CN112357100B - Method, device and computer-readable storage medium for displaying obstacle information - Google Patents
Method, device and computer-readable storage medium for displaying obstacle information Download PDFInfo
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- CN112357100B CN112357100B CN202011167686.5A CN202011167686A CN112357100B CN 112357100 B CN112357100 B CN 112357100B CN 202011167686 A CN202011167686 A CN 202011167686A CN 112357100 B CN112357100 B CN 112357100B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D43/00—Arrangements or adaptations of instruments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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Abstract
The embodiment of the application provides a method, a device and a computer readable storage medium for displaying obstacle information, wherein the method comprises the following steps: detecting obstacle information of a preset position of the unmanned aerial vehicle, wherein the preset position comprises at least one of the four positions of the front, the lower, the left side and the right side; adjusting an obstacle warning sign of an area corresponding to the preset position on a screen of unmanned aerial vehicle control equipment according to the obstacle information in the preset position of the unmanned aerial vehicle; wherein, barrier warning mark shows unmanned aerial vehicle field of vision within range, unmanned aerial vehicle with the distance of barrier with barrier width can accurately show barrier information.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle obstacle avoidance, in particular to a method and a device for displaying obstacle information and a computer readable storage medium.
Background
High-end unmanned aerial vehicle has certain obstacle avoidance function, in order to show the relation information between the obstacle for unmanned aerial vehicle to the warning operator notices this obstacle, and current existing mode is most to show 0 ~ 3 red, yellow, green straight lines or curve at the screen edge of controlling the end, or the appearance is close curved shape and corresponds the distance condition between the unmanned aerial vehicle and of this screen edge correspondence direction upper obstacle. The method has certain limitation that the width of the barrier cannot be presented, and only the function of warning the distance is achieved.
Therefore, how to accurately display the obstacle information becomes an urgent problem to be solved.
Disclosure of Invention
The embodiment of the application provides a method and a device for displaying obstacle information and a computer readable storage medium, which can accurately display the obstacle information.
In a first aspect, a method for displaying obstacle information is applied to an unmanned aerial vehicle, and includes:
detecting obstacle information of a preset position of the unmanned aerial vehicle, wherein the preset position comprises at least one of the four positions of the front, the lower, the left side and the right side;
adjusting an obstacle warning sign of an area corresponding to the preset position on a screen of unmanned aerial vehicle control equipment according to the obstacle information in the preset position of the unmanned aerial vehicle;
wherein the barrier warning sign indicates that the unmanned aerial vehicle is within a field of view, a distance between the unmanned aerial vehicle and the barrier and a width of the barrier.
Therefore, this application embodiment is through surveying the obstacle information in the position is predetermine to unmanned aerial vehicle, according to unmanned aerial vehicle predetermines the obstacle information in the position, on the screen of adjustment unmanned aerial vehicle controlgear with predetermine the obstacle warning sign in the position corresponding region, can show the width of the obstacle in the unmanned aerial vehicle multiple position and the distance between unmanned aerial vehicle and the obstacle to can accurately show obstacle information, thereby can change the route in advance and avoid the obstacle.
With reference to the first aspect, in one implementation, in a case that there is an obstacle in a first direction, adjusting an obstacle warning flag of an area corresponding to the first direction on the screen;
under the condition that no barrier exists in the first direction, at least one point is displayed in a region corresponding to a preset direction on the screen;
wherein, barrier warning mark comprises at least one lines, at least one line is perpendicular with the screen edge, at least one line in the barrier warning mark with at least one point represents unmanned aerial vehicle's visual angle width.
Therefore, according to the embodiment of the application, under the condition that the obstacle exists in the first direction, the obstacle warning sign is adjusted, at least one point is displayed under the condition that the obstacle does not exist, the visual field width of the unmanned aerial vehicle can be fully displayed on a screen, the position where the obstacle exists in the visual field range of the unmanned aerial vehicle can be judged, and the route of the obstacle can be clearly avoided.
With reference to the first aspect, in another embodiment, the obstacle warning sign includes a length in a vertical direction and a length in a horizontal direction;
a length in the vertical direction representing a distance between the obstacle and the drone within a field of view of the drone;
The length in the horizontal direction represents the width of the obstacle within the field of view of the unmanned aerial vehicle.
Therefore, the distance between the obstacle and the unmanned aerial vehicle is represented by limiting the length of the obstacle warning sign in the vertical direction, the width of the obstacle is represented by limiting the length of the obstacle warning sign in the horizontal direction, and the distance between the obstacle and the unmanned aerial vehicle and the width of the obstacle can be represented by only one linear obstacle warning sign.
With reference to the first aspect, in another embodiment, when the distance between the obstacle and the drone is between a first threshold and a second threshold, the length of the line in the obstacle warning sign is a first value;
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, the length of a line in the obstacle warning sign is a second numerical value;
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a third threshold value and a fourth threshold value, the length of a line in the obstacle warning sign is a third numerical value;
wherein the first value is less than the second value, and the second value is less than the third value.
Therefore, this application embodiment changes the length of lines in the barrier warning sign through the distance between barrier and the unmanned aerial vehicle, can divide into the lines of equal parts with the projection of barrier in vertical direction to the change through the lines shows the distance between each part of barrier and the unmanned aerial vehicle, thereby can be more accurate the position of demonstration barrier.
With reference to the first aspect, in another embodiment, distances between the obstacles and the drones are different, and the corresponding obstacle warning signs have different line colors.
With reference to the first aspect, in another embodiment, when the distance between the obstacle and the drone is between a first threshold and a second threshold, a line in the obstacle warning sign is green;
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, lines in the obstacle warning sign change in a yellow-green gradient manner;
when the barrier with under the condition that distance between the unmanned aerial vehicle is in between third threshold value and the fourth threshold value, lines in the barrier warning sign are red, yellow and green and gradually change colour.
Consequently, this application embodiment is different through the distance between barrier and the unmanned aerial vehicle, and the line colour that the barrier warning sign that corresponds is different, can be through the obvious distance between demonstration barrier and the unmanned aerial vehicle of change of colour.
In combination with the first aspect, in another embodiment, the drone controlling device emits a vibration and/or an alert sound in the event of the obstacle in the first orientation of the drone.
Therefore, this application embodiment has the condition of barrier through in unmanned aerial vehicle's the first position, and unmanned aerial vehicle controlgear sends vibration and/or prompt tone, can be under the condition that the barrier appears, sends the signal and reminds the control personnel to notice.
In a second aspect, an apparatus for displaying obstacle information for an unmanned aerial vehicle includes:
the detection unit is used for detecting obstacle information of a preset position of the unmanned aerial vehicle, wherein the preset position comprises at least one of the four positions of the front, the lower part, the left side and the right side;
the adjusting unit is used for adjusting the obstacle warning signs in the areas corresponding to the preset directions on the screen according to the obstacle information in the preset directions;
wherein lines in the barrier warning sign indicate that unmanned aerial vehicle field of vision scope, unmanned aerial vehicle with the distance of barrier with the barrier width.
With reference to the second aspect, in an embodiment, the adjusting unit is specifically configured to:
under the condition that an obstacle exists in a first direction, adjusting an obstacle warning sign in an area corresponding to the first direction on the screen;
under the condition that no barrier exists in the first direction, at least one point is displayed in a region corresponding to the first direction on the screen;
wherein, barrier warning mark comprises at least one lines, at least one line is perpendicular with the screen edge, at least one line in the barrier warning mark with at least one point represents unmanned aerial vehicle's visual angle width.
With reference to the second aspect, in an embodiment, the adjusting unit is further configured to: the barrier warning sign comprises a length in a vertical direction and a length in a horizontal direction;
a length in the vertical direction representing a distance between the obstacle and the drone within the field of view of the drone;
the length in the horizontal direction represents the width of the obstacle within the field of view of the unmanned aerial vehicle.
With reference to the second aspect, in an embodiment, the adjusting unit is further configured to: under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a first threshold value and a second threshold value, the length of a line in the obstacle warning sign is a first numerical value;
Under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, the length of a line in the obstacle warning sign is a second numerical value;
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a third threshold value and a fourth threshold value, the length of a line in the obstacle warning sign is a third numerical value;
wherein the first value is less than the second value, and the second value is less than the third value.
With reference to the second aspect, in an embodiment, the adjusting unit is further configured to:
the barrier with distance between the unmanned aerial vehicle is different, corresponds the lines colour of barrier warning mark is different.
With reference to the second aspect, in an embodiment, the adjusting unit is further configured to:
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a first threshold value and a second threshold value, lines in the obstacle warning sign are green;
when the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, lines in the obstacle warning sign are in yellow-green gradient;
When the barrier with under the condition that the distance between the unmanned aerial vehicle is in between third threshold value and the fourth threshold value, lines in the barrier warning sign are red, yellow and green and gradually change color.
With reference to the second aspect, in one embodiment, the apparatus further comprises an alarm device: for emitting a vibration and/or a warning sound if the obstacle is present in the first orientation of the drone.
In a third aspect, an electronic device comprises:
the system comprises a processor, a memory and a bus, wherein the processor is connected with the memory through the bus, and the memory stores computer readable instructions which, when executed by the processor, are used for implementing the first aspect and a method for displaying obstacle information in the first aspect embodiment.
In a fourth aspect, a computer-readable storage medium has stored thereon a computer program for implementing the first aspect and a method for displaying obstacle information in the embodiments of the first aspect when the computer program is executed by a server.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a flowchart illustrating a method for displaying obstacle information according to an embodiment of the present application;
fig. 2 is a diagram illustrating internal units of an apparatus for displaying obstacle information according to an embodiment of the present application;
fig. 3 is an internal structure diagram of an electronic device according to an embodiment of the present application;
FIG. 4 illustrates an obstacle warning sign according to an embodiment of the present application;
fig. 5 is another obstacle warning sign shown in an embodiment of the present application;
fig. 6 shows two obstacle warning signs of the present embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
The embodiment of the application can be applied to the flying scene of the unmanned aerial vehicle, in the flying process of the unmanned aerial vehicle, under the condition that the obstacle appears in the visual field range, the method for displaying the obstacle information is applied to the unmanned aerial vehicle, the distance between the unmanned aerial vehicle and the obstacle warning mark of the width of the obstacle are displayed on the screen of the unmanned aerial vehicle control equipment.
It should be understood that the obstacle information in the embodiment of the present application indicates, in the view range of the drone, the position of the obstacle relative to the drone, for example: the place ahead, below, left side or right side can also represent the width of distance and the barrier between barrier and the unmanned aerial vehicle. The embodiments of the present application are not limited thereto.
High-end unmanned aerial vehicle among the correlation technique has certain obstacle avoidance function, in order to show the obstacle for the relation information between the unmanned aerial vehicle to the warning operator notices this obstacle, the current existing mode is mostly at the screen edge of control end demonstration 0 ~ 3 red, yellow, green straight lines or curve, or the appearance is close curved shape and corresponds the screen edge and correspond the distance condition between the unmanned aerial vehicle of obstacle in the direction. The method has certain limitation that the width of the barrier cannot be presented, and only the function of warning the distance is achieved. Therefore, how to accurately display the obstacle information becomes an urgent problem to be solved.
In view of the foregoing, embodiments of the present application provide a method, an apparatus, and a computer-readable storage medium for displaying obstacle information, where the method includes: detecting obstacle information of a preset position of the unmanned aerial vehicle, wherein the preset position comprises at least one of the four positions of the front, the lower, the left side and the right side; adjusting an obstacle warning sign of an area corresponding to the preset position on a screen of unmanned aerial vehicle control equipment according to the obstacle information in the preset position of the unmanned aerial vehicle; wherein, barrier warning mark shows unmanned aerial vehicle field of vision within range, unmanned aerial vehicle with the distance of barrier with barrier width can accurately show barrier information.
A method for displaying obstacle information according to an embodiment of the present application is described in detail below with reference to a flowchart shown in fig. 1, where the method shown in fig. 1 includes:
and 110, detecting the obstacle information of the preset direction of the unmanned aerial vehicle.
In one embodiment, the drone detects obstacle information of a preset orientation of the drone during flight, wherein the preset orientation includes at least one of a front, a lower, a left, and a right.
Unmanned aerial vehicle is at the flight in-process, and when the ascending barrier of different directions, when appearing in unmanned aerial vehicle's field of vision scope, unmanned aerial vehicle surveys the position of barrier, the distance between barrier and the unmanned aerial vehicle and the width of barrier, and wherein, the position of barrier can be the place ahead, below, left side and right side in at least one.
120, according to the obstacle information in the unmanned aerial vehicle preset position, adjust the obstacle warning sign in the area corresponding to the preset position on the screen of the unmanned aerial vehicle control equipment.
In one embodiment, in the case of an obstacle in a first direction, adjusting an obstacle warning sign of an area corresponding to the first direction on the screen; under the condition that no barrier exists on the first direction, at least one point is displayed in an area corresponding to the first direction on the screen; wherein, barrier warning mark comprises at least one lines, at least one line is perpendicular with the screen edge, at least one line in the barrier warning mark with at least one point represents unmanned aerial vehicle's visual angle width.
It should be understood that the first orientation in the embodiment of the present application may be at least one of the front, the lower, the left side, and the right side of the unmanned aerial vehicle, and the embodiment of the present application is not limited thereto.
In one embodiment, in the absence of an obstacle in the first orientation, at least one point is displayed on the screen of the drone control device in a region corresponding to the first orientation, where the at least one point represents a field of view of the drone, for example: when first position is the place ahead, the screen area who corresponds with first position, it indicates unmanned aerial vehicle's field of vision scope to be that the top of screen shows at least one point, under unmanned aerial vehicle detected the condition that has the barrier in first position, the region that corresponds with first position on unmanned aerial vehicle controlgear's the screen, show barrier warning mark, wherein, barrier warning mark comprises at least one lines, at least one line is perpendicular with the screen edge, at least one line changes along with the distance between barrier and the unmanned aerial vehicle.
It should be understood that in the embodiment of the present application, at least one vertical line constitutes the obstacle warning sign, where at least one vertical line is arranged in a horizontal line, and at least one line in the obstacle warning sign may be understood as a projection of the obstacle in the vertical direction, the projection of the obstacle is divided into equal parts, each line represents a minimum unit for dividing the projection, and the denser at least one line, the more accurate the shape of the described obstacle is.
Therefore, according to the embodiment of the application, under the condition that the obstacle exists in the first direction, the obstacle warning sign is adjusted, at least one point is displayed under the condition that the obstacle does not exist, the visual field width of the unmanned aerial vehicle can be fully displayed on a screen, the position where the obstacle exists in the visual field range of the unmanned aerial vehicle can be judged, and the route of the obstacle can be clearly avoided.
In one embodiment, the obstacle warning sign includes a length in a vertical direction and a length in a horizontal direction; a length in the vertical direction representing a distance between the obstacle and the drone within a field of view of the drone; the length in the horizontal direction represents the width of the obstacle within the field of view of the unmanned aerial vehicle.
In one embodiment, the shadow of the obstacle is divided into equal parts according to the above, and the closer each equal part divided by the obstacle is to the unmanned aerial vehicle within the visual field range of the unmanned aerial vehicle, the shorter the length of the vertical line corresponding to each equal part in the obstacle warning sign is; within the visual field range of the unmanned aerial vehicle, the farther each equal part divided by the barrier is from the unmanned aerial vehicle, the longer the length of the vertical line corresponding to each equal part in the barrier warning sign is.
For example: when the unmanned aerial vehicle finds that the front of the unmanned aerial vehicle is provided with the obstacle, lines in the obstacle warning sign above the screen are correspondingly lengthened, and when the unmanned aerial vehicle turns to the right to avoid the obstacle, the lines in the obstacle warning sign move leftwards through the change of the length.
Therefore, the distance between the obstacle and the unmanned aerial vehicle is represented by limiting the length of the obstacle warning sign in the vertical direction, the width of the obstacle is represented by limiting the length of the obstacle warning sign in the horizontal direction, and the distance between the obstacle and the unmanned aerial vehicle and the width of the obstacle can be represented by only one linear obstacle warning sign.
In one embodiment, when the distance between the obstacle and the drone is between a first threshold and a second threshold, the length of the line in the obstacle warning sign is a first value; under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, the length of a line in the obstacle warning sign is a second numerical value; under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a third threshold value and a fourth threshold value, the length of a line in the obstacle warning sign is a third numerical value; wherein the first value is less than the second value, and the second value is less than the third value.
In one embodiment, when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to 10m and greater than 8m, the length of the line in the obstacle warning sign is 1 unit; when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to 8m and greater than 5m, the length of a line in the obstacle warning sign is 5 units; when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to 5m and greater than 1m, the length of a line in the obstacle warning sign is 9 units; when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to 1 meter, the unmanned aerial vehicle automatically stops and does not move forward any more. The embodiments of the present application are not limited thereto.
It should be understood that the values of the first threshold, the second threshold, the third threshold, and the fourth threshold may be changed according to actual situations, and the above specific embodiment is only an example, and does not limit the values of the first threshold, the second threshold, the third threshold, and the fourth threshold; in the above embodiments, the values of the first numerical value, the second numerical value, and the third numerical value only indicate the relative length of the line in the obstacle warning mark, and the length of the line is not specifically limited.
Therefore, this application embodiment changes the length of lines in the barrier warning sign through the distance between barrier and the unmanned aerial vehicle, can divide into the lines of equal parts with the projection of barrier in vertical direction to the change through the lines shows the distance between each part of barrier and the unmanned aerial vehicle, thereby can be more accurate the position of demonstration barrier.
In one embodiment, the distance between the obstacle and the unmanned aerial vehicle is different, and the corresponding line color of the obstacle warning sign is different. Under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a first threshold value and a second threshold value, lines in the obstacle warning sign are green; under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, lines in the obstacle warning sign change in a yellow-green gradient manner; when the barrier with under the condition that the distance between the unmanned aerial vehicle is in between third threshold value and the fourth threshold value, lines in the barrier warning sign are red, yellow and green and gradually change color.
In one embodiment, the barrier warning sign changes different colors according to the distance between the barrier and the unmanned aerial vehicle, and when the distance between the barrier and the unmanned aerial vehicle is less than or equal to 10m and greater than 8m, lines in the barrier warning sign are green; when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to 8m and greater than 5m, lines in the obstacle warning sign change color gradually in yellow and green; when the distance between the obstacle and the unmanned aerial vehicle is less than or equal to 5m and is greater than 1m, lines in the obstacle warning sign are red, yellow and green and gradually change color.
Therefore, this application embodiment is different through the distance between barrier and the unmanned aerial vehicle, and the line colour of the barrier warning sign that corresponds is different, can be through the obvious distance between demonstration barrier and the unmanned aerial vehicle of the change of colour.
In one embodiment, the drone control device emits a vibration and/or warning sound in the presence of the obstacle in the first orientation of the drone.
In one embodiment, lines of the obstacle warning signs can be displayed on any edge of a screen of the unmanned aerial vehicle control equipment, so that obstacle information in different directions is displayed, and the lines are displayed on the left side of the screen and represent that the obstacles are on the left side of the traveling direction of the unmanned aerial vehicle by taking the center line of the screen as a reference; the lines are displayed on the right side of the screen and represent that the barrier is on the right side of the traveling direction of the unmanned aerial vehicle; the lines are displayed above the screen and represent that the barrier is in front of the advancing direction of the unmanned aerial vehicle; the lines are displayed below the screen and represent the obstacle below the direction of travel of the drone.
Therefore, the beneficial effects of the embodiment of the application include: by detecting the obstacle information of the unmanned aerial vehicle in the preset direction and adjusting the obstacle warning signs in the area corresponding to the preset direction on the screen of the unmanned aerial vehicle control equipment according to the obstacle information of the unmanned aerial vehicle in the preset direction, the width of the obstacles in various directions of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and the obstacles can be displayed, so that the obstacle information can be accurately displayed, and the route can be changed in advance to avoid the obstacles; through a linear barrier warning sign, can save more spaces and more succinct accurate demonstration barrier information for unmanned aerial vehicle supervisory equipment screen.
The method for displaying obstacle information according to the embodiment of the present application is described above, the apparatus for displaying obstacle information according to the embodiment of the present application is described in detail below with reference to fig. 2, and the electronic device according to the embodiment of the present application is described in detail with reference to fig. 3.
As shown in fig. 2, an apparatus for displaying obstacle information includes: a detection unit 210 and an adjustment unit 220.
In one embodiment, the detection unit is configured to detect obstacle information of a preset orientation of the unmanned aerial vehicle, wherein the preset orientation includes at least one of a front orientation, a lower orientation, a left orientation and a right orientation; the adjusting unit is used for adjusting the obstacle warning signs in the area corresponding to the preset direction on the screen according to the obstacle information in the preset direction; wherein lines in the barrier warning sign indicate that unmanned aerial vehicle field of vision scope, unmanned aerial vehicle with the distance of barrier with the barrier width.
In one embodiment, the adjusting unit is specifically configured to: under the condition that an obstacle exists in a first direction, adjusting an obstacle warning sign in an area corresponding to the first direction on the screen; under the condition that no barrier exists on the first direction, at least one point is displayed in an area corresponding to the first direction on the screen; wherein, barrier warning mark comprises at least one lines, at least one line is perpendicular with the screen edge, at least one line in the barrier warning mark with at least one point represents unmanned aerial vehicle's visual angle width.
In one embodiment, the obstacle warning sign includes a length in a vertical direction and a length in a horizontal direction; a length in the vertical direction representing a distance between the obstacle and the drone within a field of view of the drone; the length in the horizontal direction represents the width of the obstacle within the field of view of the unmanned aerial vehicle.
In one embodiment, the adjusting unit is further configured to: under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a first threshold value and a second threshold value, the length of a line in the obstacle warning sign is a first numerical value; under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, the length of a line in the obstacle warning sign is a second numerical value; under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a third threshold value and a fourth threshold value, the length of a line in the obstacle warning sign is a third numerical value; wherein the first value is less than the second value, and the second value is less than the third value.
In one embodiment, the adjusting unit is further configured to: the barrier with distance between the unmanned aerial vehicle is different, and it is corresponding the barrier warning sign's lines colour is different.
In one embodiment, the adjustment unit is further configured to: under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a first threshold value and a second threshold value, lines in the obstacle warning sign are green; when the distance between the obstacle and the unmanned aerial vehicle is between a second threshold value and a third threshold value, lines in the obstacle warning sign are in yellow-green gradient; when the barrier with under the condition that distance between the unmanned aerial vehicle is in between third threshold value and the fourth threshold value, lines in the barrier warning sign are red, yellow and green and gradually change colour.
In one embodiment, the apparatus for displaying obstacle information further comprises an alarm device for emitting a vibration and/or a warning sound when the obstacle is present in the first orientation of the drone.
It should be understood that an apparatus for displaying obstacle information as shown in fig. 2 can implement the respective processes in the method embodiment of fig. 1. The operations and/or functions of the various modules in fig. 2 are to implement the corresponding flows in the method embodiment in fig. 1. Reference may be made specifically to the description of the above method embodiments, and a detailed description is appropriately omitted herein to avoid redundancy.
An embodiment of the present application further provides an electronic device, as shown in fig. 3, including: a processor 310, a memory 320 and a bus 330, wherein the processor is connected to the memory through the bus, the memory stores computer readable instructions, and when the computer readable instructions are executed by the processor, the memory is used for implementing any one of the methods for displaying obstacle information, which can be referred to the description of the above method embodiments, and the detailed description is omitted here appropriately to avoid redundancy.
Wherein the bus is used for realizing direct connection communication of the components. The processor in the embodiment of the present application may be an integrated circuit chip having signal processing capability. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory has stored therein computer readable instructions that, when executed by the processor, perform the methods described in the above embodiments.
It will be appreciated that the configuration shown in fig. 3 is merely illustrative and may include more or fewer components than shown in fig. 3 or have a different configuration than shown in fig. 3. The components shown in fig. 3 may be implemented in hardware, software, or a combination thereof.
Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed, the method is implemented, and in particular, reference may be made to the description in the foregoing method embodiments, and in order to avoid repetition, detailed description is appropriately omitted here.
Having described the method, apparatus, and computer-readable storage medium for displaying obstacle information in the embodiments of the present application, the method in the embodiments of the present application will be further described with reference to the specific embodiments in fig. 4, fig. 5, and fig. 6.
When the view field scope that unmanned aerial vehicle monitored, there is the barrier that is less than or equal to 10m and is greater than 8m apart from unmanned aerial vehicle in the place ahead of unmanned aerial vehicle to every equal parts length of this barrier's projection in the vertical direction is unanimous, for example: planar obstacles such as wall bodies, billboards and the like, obstacle warning signs shown in fig. 4 appear on the screen of the unmanned aerial vehicle control equipment, the signs are vertical short lines with the same length, can be black vertical short lines and also can be green vertical short lines, and the embodiment of the application is not specifically limited here.
When a barrier which is less than or equal to 5m and more than 1m away from the unmanned aerial vehicle exists in the right front of the unmanned aerial vehicle in the visual field range monitored by the unmanned aerial vehicle, a barrier warning mark as shown in fig. 5 is displayed on a screen of the unmanned aerial vehicle control equipment, a dotted line on the left in the barrier warning mark indicates that the barrier exists in the visual field range of the unmanned aerial vehicle, the unmanned aerial vehicle can obtain overall reference according to the position of the dotted line so as to bypass the barrier, a schematic diagram of the distance between each equal part of the barrier and the unmanned aerial vehicle is shown on the right, the dotted line and a short line indicating the barrier jointly indicate the visual field range of the unmanned aerial vehicle, it needs to be noted that an image after gray processing by red-yellow-green gradient vertical short lines is shown in fig. 5, the color of the barrier warning mark is not shown in the application, therefore, the barrier warning mark can be red-yellow-green gradient color or black, the embodiments of the present application are not specifically limited herein.
When the visual field range monitored by the unmanned aerial vehicle is within, obstacles which are less than or equal to 5m and more than 1m away from the unmanned aerial vehicle exist in the front left and right of the unmanned aerial vehicle, an obstacle warning sign shown in fig. 6 is displayed on a screen of the unmanned aerial vehicle control equipment, dotted lines in the middle and at two sides of the sign indicate that the visual field range of the unmanned aerial vehicle is within, and no obstacle exists, the unmanned aerial vehicle can obtain overall reference according to the position of the dotted lines so as to bypass the obstacles, different lengths of vertical short lines indicate the indication of the distance between each equal part of the obstacle and the unmanned aerial vehicle, two groups of vertical short lines respectively indicate that the visual field range of the unmanned aerial vehicle monitors two different obstacles, the dotted lines and the dotted lines indicating the obstacles jointly indicate the visual field range of the unmanned aerial vehicle, and it needs to be noted that the image after gray processing by the red, yellow and green vertical short lines is shown in fig. 6, the color of the barrier warning sign is not shown in the application, so that the barrier warning sign can be red, yellow and green, and can also be black, and the embodiment of the application is not specifically limited herein.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative and, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method for displaying obstacle information is applied to an unmanned aerial vehicle, and comprises the following steps:
detecting obstacle information of a preset position of the unmanned aerial vehicle, wherein the preset position comprises at least one of the four positions of the front, the lower, the left side and the right side;
Adjusting an obstacle warning sign of an area corresponding to the preset position on a screen of unmanned aerial vehicle control equipment according to the obstacle information in the preset position of the unmanned aerial vehicle;
wherein the obstacle warning sign indicates the distance between the unmanned aerial vehicle and an obstacle and the width of the obstacle within the visual field of the unmanned aerial vehicle;
under the condition that the obstacle exists in a first direction, adjusting the obstacle warning sign in the area corresponding to the first direction on the screen;
under the condition that the first direction is not provided with the obstacle, at least one point is displayed in an area corresponding to the first direction on a screen;
wherein, barrier warning mark comprises at least one lines, at least one line is perpendicular with the screen edge, in the barrier warning mark at least one line with at least one point represents unmanned aerial vehicle's visual angle width.
2. The method of claim 1, wherein the obstacle alert sign includes a length in a vertical direction and a length in a horizontal direction;
a length in the vertical direction representing a distance between the obstacle and the drone within a field of view of the drone;
The length in the horizontal direction represents the width of the obstacle within the field of view of the unmanned aerial vehicle.
3. The method of claim 1,
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between a first threshold value and a second threshold value, the length of a line in the obstacle warning sign is a first numerical value;
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between the second threshold value and a third threshold value, the length of a line in the obstacle warning sign is a second numerical value;
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between the third threshold value and the fourth threshold value, the length of a line in the obstacle warning sign is a third numerical value;
wherein the first value is less than the second value, and the second value is less than the third value.
4. The method of claim 3,
the barrier with distance between the unmanned aerial vehicle is different, and it is corresponding the barrier warning sign's lines colour is different.
5. The method of claim 4,
under the condition that the distance between the obstacle and the unmanned aerial vehicle is between the first threshold value and the second threshold value, lines in the obstacle warning sign are green;
Under the condition that the distance between the obstacle and the unmanned aerial vehicle is between the second threshold value and the third threshold value, lines in the obstacle warning sign are in yellow-green gradient;
when the distance between the barrier and the unmanned aerial vehicle is in under the condition between the third threshold value and the fourth threshold value, lines in the barrier warning sign are red, yellow and green, and gradually change.
6. The method of claim 1, further comprising: in the event that there is the obstacle in the first orientation of the drone, the drone control device emits a vibration and/or a warning sound.
7. The utility model provides a device that shows barrier information which characterized in that is applied to unmanned aerial vehicle, includes:
the detection unit is used for detecting obstacle information of a preset position of the unmanned aerial vehicle, wherein the preset position comprises at least one of the four positions of the front, the lower, the left side and the right side;
the adjusting unit is used for adjusting the obstacle warning signs in the area corresponding to the preset direction on the screen according to the obstacle information in the preset direction;
wherein lines in the obstacle warning sign indicate the distance between the unmanned aerial vehicle and an obstacle and the width of the obstacle within the visual field of the unmanned aerial vehicle;
Under the condition that the obstacle exists in a first direction, adjusting the obstacle warning sign in an area corresponding to the first direction on the screen;
under the condition that the first direction is not provided with the obstacle, at least one point is displayed in an area corresponding to the first direction on a screen;
wherein, barrier warning mark comprises at least one lines, at least one line is perpendicular with the screen edge, in the barrier warning mark at least one line with at least one point represents unmanned aerial vehicle's visual angle width.
8. An electronic device, comprising:
a processor, a memory and a bus, the processor being connected to the memory through the bus, the memory storing computer readable instructions for implementing a method of displaying obstacle information according to any one of claims 1-6 when the computer readable instructions are executed by the processor.
9. A computer-readable storage medium, having stored thereon a computer program which, when executed by a server, implements a method of displaying obstacle information according to any one of claims 1 to 6.
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| JP3269931B2 (en) * | 1994-12-16 | 2002-04-02 | カルソニックカンセイ株式会社 | Obstacle detection device for vehicles |
| CN104133482A (en) * | 2014-06-26 | 2014-11-05 | 中国人民解放军理工大学 | Unmanned-plane fuzzy-control flight method |
| CN106020232B (en) * | 2016-07-07 | 2019-08-02 | 天津航天中为数据系统科技有限公司 | A kind of unmanned plane obstacle avoidance apparatus and barrier-avoiding method |
| CN107077145A (en) * | 2016-09-09 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Show the method and system of the obstacle detection of unmanned vehicle |
| CN108521808B (en) * | 2017-10-31 | 2021-12-07 | 深圳市大疆创新科技有限公司 | Obstacle information display method, display device, unmanned aerial vehicle and system |
| WO2019127019A1 (en) * | 2017-12-26 | 2019-07-04 | 深圳市道通智能航空技术有限公司 | Path planning method and device for unmanned aerial vehicle, and flight management method and device |
| CN108445905A (en) * | 2018-03-30 | 2018-08-24 | 合肥赛为智能有限公司 | A kind of UAV Intelligent avoidance regulator control system |
| CN110869872A (en) * | 2018-11-30 | 2020-03-06 | 深圳市大疆创新科技有限公司 | Method and device for accurately determining obstacle and computer-readable storage medium |
| CN110119162A (en) * | 2019-06-20 | 2019-08-13 | 亿航智能设备（广州）有限公司 | A kind of unmanned plane avoidance obstacle method, unmanned plane and computer readable storage medium |
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