CN113050691B - Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium - Google Patents
Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium Download PDFInfo
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Abstract
The application discloses unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium, wherein the method comprises the following steps: detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle; when the horizontal distance is smaller than a first threshold value, controlling the composite wing unmanned aerial vehicle to reduce the power of a fixed wing mode, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode; and when the composite wing unmanned aerial vehicle is determined to avoid the front obstacle, controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode. The above-mentioned technical scheme that this application discloses, the mode that combines together through fixed wing mode and rotor mode carries out the foresight effectively and keeps away the barrier to guarantee the security of compound wing unmanned aerial vehicle flight.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle obstacle avoidance method, device, equipment and a computer readable storage medium.
Background
Because the compound wing unmanned aerial vehicle has the advantages of fast flight speed of the fixed wing unmanned aerial vehicle and vertical take-off and landing of the rotor wing unmanned aerial vehicle, the compound wing unmanned aerial vehicle is widely applied to the fields of surveying and mapping, routing inspection and the like.
At present, compound wing unmanned aerial vehicle is when carrying out the forward-looking and keeping away the barrier operation, generally all utilizes ultrasonic ranging sensor, vision sensor equidistance sensor to carry out distance detection to keep away the place ahead barrier with the fixed wing mode, but, because the distance that aforementioned distance sensor can survey is nearer, and the flying speed of fixed wing mode is comparatively fast, consequently, the current barrier mode of keeping away can't make compound wing unmanned aerial vehicle keep away the barrier effectively, thereby can bring the influence for the security of compound wing unmanned aerial vehicle flight.
In summary, how to enable the unmanned aerial vehicle to effectively avoid the obstacle so as to ensure the safety of the unmanned aerial vehicle flight is a technical problem to be urgently solved by technical personnel in the field at present.
Disclosure of Invention
In view of this, an object of the present application is to provide an obstacle avoidance method, apparatus, device and computer readable storage medium for an unmanned aerial vehicle, so as to enable the unmanned aerial vehicle to effectively avoid an obstacle, so as to ensure the safety of flight of the unmanned aerial vehicle.
In order to achieve the above purpose, the present application provides the following technical solutions:
an obstacle avoidance method for an unmanned aerial vehicle comprises the following steps:
detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle;
when the horizontal distance is smaller than a first threshold value, controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode;
and when the situation that the composite wing unmanned aerial vehicle avoids the front obstacle is determined, controlling the composite wing unmanned aerial vehicle to change into a normal fixed wing mode for flying.
Preferably, before controlling the composite-wing drone to reduce the power of the fixed-wing mode and to control the composite-wing drone to climb in the rotor mode when the horizontal distance is less than a first threshold, the method further includes:
if the horizontal distance is smaller than a second threshold value, controlling the composite wing unmanned aerial vehicle to perform head raising and climbing in the fixed wing mode so as to avoid the front obstacle; wherein the second threshold is greater than the first threshold;
if confirm compound wing unmanned aerial vehicle is avoiding before the place ahead barrier, exist horizontal distance is less than first threshold value, then carry out control compound wing unmanned aerial vehicle reduces the power of fixed wing mode, and control compound wing unmanned aerial vehicle climbs the step of high with the rotor mode.
Preferably, determining whether the horizontal distance of the composite-wing drone is less than a first threshold before avoiding the forward obstacle comprises:
if first radar is in the composite wing unmanned aerial vehicle rises and can detect in the process of climbing the place ahead barrier, then utilize first radar detects composite wing unmanned aerial vehicle with the current foresight distance of place ahead barrier, and utilize current foresight distance and current pitch angle calculate composite wing unmanned aerial vehicle with the current horizontal distance of place ahead barrier, and judge whether current horizontal distance is less than first threshold value, if, then confirm composite wing unmanned aerial vehicle is avoiding before the place ahead barrier, exist horizontal distance is less than first threshold value.
Preferably, determining whether the horizontal distance of the composite-wing drone is less than a first threshold before avoiding the forward obstacle comprises:
if the first radar cannot detect the front obstacle for the first time in the process of head-up climbing of the composite-wing unmanned aerial vehicle, acquiring an obstacle distance and a pitch angle corresponding to the front obstacle detected by the first radar for the last time;
calculating the critical distance between the composite wing unmanned aerial vehicle and the front obstacle and the relative height of the front obstacle by using the obstacle distance and the pitch angle;
calculating the climbing height of the composite wing unmanned aerial vehicle according to the head-up climbing speed and time of the composite wing unmanned aerial vehicle, and calculating the current horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the critical distance, the front flying speed of the composite wing unmanned aerial vehicle and the time;
and judging whether the current horizontal distance is smaller than the first threshold value or not when the climbing height is not larger than the relative height of the front obstacle, if so, determining that the forward looking distance of the composite wing unmanned aerial vehicle is smaller than the first threshold value before the composite wing unmanned aerial vehicle avoids the front obstacle.
Preferably, the method further comprises the following steps:
detecting a downward viewing distance between the composite wing drone and an obstacle below by using a second radar carried on the composite wing drone;
if the horizontal distance is not smaller than the second threshold value and if the downward viewing distance is smaller than a third threshold value, controlling the composite wing unmanned aerial vehicle to keep a fixed wing mode for forward flight, controlling the composite wing unmanned aerial vehicle to raise and climb, and controlling the composite wing unmanned aerial vehicle to change to a normal fixed wing mode for flight after determining that the composite wing unmanned aerial vehicle avoids the lower obstacle;
and if the horizontal distance of the composite wing unmanned aerial vehicle in the downward view obstacle avoidance is smaller than the second threshold value, executing the step of controlling the composite wing unmanned aerial vehicle to perform head raising and climbing in the fixed wing mode.
Preferably, the method for controlling the compound wing drone to fly in a normal fixed wing mode includes:
controlling the composite wing unmanned aerial vehicle to reduce the rotating speed of a rotor wing and increase the power of the fixed wing mode so as to accelerate the composite wing unmanned aerial vehicle to fly forwards;
and when the forward flying speed of the composite wing unmanned aerial vehicle reaches a preset value, locking the rotor of the composite wing unmanned aerial vehicle, and controlling the forward flying speed of the composite wing unmanned aerial vehicle to be the preset value to carry out the flight in a fixed wing mode.
Preferably, when controlling the compound wing drone to reduce the rotor speed and increase the power of the fixed wing mode, the method further includes:
continuously detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using the first radar, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle;
and if the horizontal distance is smaller than the first threshold value, executing the control to reduce the power of the fixed wing mode by the composite wing unmanned aerial vehicle, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode.
An unmanned aerial vehicle keeps away barrier device includes:
the first detection module is used for detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle;
the first control module is used for controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode when the horizontal forward-looking distance is smaller than a first threshold value;
and the second control module is used for controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode when the composite wing unmanned aerial vehicle is determined to avoid the front obstacle.
An unmanned aerial vehicle keeps away barrier equipment includes:
a memory for storing a computer program;
a processor, configured to implement the steps of the unmanned aerial vehicle obstacle avoidance method according to any one of the above items when executing the computer program.
A computer-readable storage medium having stored thereon a computer program which, when processed by a processor, implements the steps of the unmanned aerial vehicle obstacle avoidance method of any preceding claim.
The application provides an unmanned aerial vehicle obstacle avoidance method, an unmanned aerial vehicle obstacle avoidance device and a computer readable storage medium, wherein the method comprises the following steps: detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle; when the horizontal distance is smaller than a first threshold value, controlling the composite wing unmanned aerial vehicle to reduce the power of a fixed wing mode, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode; and when the composite wing unmanned aerial vehicle is determined to avoid the front obstacle, controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode.
The above-mentioned technical scheme that the application discloses, utilize the radar to realize remote barrier and detect, so that unmanned aerial vehicle can begin to carry out the foresight at far away department apart from the place ahead barrier and keep away the barrier, and be less than first threshold value at the horizontal distance of compound wing unmanned aerial vehicle and place ahead barrier, when keeping away the barrier in order to carry out the foresight, through the power that reduces the fixed wing mode and reduce compound wing unmanned aerial vehicle's preceding speed of flying, and climb with the rotor mode through control compound wing unmanned aerial vehicle and make compound wing unmanned aerial vehicle can rise fast, thereby keep away the barrier in the foresight effectively through the mode that fixed wing mode and rotor mode combined together, in order to guarantee the security of compound wing unmanned aerial vehicle flight.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an obstacle avoidance method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle obstacle avoidance device provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle obstacle avoidance device provided in the embodiment of the present application.
Detailed Description
The application aims to provide an unmanned aerial vehicle obstacle avoidance method, an unmanned aerial vehicle obstacle avoidance device and a computer readable storage medium, which are used for enabling an unmanned aerial vehicle to effectively avoid obstacles so as to guarantee the safety of the unmanned aerial vehicle in flight.
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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, which shows a flowchart of an unmanned aerial vehicle obstacle avoidance method provided in an embodiment of the present application, an unmanned aerial vehicle obstacle avoidance method provided in an embodiment of the present application may include:
s11: the method comprises the steps of detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle.
The method comprises the steps of carrying a first radar on the composite wing unmanned aerial vehicle in advance, and utilizing the first radar to conduct forward-looking distance measurement so as to detect the forward-looking distance L between the composite wing unmanned aerial vehicle and a front obstacle. Wherein, the radar has test distance far away, do not receive characteristics such as blockking of fog, cloud and rain, consequently, can realize remote detection the place ahead barrier on composite wing unmanned aerial vehicle to composite wing unmanned aerial vehicle can begin to carry out the place ahead and keep away the barrier apart from the barrier position department far away, and this application specifically can utilize the millimeter wave radar of work at the millimeter wave band as first radar, and it has characteristics such as detection distance is far away, small, the quality is light and mobility is good.
When the forward-looking distance L between the composite wing unmanned aerial vehicle and the front obstacle is detected, the current pitch angle theta of the composite wing unmanned aerial vehicle at the same moment with the detected forward-looking distance L can be acquired, and the L is utilized Level of = Lcos theta calculate horizontal distance L between composite wing drone and front obstacle Level of 。
S12: when horizontal distance is less than first threshold value, control compound wing unmanned aerial vehicle reduces the power of fixed wing mode to control compound wing unmanned aerial vehicle climbs with the rotor mode.
After the forward-looking distance between the composite-wing drone and the front obstacle is detected by using the first radar and the horizontal distance between the composite-wing drone and the front obstacle is calculated, the horizontal distance and the first threshold value L can be obtained min1 Making a comparison when the horizontal distance is less than a first threshold L min1 During the time, control compound wing unmanned aerial vehicle reduces the power of fixed wing mode to reduce compound wing unmanned aerial vehicle's preceding speed of flying, in order to avoid compound wing unmanned aerial vehicle to lead to it to hit the place ahead barrier because of preceding speed of flying is too fast, meanwhile, can also control compound wing unmanned aerial vehicle with rotor modeClimb, control composite wing unmanned aerial vehicle promptly and start the rotor, and make the rotor rotational speed increase to make composite wing unmanned aerial vehicle can climb perpendicularly and avoid the place ahead barrier under the rotor mode, also carry out the foresight through the mode that fixed wing mode and rotor mode combined together and keep away the barrier, so that composite wing unmanned aerial vehicle can keep away the barrier effectively, thereby guarantee the security of composite wing unmanned aerial vehicle flight.
It should be noted that, the above-mentioned first threshold value may be obtained in advance through experiments, simulations, and the like, and in step S12, when the composite wing drone reduces the power of the fixed wing mode, in order to effectively avoid the obstacle, the power of the fixed wing may be reduced to 0, that is, the forward flying speed of the composite wing drone may be reduced to 0, and at this time, because the composite wing drone is in the rotor mode at the same time, the composite wing drone may not fall off.
S13: and when the composite wing unmanned aerial vehicle is determined to avoid the front obstacle, controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode.
When avoiding the place ahead barrier with the mode that fixed wing mode and rotor mode combined together, can confirm whether compound wing unmanned aerial vehicle avoids the place ahead barrier, specifically, if first radar does not detect the place ahead barrier or first radar detects the place ahead barrier but compound wing unmanned aerial vehicle and the forward direction barrier's forward-looking distance is greater than the forward-looking and keeps away barrier threshold value L max And determining that the composite wing unmanned aerial vehicle avoids the front obstacle. After determining that the composite wing unmanned aerial vehicle avoids the front obstacle, the composite wing unmanned aerial vehicle can be controlled to fly in a current fixed wing mode and a current rotor wing mode for a first delay time, and then the composite wing unmanned aerial vehicle can be controlled to exit from the forward-looking obstacle avoidance mode. Wherein, it can leave certain surplus for compound wing unmanned aerial vehicle to control compound wing unmanned aerial vehicle to fly with current fixed wing mode and current rotor wing mode first delay duration to in improve compoundThe reliability of the forward-looking obstacle avoidance of the wing unmanned aerial vehicle is improved, so that the flying safety of the composite wing unmanned aerial vehicle is improved.
It should be noted that the unmanned aerial vehicle obstacle avoidance scheme of the application can be applied to the composite wing unmanned aerial vehicle in flight modes such as take-off mode, flight mode, landing mode, etc., so as to realize effective obstacle avoidance of the composite wing unmanned aerial vehicle in these modes, thereby ensuring the safety of the flight of the composite wing unmanned aerial vehicle.
The above-mentioned technical scheme that the application discloses, utilize the radar to realize remote barrier and detect, so that unmanned aerial vehicle can begin to carry out the foresight at distance place far away from the place ahead barrier and keep away the barrier, and the apparent distance is less than first threshold value in the front, when keeping away the barrier in order to carry out the foresight, through the power that reduces the fixed wing mode and reduce compound wing unmanned aerial vehicle's preceding flying speed, and climb with the rotor mode through controlling compound wing unmanned aerial vehicle and make compound wing unmanned aerial vehicle can rise fast, thereby carry out the foresight effectively and keep away the barrier through the mode that fixed wing mode and rotor mode combined together, in order to guarantee the security that compound wing unmanned aerial vehicle flies.
The utility model provides an unmanned aerial vehicle keeps away barrier method when horizontal distance is less than first threshold value, controls compound wing unmanned aerial vehicle and reduces the power of fixed wing mode to before control compound wing unmanned aerial vehicle climbs with the rotor mode, can also include:
if the horizontal distance is smaller than a second threshold value, controlling the composite wing unmanned aerial vehicle to perform head raising and climbing in a fixed wing mode so as to avoid a front obstacle; wherein the second threshold is greater than the first threshold;
and if the horizontal distance is smaller than the first threshold value before the composite wing unmanned aerial vehicle avoids the front obstacle, executing the step of controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode and controlling the composite wing unmanned aerial vehicle to climb in the rotor wing mode.
Before executing the step S12, if the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle is determined to be smaller than the second threshold value L min2 (second threshold value L) min2 Greater than a first threshold value L min1 ) Then, the composite wing unmanned aerial vehicle can be controlled to look ahead and avoid the obstacle (visible) in the fixed wing modeFor the forward-looking obstacle avoidance of the first stage), in particular, the compound-wing drone may be controlled to raise and climb in the fixed-wing mode to avoid the obstacle ahead. If the horizontal distance of the composite-wing unmanned aerial vehicle is smaller than the first threshold before the composite-wing unmanned aerial vehicle avoids the front obstacle in the fixed-wing mode, that is, if it is determined that the composite-wing unmanned aerial vehicle does not avoid the front obstacle before the horizontal distance between the composite-wing unmanned aerial vehicle and the front obstacle is smaller than the first threshold, at this time, step S12 may be executed, that is, the composite-wing unmanned aerial vehicle is controlled to perform forward obstacle avoidance in a manner of combining the fixed-wing mode and the rotor mode (which may be regarded as a forward obstacle avoidance in the second stage).
It should be noted that, in the forward-looking obstacle avoidance in the first stage, during the raising and climbing process of the composite-wing drone, the composite-wing drone may be further controlled to reduce the power of the fixed-wing mode, so as to reduce the forward flight speed of the composite-wing drone, and considering that the composite-wing drone only flies in the fixed-wing mode at this stage, therefore, in order to avoid the composite-wing drone from falling in the process, the safety of the composite-wing drone is ensured, and when the forward flight speed is reduced, the forward flight speed needs to be controlled to be not less than a preset limit value (specifically, a value greater than 0). In addition, when the composite-wing unmanned aerial vehicle is in different flight modes (such as takeoff mode, flight mode, landing mode and the like), the second threshold value L min2 And a first threshold value L min1 The value can the diverse to in the adaptation of realization to the environment, thereby improve the security of compound wing unmanned aerial vehicle flight, in addition in order to avoid compound wing unmanned aerial vehicle to be in always keeping away the barrier state and can't withdraw from, then keep away the barrier height and exceed first high threshold value before compound wing unmanned aerial vehicle
Or the forward-looking obstacle avoidance time length exceeds the first preset time length, the composite wing unmanned aerial vehicle is controlled to carry out forced landing so as to realize the abnormal protection of the composite wing unmanned aerial vehicle, and therefore the safety of the composite wing unmanned aerial vehicle is improved conveniently.
The fixed wing mode is utilized to carry out the forward view through the aforesaid and keep away the barrier earlier, and the mode that recycles fixed wing mode and rotor mode and combine together carries out the forward view and keeps away the barrier and not only can improve the reliability that the barrier was kept away to the forward view, can minimize composite wing unmanned aerial vehicle's mode switching moreover to can reduce the operating duration of rotor mode, thereby reduce composite wing unmanned aerial vehicle's energy resource consumption.
The unmanned aerial vehicle obstacle avoidance method provided by the embodiment of the application determines whether a horizontal distance of the composite wing unmanned aerial vehicle is smaller than a first threshold value before avoiding a front obstacle, and can include:
if the first radar can detect the front obstacle in the process of head-up climbing of the composite wing unmanned aerial vehicle, the first radar is used for detecting the current forward-looking distance between the composite wing unmanned aerial vehicle and the front obstacle, the current forward-looking distance and the current pitch angle are used for calculating the current horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle, whether the current horizontal distance is smaller than a first threshold value or not is judged, if yes, the horizontal distance is smaller than the first threshold value before the composite wing unmanned aerial vehicle avoids the front obstacle.
In this application, before confirming that composite wing unmanned aerial vehicle is avoiding the place ahead barrier, when whether there is horizontal distance to be less than first threshold value, if first radar can detect the place ahead barrier in composite wing unmanned aerial vehicle new line climbing process, then can utilize first radar to continuously detect the current forward-looking distance of composite wing unmanned aerial vehicle and place ahead barrier, and obtain the current angle of pitch that corresponds with current forward-looking distance, utilize current forward-looking distance and current angle of pitch to calculate the current horizontal distance of composite wing unmanned aerial vehicle and place ahead barrier, and judge whether current horizontal distance is less than first threshold value, if, then confirm that composite wing unmanned aerial vehicle has horizontal distance to be less than first threshold value before avoiding the place ahead barrier.
In the above case, the detection of the current forward looking distance may be directly performed and the calculation of the current horizontal distance may be performed and compared with the first threshold value, so as to intuitively determine whether there is a case where the forward looking distance is smaller than the first threshold value before avoiding the front obstacle.
The unmanned aerial vehicle obstacle avoidance method provided by the embodiment of the application determines whether the current horizontal distance of the composite wing unmanned aerial vehicle is smaller than a first threshold value before avoiding the front obstacle, and can include:
if the first radar cannot detect the front obstacle in the process of head-up climbing of the composite wing unmanned aerial vehicle, acquiring the obstacle distance and the pitch angle corresponding to the front obstacle detected by the first radar at the last time;
calculating the critical distance between the composite wing unmanned aerial vehicle and a front obstacle and the relative height of the front obstacle by using the obstacle distance and the pitch angle;
calculating the climbing height of the composite wing unmanned aerial vehicle according to the head-up climbing speed and time of the composite wing unmanned aerial vehicle, and calculating the current horizontal distance between the composite wing unmanned aerial vehicle and a front obstacle according to the critical distance, the front flying speed and time of the composite wing unmanned aerial vehicle;
and judging whether the current horizontal distance is smaller than a first threshold value under the condition that the climbing height is not larger than the relative height of the front obstacle, if so, determining that the forward looking distance of the composite wing unmanned aerial vehicle is smaller than the first threshold value before the composite wing unmanned aerial vehicle avoids the front obstacle.
In the application, before the composite wing unmanned aerial vehicle is determined to avoid the front obstacle, if the forward-looking distance is smaller than a first threshold value, if the first radar cannot detect the front obstacle for the first time in the head-up and climbing process of the composite wing unmanned aerial vehicle, the distance L of the first radar from the front obstacle to the last detected front obstacle is obtained last And a pitch angle theta last Then, using L Obstacle ＝L last cosθ last Calculating critical distance L between the composite wing unmanned aerial vehicle and the front obstacle Obstacle And use of h Obstacle ＝L last sinθ last Calculating the relative height h of the front barrier relative to the composite wing unmanned aerial vehicle Obstacle Then use
Calculating the climbing height h of the composite wing unmanned aerial vehicle, wherein V Climbing height For the climbing speed of composite wing unmanned aerial vehicle, and use
Calculating composite wingCurrent horizontal distance L between man-machine and front barrier Current obstacle Wherein V is Front fly The forward flight speed of the composite wing unmanned aerial vehicle.
Judging the current horizontal distance L Current obstacle Whether the climbing height h is not more than the relative height h of the front obstacle Obstacle If the lower value is less than the first threshold value, if the current horizontal distance L Current obstacle Is that the climbing height h is not more than the relative height h of the front obstacle Obstacle If the lower value is smaller than the first threshold value, determining that the forward looking distance of the composite wing unmanned aerial vehicle before avoiding the front obstacle is smaller than the first threshold value, and entering the forward looking obstacle avoidance of the second stage; if the current horizontal distance L of the composite wing unmanned aerial vehicle is determined Current obstacle Before the height is less than the first threshold value, the climbing height h is greater than the relative height h of the front obstacle Obstacle At this time, the composite-wing drone can be considered to be successful in obstacle avoidance, that is, if the composite-wing drone is determined to be at the current horizontal distance L of the composite-wing drone Current obstacle When the height is larger than the first threshold value, the climbing height h is larger than the relative height h of the front obstacle Obstacle And at the moment, the composite wing unmanned aerial vehicle can be controlled to fly in the current fixed wing mode for a second delay time, and then the composite wing unmanned aerial vehicle is controlled to exit from the forward-looking obstacle avoidance mode, and specifically, the composite wing unmanned aerial vehicle is controlled to fly in the normal fixed wing mode.
Through the process, whether the composite wing unmanned aerial vehicle successfully avoids the obstacle can be judged even if the front obstacle cannot be detected in the forward-looking obstacle avoiding process of the first radar in the first stage, and whether the forward-looking obstacle avoiding process needs to be carried out in the second stage is determined, so that the reliability of the composite wing unmanned aerial vehicle in obstacle avoiding is improved.
The unmanned aerial vehicle obstacle avoidance method provided by the embodiment of the application can further comprise the following steps:
detecting the downward viewing distance between the composite wing unmanned aerial vehicle and a barrier below by using a second radar carried on the composite wing unmanned aerial vehicle;
if the horizontal sight distance is not smaller than the second threshold value and if the downward sight distance is smaller than the third threshold value, controlling the composite wing unmanned aerial vehicle to keep a fixed wing mode for forward flight, controlling the composite wing unmanned aerial vehicle to raise and climb, and after determining that the composite wing unmanned aerial vehicle avoids a barrier below, controlling the composite wing unmanned aerial vehicle to change to a normal fixed wing mode for flight;
and if the horizontal distance of the composite wing unmanned aerial vehicle in the downward view obstacle avoidance is smaller than a second threshold value, executing a step of controlling the composite wing unmanned aerial vehicle to perform head raising and climbing in a fixed wing mode.
In this application, can also utilize the second radar of carrying on composite wing unmanned aerial vehicle to detect the lower apparent distance of composite wing unmanned aerial vehicle and below barrier, wherein, the second radar can be the radar of the same type with first radar. After the second radar detects the downward viewing distance, if the horizontal distance between the compound wing drone and the front obstacle is not less than the second threshold (i.e. if the compound wing drone does not enter the forward-looking obstacle avoidance) and if the downward viewing distance is less than the third threshold, the compound wing drone can be controlled to enter the downward-looking obstacle avoidance, specifically, the compound wing drone can be controlled to keep the fixed wing mode for forward flight, and the compound wing drone is controlled to raise the head and climb in the fixed wing mode for downward-looking obstacle avoidance, and during the raising process of raising the head and climbing, if the second radar does not detect the lower obstacle or can detect the lower obstacle, but the downward viewing distance between the compound wing drone and the lower obstacle is greater than the downward-looking obstacle avoidance threshold H max The composite wing unmanned aerial vehicle can be considered to avoid the obstacles below, namely, the downward view obstacle avoidance is successful, at the moment, the composite wing unmanned aerial vehicle can be controlled to fly in a normal fixed wing mode, namely, the composite wing unmanned aerial vehicle flies forward according to the original fixed wing mode, and the composite wing unmanned aerial vehicle does not rise and climb.
In the application, the priority of the forward-looking obstacle avoidance is higher than that of the downward-looking obstacle avoidance, specifically, the forward-looking obstacle avoidance enters when the horizontal distance meets the aforementioned forward-looking obstacle avoidance conditions, if the horizontal distance does not meet the aforementioned forward-looking obstacle avoidance conditions, downward-looking obstacle avoidance detection is performed and downward-looking obstacle avoidance operation is performed when the downward-looking obstacle avoidance conditions are met, the forward-looking obstacle avoidance detection is performed, that is, the step S11 is performed, the relationship between the horizontal distance and the second threshold is determined, and the forward-looking obstacle avoidance is converted into the forward-looking obstacle avoidance when the horizontal distance is smaller than the second threshold.
It should be noted that, when the composite wing drone is in different flight modes, the size of the corresponding third threshold value may be different, so as to adapt to different environments, and in order to avoid that the composite wing drone is always in the obstacle avoidance state and cannot exit, the obstacle avoidance height exceeds the second height threshold value when the composite wing drone is looked down
Or the length of the downward-looking obstacle avoidance time exceeds the second preset length of time, the composite wing unmanned aerial vehicle is controlled to exit the downward-looking obstacle avoidance, and the normal fixed wing mode is recovered to fly, so that the abnormal protection of the composite wing unmanned aerial vehicle is realized, and the safety of the composite wing unmanned aerial vehicle is improved.
The unmanned aerial vehicle obstacle avoidance method provided by the embodiment of the application controls the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode, and can include:
controlling the composite wing unmanned aerial vehicle to reduce the rotating speed of a rotor wing and increase the power of a fixed wing mode so as to accelerate the composite wing unmanned aerial vehicle to fly forwards;
when the forward flying speed of the compound wing unmanned aerial vehicle reaches a preset value, the rotor of the compound wing unmanned aerial vehicle is locked, and the forward flying speed of the compound wing unmanned aerial vehicle is controlled to be a preset value to carry out the flight in a fixed wing mode.
In this application, the process of controlling compound wing unmanned aerial vehicle to turn into normal fixed wing mode and fly specifically is: control composite wing unmanned aerial vehicle reduces the rotor rotational speed, so that composite wing unmanned aerial vehicle's vertical velocity reduces, increase the power of fixed wing mode simultaneously, so that composite wing unmanned aerial vehicle flies before accelerating, the in-process that flies before accelerating, if composite wing unmanned aerial vehicle's preceding flying speed reaches the default, then accomplish the foresight and keep away the withdraw of barrier, at this moment, locking composite wing unmanned aerial vehicle's rotor, and make composite wing unmanned aerial vehicle carry out the flight of fixed wing mode with the preceding flying speed of default size, also resume normal fixed wing mode flight promptly, with the energy resource consumption who reduces composite wing unmanned aerial vehicle.
The unmanned aerial vehicle obstacle avoidance method provided by the embodiment of the application can further comprise the following steps of controlling the composite wing unmanned aerial vehicle to reduce the rotating speed of the rotor wing and increase the power of a fixed wing mode:
continuously detecting the forward-looking distance between the composite wing unmanned aerial vehicle and the front obstacle by using the first radar, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle;
and if the horizontal distance is smaller than the first threshold value, executing the step of controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode and controlling the composite wing unmanned aerial vehicle to climb in the rotor wing mode.
In this application, when control compound wing unmanned aerial vehicle reduces the rotor rotational speed, and when increasing the power of fixed wing mode, also promptly withdrawing from the in-process of forward-looking obstacle avoidance, can continue to utilize first radar detection compound wing unmanned aerial vehicle and the forward-looking distance of place ahead barrier, and continue to calculate the horizontal distance of compound wing unmanned aerial vehicle and place ahead barrier, if there is the horizontal distance to be less than first threshold value, then carry out the power that control compound wing unmanned aerial vehicle reduces the fixed wing mode, and control compound wing unmanned aerial vehicle and carry out the step of climbing with the rotor mode, also promptly compound wing unmanned aerial vehicle continues to carry out the forward-looking obstacle avoidance with the mode that fixed wing mode and rotor mode combined together, withdraw from the forward-looking obstacle again after avoiding the forward-looking barrier, in order to guarantee the security of compound wing unmanned aerial vehicle flight.
The embodiment of the present application still provides an unmanned aerial vehicle keeps away barrier device, see fig. 2, it shows an unmanned aerial vehicle keeps away barrier device's that the embodiment of the present application provides structural schematic diagram, can include:
the first detection module 21 is configured to detect a forward-looking distance between the composite wing drone and a front obstacle by using a first radar mounted on the composite wing drone, and calculate a horizontal distance between the composite wing drone and the front obstacle according to the forward-looking distance and a current pitch angle of the composite wing drone;
the first control module 22 is used for controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode and controlling the composite wing unmanned aerial vehicle to climb in the rotor wing mode when the horizontal distance is smaller than a first threshold value;
and the second control module 23 is used for controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode when determining that the composite wing unmanned aerial vehicle avoids the front obstacle.
The utility model provides an unmanned aerial vehicle keeps away barrier device can also include:
the third control module is used for controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode when the horizontal distance is smaller than the first threshold value, and controlling the composite wing unmanned aerial vehicle to ascend in the fixed wing mode to avoid a front obstacle if the horizontal distance is smaller than the second threshold value before the composite wing unmanned aerial vehicle ascends in the rotor wing mode; wherein the second threshold is greater than the first threshold;
and the first execution module is used for executing the step of controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode and controlling the composite wing unmanned aerial vehicle to climb in the rotor mode if the horizontal distance is smaller than a first threshold value before the composite wing unmanned aerial vehicle is determined to avoid the front obstacle.
The utility model provides an unmanned aerial vehicle keeps away barrier device, including being used for confirming that compound wing unmanned aerial vehicle before avoiding the place ahead barrier, whether there is the confirming module that horizontal distance is less than first threshold value, and confirming the module and can include:
the first judgment unit is used for detecting a front obstacle if a first radar can detect the front obstacle in the head-up and climbing process of the composite wing unmanned aerial vehicle, detecting the current forward-looking distance between the composite wing unmanned aerial vehicle and the front obstacle by using the first radar, calculating the current forward-looking distance and the current pitch angle, comparing the current horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle, judging whether the current horizontal distance is smaller than a first threshold value, and if so, determining that the horizontal distance is smaller than the first threshold value before the composite wing unmanned aerial vehicle avoids the front obstacle.
The utility model provides an unmanned aerial vehicle keeps away barrier device for confirm that compound wing unmanned aerial vehicle exists the horizontal distance and is less than the module of confirming of first threshold value and can include before avoiding the place ahead barrier:
the acquiring unit is used for acquiring the barrier distance and the pitch angle corresponding to the front barrier detected by the first radar at the last time if the first radar cannot detect the front barrier in the head-up and climbing process of the composite wing unmanned aerial vehicle;
the first calculation unit is used for calculating the critical distance between the composite wing unmanned aerial vehicle and a front obstacle and the relative height of the front obstacle by using the obstacle distance and the pitch angle;
the second calculation unit is used for calculating the climbing height of the composite wing unmanned aerial vehicle according to the head-up climbing speed and time of the composite wing unmanned aerial vehicle, and calculating the current horizontal distance between the composite wing unmanned aerial vehicle and a front obstacle according to the critical distance and the front flying speed and time of the composite wing unmanned aerial vehicle;
and the second judging unit is used for judging whether the current horizontal distance is smaller than the first threshold value under the condition that the climbing height is not larger than the relative height of the front obstacle, and if so, determining that the forward looking distance of the composite wing unmanned aerial vehicle is smaller than the first threshold value before the composite wing unmanned aerial vehicle avoids the front obstacle.
The utility model provides an unmanned aerial vehicle keeps away barrier device can also include:
the second detection module is used for detecting the downward viewing distance between the composite wing unmanned aerial vehicle and a barrier below by using a second radar carried on the composite wing unmanned aerial vehicle;
the fourth control module is used for controlling the composite wing unmanned aerial vehicle to keep a fixed wing mode for forward flight if the horizontal sight distance is not smaller than the second threshold value and the downward sight distance is smaller than the third threshold value, controlling the composite wing unmanned aerial vehicle to raise and climb, and controlling the composite wing unmanned aerial vehicle to be converted into a normal fixed wing mode for flight after determining that the composite wing unmanned aerial vehicle avoids a barrier below;
and the second execution module is used for executing the step of controlling the composite wing unmanned aerial vehicle to perform head raising and climbing in a fixed wing mode if the horizontal distance of the composite wing unmanned aerial vehicle in the downward view obstacle avoidance is smaller than a second threshold value.
The utility model provides an unmanned aerial vehicle keeps away barrier device, second control module 23 can include:
the first control unit is used for controlling the composite wing unmanned aerial vehicle to reduce the rotating speed of the rotor wing and increase the power of a fixed wing mode so as to enable the composite wing unmanned aerial vehicle to fly forwards in an accelerated manner;
and the second control unit is used for locking the rotor of the composite wing unmanned aerial vehicle when the front flying speed of the composite wing unmanned aerial vehicle reaches a preset value, and controlling the composite wing unmanned aerial vehicle to fly in a fixed wing mode by taking the front flying speed as the preset value.
The utility model provides an unmanned aerial vehicle keeps away barrier device, second control module 23 can also include:
the detection unit is used for continuously detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using the first radar and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle when controlling the composite wing unmanned aerial vehicle to reduce the rotating speed of the rotor wing and increasing the power of a fixed wing mode;
and the execution unit is used for executing the step of controlling the composite wing unmanned aerial vehicle to reduce the power of the fixed wing mode and controlling the composite wing unmanned aerial vehicle to climb in the rotor wing mode if the horizontal distance is smaller than the first threshold value.
The embodiment of the present application further provides an unmanned aerial vehicle obstacle avoidance device, refer to fig. 3, which shows a schematic structural diagram of an unmanned aerial vehicle obstacle avoidance device provided by the embodiment of the present application, and may include:
a memory for storing a computer program;
a processor, operable to execute the computer program stored in the memory, and operable to perform the steps of:
detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle; when the horizontal distance is smaller than a first threshold value, controlling the composite wing unmanned aerial vehicle to reduce the power of a fixed wing mode, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode; and when the situation that the composite wing unmanned aerial vehicle avoids the front obstacle is determined, controlling the composite wing unmanned aerial vehicle to change to a normal fixed wing mode for flying.
An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is processed by a processor, the following steps may be implemented:
detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle; when the horizontal distance is smaller than a first threshold value, controlling the composite wing unmanned aerial vehicle to reduce the power of a fixed wing mode, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode; and when the composite wing unmanned aerial vehicle is determined to avoid the front obstacle, controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the descriptions of the relevant parts in the unmanned aerial vehicle obstacle avoidance device, the equipment and the computer-readable storage medium provided by the embodiment of the application, the detailed descriptions of the corresponding parts in the unmanned aerial vehicle obstacle avoidance method provided by the embodiment of the application can be referred to, and are not described herein again.
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. Furthermore, 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 elements inherent in the list. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An unmanned aerial vehicle obstacle avoidance method is characterized by comprising the following steps:
detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle;
when the horizontal distance is smaller than a first threshold value, controlling the composite wing unmanned aerial vehicle to reduce the power of a fixed wing mode, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode;
and when the situation that the composite wing unmanned aerial vehicle avoids the front obstacle is determined, controlling the composite wing unmanned aerial vehicle to change into a normal fixed wing mode for flying.
2. The unmanned aerial vehicle obstacle avoidance method of claim 1, wherein prior to controlling the compound wing drone to reduce power in the fixed wing mode and to control the compound wing drone to climb in the rotor mode when the horizontal distance is less than a first threshold, further comprising:
if the horizontal distance is smaller than a second threshold value, controlling the composite wing unmanned aerial vehicle to perform head raising and climbing in the fixed wing mode so as to avoid the front obstacle; wherein the second threshold is greater than the first threshold;
if confirm compound wing unmanned aerial vehicle is avoiding before the place ahead barrier, exist horizontal distance is less than first threshold value, then carry out control compound wing unmanned aerial vehicle reduces the power of fixed wing mode, and control compound wing unmanned aerial vehicle climbs the step of high with the rotor mode.
3. The unmanned aerial vehicle obstacle avoidance method of claim 2, wherein determining whether the horizontal distance of the composite wing unmanned aerial vehicle is less than a first threshold before avoiding the forward obstacle comprises:
if first radar is in compound wing unmanned aerial vehicle rises to climb the in-process and can detect the place ahead barrier then utilizes first radar detects compound wing unmanned aerial vehicle with the current foresight distance of place ahead barrier, and utilizes current foresight distance and current angle of pitch calculate compound wing unmanned aerial vehicle with the current horizontal distance of place ahead barrier, and judge whether current horizontal distance is less than first threshold value, if, then confirm compound wing unmanned aerial vehicle is avoiding before the place ahead barrier, exist horizontal distance is less than first threshold value.
4. The unmanned aerial vehicle obstacle avoidance method of claim 2, wherein determining whether the horizontal distance of the composite wing unmanned aerial vehicle is less than a first threshold before avoiding the forward obstacle comprises:
if the first radar cannot detect the front obstacle for the first time in the process of head-up climbing of the composite wing unmanned aerial vehicle, acquiring an obstacle distance and a pitch angle corresponding to the front obstacle detected by the first radar for the last time;
calculating the critical distance between the composite wing unmanned aerial vehicle and the front obstacle and the relative height of the front obstacle by using the obstacle distance and the pitch angle;
calculating the climbing height of the composite wing unmanned aerial vehicle according to the head-up climbing speed and time of the composite wing unmanned aerial vehicle, and calculating the current horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the critical distance, the front flying speed of the composite wing unmanned aerial vehicle and the time;
and judging whether the current horizontal distance is smaller than the first threshold value under the condition that the climbing height is not larger than the relative height of the front obstacle, if so, determining that the forward looking distance of the composite wing unmanned aerial vehicle is smaller than the first threshold value before the composite wing unmanned aerial vehicle avoids the front obstacle.
5. The unmanned aerial vehicle obstacle avoidance method of claim 2, further comprising:
detecting a downward viewing distance between the composite wing drone and an obstacle below by using a second radar carried on the composite wing drone;
if the horizontal distance is not smaller than the second threshold value and if the downward viewing distance is smaller than a third threshold value, controlling the composite wing unmanned aerial vehicle to keep a fixed wing mode for forward flight, controlling the composite wing unmanned aerial vehicle to raise and climb, and controlling the composite wing unmanned aerial vehicle to change to a normal fixed wing mode for flight after determining that the composite wing unmanned aerial vehicle avoids the lower obstacle;
and if the horizontal distance of the composite wing unmanned aerial vehicle in the downward view obstacle avoidance is smaller than the second threshold value, executing the step of controlling the composite wing unmanned aerial vehicle to perform head raising and climbing in the fixed wing mode.
6. The unmanned aerial vehicle obstacle avoidance method according to claim 1, wherein controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode comprises:
controlling the composite wing unmanned aerial vehicle to reduce the rotating speed of a rotor wing and increase the power of the fixed wing mode so as to accelerate the composite wing unmanned aerial vehicle to fly forwards;
and when the forward flying speed of the composite wing unmanned aerial vehicle reaches a preset value, locking the rotor of the composite wing unmanned aerial vehicle, and controlling the forward flying speed of the composite wing unmanned aerial vehicle to be the preset value to carry out the flight in a fixed wing mode.
7. The unmanned aerial vehicle obstacle avoidance method of claim 6, wherein when controlling the compound wing unmanned aerial vehicle to reduce rotor speed and increase power of the fixed wing mode, the method further comprises:
continuously detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using the first radar, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle;
and if the horizontal distance is smaller than the first threshold value, executing the control to reduce the power of the fixed wing mode by the composite wing unmanned aerial vehicle, and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode.
8. The utility model provides an unmanned aerial vehicle keeps away barrier device which characterized in that includes:
the system comprises a first detection module, a second detection module and a third detection module, wherein the first detection module is used for detecting the forward-looking distance between the composite wing unmanned aerial vehicle and a front obstacle by using a first radar carried on the composite wing unmanned aerial vehicle, and calculating the horizontal distance between the composite wing unmanned aerial vehicle and the front obstacle according to the forward-looking distance and the current pitch angle of the composite wing unmanned aerial vehicle;
the first control module is used for controlling the composite wing unmanned aerial vehicle to reduce the power of a fixed wing mode and controlling the composite wing unmanned aerial vehicle to climb in a rotor wing mode when the horizontal forward-looking distance is smaller than a first threshold value;
and the second control module is used for controlling the composite wing unmanned aerial vehicle to fly in a normal fixed wing mode when the composite wing unmanned aerial vehicle is determined to avoid the front obstacle.
9. The utility model provides an unmanned aerial vehicle keeps away barrier equipment which characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the unmanned aerial vehicle obstacle avoidance method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being processed by a processor, implements the steps of the unmanned aerial vehicle obstacle avoidance method according to any one of claims 1 to 7.
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