates of the binocular cameras corresponding to the other directions are decreased. If the current flying direction is the forward direction, the image frame rate of the binocular cameras corresponding to the forward direction is increased, and the image frame rates of the binocular cameras corresponding to other directions are decreased. If the current flying direction is the backward direction, the image frame rate of the binocular cameras corresponding to the backward direction is increased, and the image frame rates of the binocular cameras corresponding to other directions are decreased. And so on.
Specifically, in some embodiments, the increasing the image frame rate of the camera corresponding to the current flight direction refers to increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value; the reducing of the image frame rates of the cameras corresponding to the other directions means reducing the image frame rates of the cameras corresponding to the other directions to half of a maximum value.
In some embodiments, the increasing the image frame rate of the camera corresponding to the current flight direction refers to increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value; the reducing of the image frame rates of the cameras corresponding to the other directions means reducing the image frame rates of the cameras corresponding to the other directions to a minimum value.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiment of the present application, the embodiment of the present application provides an omnidirectional obstacle avoidance device 70, which is applied to an unmanned aerial vehicle. Referring to fig. 6, the omnidirectional obstacle avoidance apparatus 70 includes: a flight speed information obtaining module 71, an image frame rate adjusting module 72, and an image frame rate adjusting module 73.
The flight speed information acquisition module 71 is used for acquiring flight speed information of the unmanned aerial vehicle.
The image frame rate adjusting module 72 is configured to adjust image frame rates of the cameras in a plurality of different directions according to the flight speed information.
The comprehensive obstacle avoidance control module 73 is configured to perform omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera.
Therefore, in this embodiment, by first acquiring the flight speed information of the unmanned aerial vehicle, and then adjusting the image frame rates of the cameras in the plurality of different directions according to the acquired flight speed information, the unmanned aerial vehicle can be subjected to omnidirectional obstacle avoidance according to the adjusted image frame rates of the cameras. By the adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, so that the remote obstacle avoidance accuracy is improved, and the unmanned aerial vehicle can better perform omnidirectional obstacle avoidance under the condition of certain visual obstacle avoidance processing performance.
In some embodiments, the image frame rate adjustment module includes a flight direction information obtaining unit and an image frame rate control unit;
the flight direction information acquisition unit is used for acquiring flight direction information of the unmanned aerial vehicle according to the flight speed information;
the image frame rate control unit is used for adjusting the image frame rates of the cameras in a plurality of different directions according to the flight direction information.
In some embodiments, a plurality of cameras are arranged in each flight direction of the unmanned aerial vehicle; the image frame rate control unit comprises a current flight direction extraction subunit, an image frame rate improvement subunit and an image frame rate reduction subunit;
the current flight direction extraction subunit is used for extracting the current flight direction of the unmanned aerial vehicle according to the flight direction information;
the image frame rate increasing subunit is configured to increase an image frame rate of the camera corresponding to the current flight direction;
the image frame rate reduction subunit is configured to reduce image frame rates of the cameras corresponding to other directions.
Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle 10 according to an embodiment of the present application, where the unmanned aerial vehicle 10 may be any type of unmanned vehicle, and is capable of executing the omnidirectional obstacle avoidance method according to the corresponding method embodiment described above, or operating the omnidirectional obstacle avoidance apparatus 70 according to the corresponding apparatus embodiment described above. The unmanned aerial vehicle includes: fuselage, horn, power device, infrared emitter, flight control module 110, memory 120 and communication module 130.
The machine arm is connected with the machine body; the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle; the infrared transmitting device is arranged in the machine body and used for transmitting infrared access information and receiving an infrared control instruction transmitted by the remote control device;
the flight control module has the capability of monitoring, operating and manipulating the flight and tasks of the unmanned aerial vehicle, and comprises a set of equipment for controlling the launching and recovery of the unmanned aerial vehicle. The flight control module can also modulate the binary digital signals into corresponding infrared signals in the form of optical pulses or demodulate the infrared signals in the form of optical pulses into binary digital signals.
The flight control module 110, the memory 120, and the communication module 130 establish a communication connection therebetween in a bus manner.
The flight control module 110 may be any type of flight control module 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations such as data acquisition, logic operation function execution, operation processing result issuing and the like.
The memory 120 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the omnidirectional obstacle avoidance method in the embodiment of the present invention (for example, the flight speed information obtaining module 71, the image frame rate adjusting module 72, and the overall obstacle avoidance control module 73 shown in fig. 6). The flight control module 110 executes various functional applications and data processing of the omnidirectional obstacle avoidance device 70 by running non-transitory software programs, instructions and modules stored in the memory 120, that is, implements the omnidirectional obstacle avoidance method in any of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the omnidirectional obstacle avoidance device 70, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 120 optionally includes memory located remotely from flight control module 110, which may be connected to UAV 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one flight control module 110; the at least one flight control module 110 is configured to execute the instructions to implement the omni-directional obstacle avoidance method in any of the above method embodiments, for example, to execute the above-described method steps 10, 20, 30, and so on, to implement the functions of the blocks 71-73 in fig. 6.
The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more flight control modules 110, for example, by one flight control module 110 in fig. 7, and may cause the one or more flight control modules 110 to perform the omni-directional obstacle avoidance method in any of the method embodiments, for example, to perform the method steps 10, 20, and 30 described above, and so on, to implement the functions of the modules 71 to 73 in fig. 6.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the omnidirectional obstacle avoidance method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the omnidirectional obstacle avoidance method. For details of the omnidirectional obstacle avoidance method provided in the embodiment of the present invention, reference may be made to the technical details not described in detail in the embodiment of the present invention.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. An omnidirectional obstacle avoidance method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a plurality of cameras in different directions, and the method is characterized by comprising the following steps:
acquiring an optical flow velocity according to continuous image information;
acquiring flight speed information of the unmanned aerial vehicle according to the optical flow speed and the altitude data of the unmanned aerial vehicle;
obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information;
adjusting image frame rates of the cameras in a plurality of different directions according to the flight direction information;
carrying out omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera;
the adjusting, according to the flight direction information, image frame rates of the cameras in a plurality of different directions specifically includes:
determining the current flight direction of the unmanned aerial vehicle according to the flight direction information;
increasing the image frame rate of the camera corresponding to the current flight direction;
and reducing the image frame rate of the cameras corresponding to other directions.
2. The method of claim 1, wherein the airspeed information includes airspeeds corresponding to different directions;
the obtaining of the flight direction information of the unmanned aerial vehicle according to the flight speed information includes:
comparing the flying speeds corresponding to different directions with a preset speed threshold value;
and if one of the flight speeds is larger than the preset speed threshold value, taking the flight direction corresponding to the one of the flight speeds as the flight direction information.
3. The method of claim 2, wherein the increasing the image frame rate of the camera corresponding to the current flight direction comprises:
increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;
the reducing the image frame rate of the cameras corresponding to other directions includes:
and reducing the image frame rate of the cameras corresponding to the other directions to half of the maximum value.
4. The method of claim 2 or 3, wherein the increasing the image frame rate of the camera corresponding to the current flight direction comprises:
increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;
the reducing the image frame rate of the cameras corresponding to other directions includes:
and reducing the image frame rate of the cameras corresponding to other directions to the minimum value.
5. An obstacle avoidance device of qxcomm technology, its characterized in that includes:
the flight speed information acquisition module is used for acquiring the optical flow speed according to the continuous image information; acquiring flight speed information of the unmanned aerial vehicle according to the optical flow speed and the altitude data of the unmanned aerial vehicle;
a plurality of cameras are arranged in each flight direction of the unmanned aerial vehicle;
the image frame rate adjusting module comprises a flight direction information acquiring unit and an image frame rate control unit, the flight direction information acquiring unit is used for acquiring flight direction information of the unmanned aerial vehicle according to the flight speed information, and the image frame rate control unit is used for adjusting image frame rates of the cameras in different directions according to the flight direction information;
the comprehensive obstacle avoidance control module is used for carrying out omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera;
the image frame rate control unit comprises a current flight direction extraction subunit, an image frame rate improvement subunit and an image frame rate reduction subunit;
the current flight direction extraction subunit is used for extracting the current flight direction of the unmanned aerial vehicle according to the flight direction information;
the image frame rate increasing subunit is configured to increase an image frame rate of the camera corresponding to the current flight direction;
the image frame rate reduction subunit is configured to reduce image frame rates of the cameras corresponding to other directions.
6. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform the omnidirectional obstacle avoidance method of any of claims 1-4.
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| CN202210411053.7A CN114995487A (en) | 2019-11-07 | 2019-11-07 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
| PCT/CN2020/124059 WO2021088684A1 (en) | 2019-11-07 | 2020-10-27 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
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| CN110673647B (en) * | 2019-11-07 | 2022-05-03 | 深圳市道通智能航空技术股份有限公司 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
| CN112634317A (en) * | 2020-12-15 | 2021-04-09 | 深圳慧源创新科技有限公司 | Binocular omnidirectional obstacle avoidance method based on mechanical holder and optical flow algorithm |
| CN113093806B (en) * | 2021-04-07 | 2022-06-14 | 涵涡智航科技(玉溪)有限公司 | Omnidirectional obstacle avoidance method and system for aircraft space |
| CN113342055A (en) * | 2021-06-30 | 2021-09-03 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle flight control method and device, electronic equipment and storage medium |
| CN114237274B (en) * | 2021-09-28 | 2024-04-19 | 航天时代飞鸿技术有限公司 | Method and system for quickly sensing environmental obstacle of rotor unmanned aerial vehicle fused with IMU |
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| WO2021088684A1 (en) | 2021-05-14 |
| CN114995487A (en) | 2022-09-02 |
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