CN113703476A - Control method and device for unmanned aerial vehicle air route stress obstacle avoidance - Google Patents
Control method and device for unmanned aerial vehicle air route stress obstacle avoidance Download PDFInfo
- Publication number
- CN113703476A CN113703476A CN202110977493.4A CN202110977493A CN113703476A CN 113703476 A CN113703476 A CN 113703476A CN 202110977493 A CN202110977493 A CN 202110977493A CN 113703476 A CN113703476 A CN 113703476A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- obstacle
- avoidance
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000001514 detection method Methods 0.000 claims abstract description 133
- 230000001360 synchronised effect Effects 0.000 claims abstract description 69
- 230000015654 memory Effects 0.000 claims description 22
- 230000004888 barrier function Effects 0.000 claims description 21
- 230000003068 static effect Effects 0.000 claims description 17
- 238000005070 sampling Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 11
- 238000013519 translation Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003938 response to stress Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a control method and a control device for unmanned aerial vehicle course stress obstacle avoidance, which comprises the steps of pre-detecting the operation state of a detection radar component carried by an unmanned aerial vehicle, wherein the detection radar component operates independently; acquiring control information, carrying out obstacle avoidance navigation by the unmanned aerial vehicle according to the control information, and automatically detecting the synchronous position of an obstacle in an obstacle avoidance area of the unmanned aerial vehicle by the detection radar component; when detecting that the synchronous position of an obstacle in obstacle avoidance navigation of the unmanned aerial vehicle interferes with a subsequent route, intercepting the subsequent route in an interference area, and starting autonomous avoidance navigation by the unmanned aerial vehicle in the interference area; and after the unmanned aerial vehicle finishes the autonomous evasive navigation, continuing to respond to control information based on a subsequent route.
Description
Technical Field
The invention relates to the technical field of radar obstacle avoidance, in particular to a control method and device for unmanned aerial vehicle course stress obstacle avoidance.
Background
With the gradual maturity of the unmanned aerial vehicle technology, the application of the unmanned aerial vehicle technology in various industries is more and more extensive, including the surveying and mapping industry. The existing aerial survey aircraft is generally provided with an aerial survey instrument at the bottom of an unmanned aerial vehicle, and when the aerial survey aircraft flies above a target area, the aerial survey instrument carries out surveying and mapping operations on the landform and the landform on the ground, the building distribution and the like. However, when navigating in a city with a complex environment, in a given route or a remote control process, interference of unknown obstacles exists due to influence of sight lines and change of an actual environment, so that the unmanned aerial vehicle is extremely easy to collide and damage, and even falls to hurt people.
Disclosure of Invention
The invention aims to provide a control method and a control device for unmanned aerial vehicle route stress obstacle avoidance, which do not depend on existing obstacle information completely, autonomously monitor obstacles in a route area, autonomously correct routes in a stress mode, do not respond to wrong remote control signals, improve the strain capacity of an automatic obstacle avoidance unmanned aerial vehicle when the unmanned aerial vehicle faces sudden obstacles, and have the function of autonomously optimizing routes.
According to a first aspect of the invention, a method and a device for controlling unmanned aerial vehicle course stress obstacle avoidance are provided, and the method and the device comprise the following steps:
the method comprises the steps of pre-checking the operation state of a detection radar assembly carried by the unmanned aerial vehicle, wherein the detection radar assembly operates independently;
acquiring control information, carrying out obstacle avoidance navigation by the unmanned aerial vehicle according to the control information, and automatically detecting the synchronous position of an obstacle in an obstacle avoidance area of the unmanned aerial vehicle by the detection radar component;
when detecting that the synchronous position of an obstacle in obstacle avoidance navigation of the unmanned aerial vehicle interferes with a subsequent route, intercepting the subsequent route in an interference area, and starting autonomous avoidance navigation by the unmanned aerial vehicle in the interference area;
and after the unmanned aerial vehicle finishes the autonomous evasive navigation, continuing to respond to control information based on a subsequent route.
Furthermore, the detection radar component comprises a plurality of detection radars, each detection radar can rotate based on the installation position of the unmanned aerial vehicle, and the driving of each detection radar is independent;
the method also comprises the pre-detection of the airborne radar before the takeoff of the unmanned aerial vehicle, and specifically comprises the following steps:
when the unmanned aerial vehicle acquires a take-off instruction, the detection radar component carried by the unmanned aerial vehicle is subjected to pre-detection:
predefining the navigation rotating speed of the detection radar;
detecting signal feedback of the detection radar, and lighting a first indicator light when the signal feedback quantity is enough;
extracting the detection radar serial number which generates signal feedback, and sequentially detecting the rotation of the detection radar:
if the rotation speed of a certain number of detection radars does not reach the standard, a fault indicator lamp corresponding to the detection radar is lightened;
if the rotation speed of the detection radar reaches the standard, a steady-state indicator lamp corresponding to the detection radar is lightened;
when the number of the steady-state indicator lamps is enough, driving the rotation speed of the detection radar to reach the sailing rotation speed;
and when the rotating speed of the detection radar reaches the sailing rotating speed, starting the unmanned aerial vehicle to take off.
The number of the detection radars is not less than two.
Further, acquire control information, unmanned aerial vehicle according to control information keeps away the barrier navigation, survey radar subassembly automated inspection unmanned aerial vehicle keeps away the barrier synchronous position in the barrier region, specifically includes:
the control information is a flight path control operation instruction of the unmanned aerial vehicle, and comprises but is not limited to a set flight path and a remote control signal;
the unmanned aerial vehicle keeps away the barrier navigation according to control information, keeps away the in-process of barrier navigation:
predefining a navigation speed, and predefining an effective detection range of a single detection radar based on the navigation speed;
fitting effective detection ranges of the plurality of detection radars into an effective detection space of a detection radar component by taking the geometric centers of the plurality of detection radars in the running state as an origin, and defining the effective detection space as an obstacle avoidance area; the unmanned aerial vehicle is always in a constant position in the obstacle avoidance area;
when an obstacle appears in the obstacle avoidance area, continuously calculating the space distance of the obstacle relative to the unmanned aerial vehicle;
establishing a space coordinate system by using the origin, so as to fit a synchronous track of the obstacle in the sampling time relative to the unmanned aerial vehicle in navigation;
the time line of the synchronous track is the same as that of the unmanned aerial vehicle, and the synchronous position between the obstacle and the unmanned aerial vehicle is calculated through the synchronous track.
Further, the method also comprises the following steps of judging the operation state of the obstacle:
calculating the relative speed between the obstacle and the unmanned aerial vehicle according to the synchronous track of the obstacle;
if the relative speed is the navigation speed, the obstacle is in a static state relative to the unmanned aerial vehicle in navigation; otherwise, the obstacle is in a motion state relative to the unmanned aerial vehicle in navigation;
when the obstacle is in a motion state relative to the unmanned aerial vehicle in navigation, the synchronous position between the obstacle and the unmanned aerial vehicle continuously generates track change, and then the running track of the next stage of the obstacle is calculated and fitted according to the synchronous track;
when the obstacle is in a static state relative to the unmanned aerial vehicle in flight, the synchronous position between the obstacle and the unmanned aerial vehicle does not generate track change.
Further, the interference judgment of the synchronous position of the obstacle in the motion state and the subsequent route of the unmanned aerial vehicle specifically comprises:
predefining a first avoidance interval;
acquiring route information of the unmanned aerial vehicle, and extracting a subsequent route in an obstacle avoidance area corresponding to the current position of the unmanned aerial vehicle;
judging whether the running track of the lower stage of the obstacle and the subsequent route have an intersection point;
if the interference area exists, intercepting the interference area, of which the distance between the running tracks on the two sides of the intersection point and the subsequent route is smaller than the first avoidance distance, and defining the interference area as an interference area;
if the interference area does not exist, intercepting the interference section of which the distance between the running track and the subsequent route is smaller than the first avoidance distance, and defining the interference section as an interference area;
the unmanned aerial vehicle starts autonomous evasive navigation in an interference area:
translating the intercepted interfering section of the subsequent route a distance of the first avoidance distance in a direction away from the obstacle;
respectively extending two ends of the interference section after translation, and sequentially and smoothly connecting the two ends with the front end of the interception starting point and the rear end of the interception end point;
and removing redundant branches at the connecting points to form an autonomous avoidance route, and navigating the unmanned aerial vehicle along the autonomous avoidance route in the interference area.
Further, the interference judgment of the synchronous position of the obstacle in the static state and the subsequent route of the unmanned aerial vehicle specifically comprises:
predefining a second avoidance distance;
when the obstacle appearing in the obstacle avoidance area is detected to be in a static state, calculating the closest distance between the subsequent route and the obstacle;
if the nearest distance is larger than the second avoidance distance, continuing navigating along the subsequent route;
otherwise, intercepting an interference section of which the distance between the subsequent route and the obstacle is smaller than the second avoidance distance, and defining the interference section as an interference area;
the unmanned aerial vehicle starts autonomous evasive navigation in an interference area:
translating the intercepted interference section of the subsequent route by a distance of the second avoidance distance in a direction away from the obstacle;
respectively extending two ends of the interference section after translation, and sequentially and smoothly connecting the two ends with the front end of the interception starting point and the rear end of the interception end point;
and removing redundant branches at the connecting points to form an autonomous avoidance route, and navigating the unmanned aerial vehicle along the autonomous avoidance route in the interference area.
Further, after the unmanned aerial vehicle completes the autonomous evasive navigation, the unmanned aerial vehicle continues to respond to control information based on a subsequent route, and the method specifically includes:
when the unmanned aerial vehicle is in the process of autonomous evasive navigation, the unmanned aerial vehicle does not respond to the control information;
and after the unmanned aerial vehicle finishes autonomous evasive navigation, responding to the control information and continuing navigation based on a subsequent route.
According to a second aspect of the invention, a control device for unmanned aerial vehicle route stress obstacle avoidance is provided, which comprises:
a detection radar module: the method comprises the steps of pre-checking the operation state of a detection radar assembly carried by the unmanned aerial vehicle, and enabling the detection radar assembly to operate independently;
a data processing module: acquiring control information, carrying out obstacle avoidance navigation by the unmanned aerial vehicle according to the control information, and automatically detecting the synchronous position of an obstacle in an obstacle avoidance area of the unmanned aerial vehicle by the detection radar component;
an interference avoidance module: when detecting that the synchronous position of an obstacle in obstacle avoidance navigation of the unmanned aerial vehicle interferes with a subsequent route, intercepting the subsequent route in an interference area, and starting autonomous avoidance navigation by the unmanned aerial vehicle in the interference area;
a permission definition module: and after the unmanned aerial vehicle finishes the autonomous evasive navigation, continuing to respond to the control information based on the subsequent air route.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method steps of any of the above first aspects when executing the computer program.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method steps of any of the above first aspects.
The invention has the beneficial effects that:
the invention provides a control method and a device for stress obstacle avoidance of a flight path of an unmanned aerial vehicle.
And (4) carrying out high-frequency sampling on the position of the obstacle, unifying time lines with a subsequent route of the unmanned aerial vehicle, accurately judging the position of an interference area between the subsequent route and the obstacle, and realizing autonomous obstacle avoidance. Furthermore, the method is also suitable for wrong remote control signals, does not respond to the operation instruction of a continuous air route, and automatically realizes obstacle avoidance
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. In the drawings, like reference numerals are used to indicate like elements. The drawings in the following description are directed to some, but not all embodiments of the invention. For a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a flowchart of a control method and device for unmanned aerial vehicle course stress obstacle avoidance according to an embodiment of the present invention;
fig. 2 is a block diagram of a control device for unmanned aerial vehicle route stress obstacle avoidance according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention and the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is to be understood that the drawings in the following description are merely exemplary of the invention and that other drawings and embodiments can be derived by those skilled in the art without undue burden. The designation of the design orientation merely indicates the relative positional relationship between the respective members, not the absolute positional relationship.
Example one
According to a first aspect of the present invention, there is provided a method and an apparatus for controlling unmanned aerial vehicle route stress obstacle avoidance, as shown in fig. 1, a flowchart of a route optimization method for an unmanned aerial vehicle capable of automatically avoiding obstacles includes:
step S101: the operation state of the detection radar component carried by the unmanned aerial vehicle is pre-detected, and the detection radar component operates independently.
In the embodiment of the invention, the unmanned aerial vehicle is provided with a plurality of detection radars, and a rotating device is arranged between each detection radar and the unmanned aerial vehicle, so that the detection radars can rotate. Pivoted position can match the setting according to the mounted position who surveys the radar for the effective detection range of whole detection radar subassembly uses unmanned aerial vehicle to disperse to the outside as the center, and formation sphere region can. The effective detection range of the detection radar assembly is an obstacle avoidance area, and in the operation process of the unmanned aerial vehicle, once an obstacle is detected in the obstacle avoidance area, a stress response can be generated, and an autonomous obstacle avoidance route is planned. It will be appreciated that the number of detection radars within each detection radar assembly is no less than two, so that the detection radars can quickly determine the relative position of the obstacle and the drone in space.
In the embodiment of the invention, each detection radar is independently driven, and can independently operate before the takeoff of the unmanned aerial vehicle to detect that the operation state of the unmanned aerial vehicle is normal, so that the automatic detection stress in an obstacle avoidance area can be realized, specifically, the method also comprises the pre-detection of the airborne radar before the takeoff of the unmanned aerial vehicle, and the specific steps comprise:
when the unmanned aerial vehicle acquires a take-off instruction, the detection radar component carried by the unmanned aerial vehicle is subjected to pre-detection:
predefining the navigation rotating speed of the detection radar;
detecting signal feedback of the detection radar, and lighting a first indicator light when the signal feedback quantity is enough;
extracting the detection radar serial number which generates signal feedback, and sequentially detecting the rotation of the detection radar:
if the rotation speed of a certain number of detection radars does not reach the standard, a fault indicator lamp corresponding to the detection radar is lightened;
if the rotation speed of the detection radar reaches the standard, a steady-state indicator lamp corresponding to the detection radar is lightened;
when the number of the steady-state indicator lamps is enough, driving the rotation speed of the detection radar to reach the sailing rotation speed;
and when the rotating speed of the detection radar reaches the sailing rotating speed, starting the unmanned aerial vehicle to take off.
At the in-process of unmanned aerial vehicle navigation, the detection radar rotates with the navigation rotational speed, consequently when the preliminary examination, can independently operate each detection radar in proper order, makes it the rotational speed reach the navigation rotational speed. Further, the number of detection radars generating signal feedback should be limited by a minimum amount to ensure the effectiveness of obstacle detection in the obstacle avoidance area.
When the rotation speed and the usable quantity of the detection radar reach the standard, the aircraft can take off. If the radar does not reach the standard, the detection radar with the fault is definitely indicated, so that the maintenance is convenient.
In the embodiment of the invention, the signal feedback of the detection radar can only reflect that the basic detection function of the detection radar is intact, and the usable number of the detection radar is defined by the number of the signal feedback. When the detection radar has a feedback signal and the rotating speed reaches the standard, the feedback display is carried out through the steady-state indicator lamp.
Step S102: and acquiring control information, enabling the unmanned aerial vehicle to avoid barrier navigation according to the control information, and automatically detecting the barrier synchronous position in the barrier area of the unmanned aerial vehicle by the detection radar component.
In the embodiment of the invention, after the unmanned aerial vehicle is lifted off, the unmanned aerial vehicle navigates according to the control instruction, and the control instruction can be a designed established route or a remote control signal based on real-time control. Based on a given route, a route of a subsequent time sequence (referred to as a subsequent route for short) is in a fixed state, and an interference area between an obstacle and the subsequent route can be directly acquired. For the remote control signal, the route of the rear section time sequence is an estimated state and can change at any time, and based on the delay effect of the remote control operation, the interference area between the obstacle and the subsequent route can be effectively estimated.
When the obstacle exists in the obstacle avoidance area, the unmanned aerial vehicle enters the obstacle avoidance navigation, and in the process, the unmanned aerial vehicle still responds to the control information and navigates according to the control information. Meanwhile, the detection radar component is in a real-time monitoring state for the obstacles in the obstacle avoidance area, and the state of the obstacles can be acquired at any time.
For the barrier, in the unmanned aerial vehicle navigation process, based on the same time line, the synchronous position of the barrier within a period of time can be sampled by a detection radar, and the method comprises the following specific steps:
the unmanned aerial vehicle keeps away the barrier navigation according to control information, keeps away the in-process of barrier navigation:
predefining a navigation speed, and predefining an effective detection range of a single detection radar based on the navigation speed;
fitting effective detection ranges of the plurality of detection radars into an effective detection space of a detection radar component by taking the geometric centers of the plurality of detection radars in the running state as an origin, and defining the effective detection space as an obstacle avoidance area; the unmanned aerial vehicle is always in a constant position in the obstacle avoidance area;
when an obstacle appears in the obstacle avoidance area, continuously calculating the space distance of the obstacle relative to the unmanned aerial vehicle;
establishing a space coordinate system by using the origin, so as to fit a synchronous track of the obstacle in the sampling time relative to the unmanned aerial vehicle in navigation;
the time line of the synchronous track is the same as that of the unmanned aerial vehicle, and the synchronous position between the obstacle and the unmanned aerial vehicle is calculated through the synchronous track.
In the embodiment of the invention, the navigation speed can be defined according to the cruising speed of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle during navigation is defined, the navigation speed is used for general name, and the effective detection range of a single detection radar is predefined according to the navigation speed, so that the detection effect of the detection radar can be accurate and reliable in a limited space range under a specific navigation speed. Furthermore, the effective detection ranges of the plurality of detection radars can be subjected to space fitting, so that an effective detection space of the detection assembly is formed, namely, an obstacle avoidance area is formed. The relative position of keeping away the barrier region of unmanned aerial vehicle is invariable, promptly along with unmanned aerial vehicle's navigation, unmanned aerial vehicle is in the central point who keeps away the barrier region all the time and puts.
The geometric center of the installation position based on the detection radar is the original point, a space coordinate system is established, the space distance between the obstacle and the unmanned aerial vehicle is quickly sampled through the detection radar, the space coordinate can be obtained, and the synchronous track of the obstacle relative to the unmanned aerial vehicle can be further fitted.
In the unified time line, when the subsequent route of the unmanned aerial vehicle is determined, the relative track of the obstacle is also synchronously determined, and the synchronous track in the sampling time can be used for calculating the synchronous position between the obstacle and the unmanned aerial vehicle at each time point in the sampling time.
In the embodiment of the invention, the obstacle can be divided into a static state and a moving state. Based on the barrier in the static state, the synchronous position of the next stage of the barrier is consistent with the synchronous position in the sampling time, the track of the barrier is not changed, and the synchronous position of the next stage can be directly calculated according to the synchronous position in the sampling time; based on the barrier in the motion state, the synchronous position of the next stage is inconsistent with the synchronous position in the sampling time, the running track is time-varying, and the synchronous position of the next stage can be estimated and fitted according to the synchronous track in the sampling time.
The determination of the operating state of the obstacle specifically includes:
calculating the relative speed between the obstacle and the unmanned aerial vehicle according to the synchronous track of the obstacle;
if the relative speed is the navigation speed, the obstacle is in a static state relative to the unmanned aerial vehicle in navigation; otherwise, the obstacle is in a motion state relative to the unmanned aerial vehicle in navigation;
when the obstacle is in a motion state relative to the unmanned aerial vehicle in navigation, the synchronous position between the obstacle and the unmanned aerial vehicle continuously generates track change, and then the running track of the next stage of the obstacle is calculated and fitted according to the synchronous track;
when the obstacle is in a static state relative to the unmanned aerial vehicle in flight, the synchronous position between the obstacle and the unmanned aerial vehicle does not generate track change.
In the embodiment of the invention, the relation between the synchronous position of the obstacle in the moving state in the sampling time and the synchronous position of the obstacle in the next stage is nonlinear, so that the synchronous position of the next stage cannot be obtained based on the subsequent course calculation. The running direction and running speed of the synchronous track of the barrier in the moving state in the sampling time can be used as the basis for calculating and estimating the running track in the next stage. The operation track of the next stage is based on the same time line, the synchronous position of the obstacle of the next stage can be obtained, and the principle of calculating the synchronous position between the obstacle and the unmanned aerial vehicle according to the synchronous track is the same. The interference judgment is carried out on the running route of the obstacle in the next stage and the subsequent air route of the unmanned aerial vehicle conveniently.
In the embodiment of the invention, the relation between the synchronous position of the obstacle in the static state in the sampling time and the synchronous position of the obstacle in the next stage is linear, so that the synchronous position of the next stage can be directly obtained based on the subsequent route calculation.
Step S103: when the fact that the synchronous position of an obstacle in obstacle avoidance navigation of the unmanned aerial vehicle interferes with a subsequent route is detected, the subsequent route in an interference area is intercepted, and the unmanned aerial vehicle starts autonomous avoidance navigation in the interference area.
In the embodiment of the invention, different avoidance distances can be predefined based on the motion state of the obstacle, so that the unmanned aerial vehicle and the obstacle always keep a safe distance without mutual influence. It can be understood that the safe distance between the obstacle in the moving state and the unmanned aerial vehicle is larger than the safe distance between the obstacle in the static state and the unmanned aerial vehicle, and the autonomous avoidance route design in the interference area can be respectively carried out based on the moving state of the obstacle.
The interference judgment of the synchronous position of the obstacle in the motion state and the subsequent air route of the unmanned aerial vehicle comprises the following specific steps:
predefining a first avoidance interval;
acquiring route information of the unmanned aerial vehicle, and extracting a subsequent route in an obstacle avoidance area corresponding to the current position of the unmanned aerial vehicle;
judging whether the running track of the lower stage of the obstacle and the subsequent route have an intersection point;
if the interference area exists, intercepting the interference area, of which the distance between the running tracks on the two sides of the intersection point and the subsequent route is smaller than the first avoidance distance, and defining the interference area as an interference area;
if the interference area does not exist, intercepting the interference section of which the distance between the running track and the subsequent route is smaller than the first avoidance distance, and defining the interference section as an interference area;
the unmanned aerial vehicle starts autonomous evasive navigation in an interference area:
translating the intercepted interfering section of the subsequent route a distance of the first avoidance distance in a direction away from the obstacle;
respectively extending two ends of the interference section after translation, and sequentially and smoothly connecting the two ends with the front end of the interception starting point and the rear end of the interception end point;
and removing redundant branches at the connecting points to form an autonomous avoidance route, and navigating the unmanned aerial vehicle along the autonomous avoidance route in the interference area.
In the embodiment of the invention, if the running track of the obstacle in the next stage and the subsequent route of the unmanned aerial vehicle have an intersection point, the obstacle in the motion state intercepts the interference section based on the intersection point so as to avoid excessive interception of redundant sections when a plurality of intersection points exist; and when the intersection point does not exist, directly intercepting the interference section according to the distance. After the interference section is cut, an interference area based on the interference section is defined by taking the interference section as a datum line and taking the first avoidance interval as a radius.
The interference judgment of the synchronous position of the obstacle in the static state and the subsequent route of the unmanned aerial vehicle specifically comprises the following steps:
predefining a second avoidance distance;
when the obstacle appearing in the obstacle avoidance area is detected to be in a static state, calculating the closest distance between the subsequent route and the obstacle;
if the nearest distance is larger than the second avoidance distance, continuing navigating along the subsequent route;
otherwise, intercepting an interference section of which the distance between the subsequent route and the obstacle is smaller than the second avoidance distance, and defining the interference section as an interference area;
the unmanned aerial vehicle starts autonomous evasive navigation in an interference area:
translating the intercepted interference section of the subsequent route by a distance of the second avoidance distance in a direction away from the obstacle;
respectively extending two ends of the interference section after translation, and sequentially and smoothly connecting the two ends with the front end of the interception starting point and the rear end of the interception end point;
and removing redundant branches at the connecting points to form an autonomous avoidance route, and navigating the unmanned aerial vehicle along the autonomous avoidance route in the interference area.
In the embodiment of the invention, the obstacle in the static state can directly calculate the distance between the unmanned aerial vehicle and the obstacle according to the subsequent route of the unmanned aerial vehicle, so that the judgment of the interference area is carried out.
In the embodiment of the invention, based on the space position coordinate system, the space vector from the synchronous track of the obstacle to the subsequent route of the unmanned aerial vehicle can be calculated, and the translation of the intercepting section is carried out by taking the direction of the space vector as the direction far away from the obstacle.
Furthermore, the cut section after translation can be subjected to smoothing treatment, the two ends of the cut section are extended and smoothly connected to the far end of the cut end point of the original subsequent route, namely, the front end extension line of the cut section is connected with the front of the cut starting point, the rear end extension line of the cut section is connected with the rear of the cut end point, and the generated redundant bifurcation length is controlled to be the length corresponding to the avoidance interval.
Specifically, an initial connecting point can be selected in front of an intercepting starting point of an original subsequent route, and the length between the initial connecting point and the intercepting starting point is the length corresponding to the avoidance distance; and selecting a termination connection point behind the interception end point of the original subsequent route, wherein the length between the termination connection point and the interception end point is the length corresponding to the avoidance distance. The extension lines at the two ends of the intercepting section are respectively and smoothly connected with the starting connection point and the ending connection point.
After the translation and smooth connection of the intercepted section are finished, the redundant branches are directly removed, so that a complete and non-branched subsequent air route is formed.
Step S104: and after the unmanned aerial vehicle finishes the autonomous evasive navigation, continuing to respond to the control information based on the subsequent air route.
In the embodiment of the invention, when the obstacle appears in the obstacle avoidance area of the unmanned aerial vehicle, the situation that the current air route of the unmanned aerial vehicle is unreasonable to a certain extent is shown, and certain errors exist in both the time remote control signal and the set air route. Judging an interference area based on the unmanned aerial vehicle, if the obstacle and the unmanned aerial vehicle do not have the interference area, indicating that the unmanned aerial vehicle can normally sail, namely the error of a remote control signal or a set air route is within an allowable range; if the obstacle and the unmanned aerial vehicle have an interference area, the unmanned aerial vehicle cannot normally navigate, namely, a remote control signal or an error exists in a set air route.
Based on the remote control signal, the current remote control command can be determined as an error command and should not be responded. Based on the established route, the current obstacle can be judged to be an emergent obstacle, and stress type correction can be carried out on the established route.
In the embodiment of the invention, when an interference area exists in an obstacle avoidance area of the unmanned aerial vehicle, the response state of the unmanned aerial vehicle to the control information is changed when the unmanned aerial vehicle enters the interference area; when the unmanned aerial vehicle flies out of the interference area, the response to the control information is recovered, and the specific authority limit is as follows:
when the unmanned aerial vehicle is in the process of autonomous evasive navigation, the unmanned aerial vehicle does not respond to the control information;
and after the unmanned aerial vehicle finishes autonomous evasive navigation, responding to the control information and continuing navigation based on a subsequent route.
In the embodiment of the invention, when the unmanned aerial vehicle normally navigates along the subsequent route in the obstacle avoidance area, the unmanned aerial vehicle can respond to the control information and navigate according to the operation instruction of the control information; when entering the obstacle avoidance area, the autonomous obstacle avoidance information can be synchronously sent to the control end to show the reason of violating the subsequent air route, and the related attributes of the obstacles can also be displayed.
Example two
According to a second aspect of the invention, a control device for unmanned aerial vehicle route stress obstacle avoidance is provided. As shown in fig. 2, a modular block diagram of a route optimization device for an unmanned aerial vehicle capable of automatically avoiding obstacles includes:
the detection radar module 201: the method comprises the steps of pre-checking the operation state of a detection radar assembly carried by the unmanned aerial vehicle, and enabling the detection radar assembly to operate independently;
the data processing module 202: acquiring control information, carrying out obstacle avoidance navigation by the unmanned aerial vehicle according to the control information, and automatically detecting the synchronous position of an obstacle in an obstacle avoidance area of the unmanned aerial vehicle by the detection radar component;
the interference avoidance module 203: when detecting that the synchronous position of an obstacle in obstacle avoidance navigation of the unmanned aerial vehicle interferes with a subsequent route, intercepting the subsequent route in an interference area, and starting autonomous avoidance navigation by the unmanned aerial vehicle in the interference area;
the permission definition module 204: and after the unmanned aerial vehicle finishes the autonomous evasive navigation, continuing to respond to the control information based on the subsequent air route.
It can be understood that the apparatuses provided in the embodiments of the present invention are all applicable to the method described in the first embodiment, and specific functions of each module may refer to the above method flow, which is not described herein again.
EXAMPLE III
The electronic device provided by the embodiment of the invention is used for realizing the method in the first embodiment. Fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may include: the system comprises at least one central processing unit, at least one network interface, a control interface, a memory and at least one communication bus.
The communication bus is used for realizing connection communication and information interaction among the components.
The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface).
The control interface is used for outputting control operation according to the instruction.
The central processor may include one or more processing cores. The central processor connects various parts within the overall terminal using various interfaces and lines, performs various functions of the terminal and processes data according to the method described in the first embodiment by executing or executing instructions, programs, code sets, or instruction sets stored in the memory, and calling data stored in the memory.
The Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), methods for implementing the first embodiment, and the like; the storage data area may store data and the like referred to in the above respective method embodiments.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of the first of the above-mentioned embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
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 a process, method, article, or apparatus that comprises the element.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the specific embodiments of the invention be limited to these descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A control method and a device for unmanned aerial vehicle route stress obstacle avoidance are characterized by comprising the following steps:
the method comprises the steps of pre-checking the operation state of a detection radar assembly carried by the unmanned aerial vehicle, wherein the detection radar assembly operates independently;
acquiring control information, carrying out obstacle avoidance navigation by the unmanned aerial vehicle according to the control information, and automatically detecting the synchronous position of an obstacle in an obstacle avoidance area of the unmanned aerial vehicle by the detection radar component;
when detecting that the synchronous position of an obstacle in obstacle avoidance navigation of the unmanned aerial vehicle interferes with a subsequent route, intercepting the subsequent route in an interference area, and starting autonomous avoidance navigation by the unmanned aerial vehicle in the interference area;
and after the unmanned aerial vehicle finishes the autonomous evasive navigation, continuing to respond to control information based on a subsequent route.
2. The method and the device for controlling the unmanned aerial vehicle course stress obstacle avoidance according to claim 1, wherein the detection radar component comprises a plurality of detection radars, each detection radar can rotate based on the installation position of the unmanned aerial vehicle, and the driving of each detection radar is independent;
the method also comprises the pre-detection of the airborne radar before the takeoff of the unmanned aerial vehicle, and specifically comprises the following steps:
when the unmanned aerial vehicle acquires a take-off instruction, the detection radar component carried by the unmanned aerial vehicle is subjected to pre-detection:
predefining the navigation rotating speed of the detection radar;
detecting signal feedback of the detection radar, and lighting a first indicator light when the signal feedback quantity is enough;
extracting the detection radar serial number which generates signal feedback, and sequentially detecting the rotation of the detection radar:
if the rotation speed of a certain number of detection radars does not reach the standard, a fault indicator lamp corresponding to the detection radar is lightened;
if the rotation speed of the detection radar reaches the standard, a steady-state indicator lamp corresponding to the detection radar is lightened;
when the number of the steady-state indicator lamps is enough, driving the rotation speed of the detection radar to reach the sailing rotation speed;
and when the rotating speed of the detection radar reaches the sailing rotating speed, starting the unmanned aerial vehicle to take off.
The number of the detection radars is not less than two.
3. The method and device for controlling obstacle avoidance during course line stress of the unmanned aerial vehicle according to claim 1, wherein control information is acquired, the unmanned aerial vehicle performs obstacle avoidance navigation according to the control information, and the detection radar component automatically detects the synchronous position of the obstacle in the obstacle avoidance area of the unmanned aerial vehicle, specifically comprising:
the control information is a flight path control operation instruction of the unmanned aerial vehicle, and comprises but is not limited to a set flight path and a remote control signal;
the unmanned aerial vehicle keeps away the barrier navigation according to control information, keeps away the in-process of barrier navigation:
predefining a navigation speed, and predefining an effective detection range of a single detection radar based on the navigation speed;
fitting effective detection ranges of the plurality of detection radars into an effective detection space of a detection radar component by taking the geometric centers of the plurality of detection radars in the running state as an origin, and defining the effective detection space as an obstacle avoidance area; the unmanned aerial vehicle is always in a constant position in the obstacle avoidance area;
when an obstacle appears in the obstacle avoidance area, continuously calculating the space distance of the obstacle relative to the unmanned aerial vehicle;
establishing a space coordinate system by using the origin, so as to fit a synchronous track of the obstacle in the sampling time relative to the unmanned aerial vehicle in navigation;
the time line of the synchronous track is the same as that of the unmanned aerial vehicle, and the synchronous position between the obstacle and the unmanned aerial vehicle is calculated through the synchronous track.
4. The method and the device for controlling the unmanned aerial vehicle lane stress obstacle avoidance according to claim 3, further comprising the following steps of judging the operation state of the obstacle:
calculating the relative speed between the obstacle and the unmanned aerial vehicle according to the synchronous track of the obstacle;
if the relative speed is the navigation speed, the obstacle is in a static state relative to the unmanned aerial vehicle in navigation; otherwise, the obstacle is in a motion state relative to the unmanned aerial vehicle in navigation;
when the obstacle is in a motion state relative to the unmanned aerial vehicle in navigation, the synchronous position between the obstacle and the unmanned aerial vehicle continuously generates track change, and then the running track of the next stage of the obstacle is calculated and fitted according to the synchronous track;
when the obstacle is in a static state relative to the unmanned aerial vehicle in flight, the synchronous position between the obstacle and the unmanned aerial vehicle does not generate track change.
5. The method and device for controlling unmanned aerial vehicle course stress obstacle avoidance according to claim 4, wherein the judgment of the interference between the synchronous position of the obstacle in the motion state and the subsequent course of the unmanned aerial vehicle specifically comprises:
predefining a first avoidance interval;
acquiring route information of the unmanned aerial vehicle, and extracting a subsequent route in an obstacle avoidance area corresponding to the current position of the unmanned aerial vehicle;
judging whether the running track of the lower stage of the obstacle and the subsequent route have an intersection point;
if the interference area exists, intercepting the interference area, of which the distance between the running tracks on the two sides of the intersection point and the subsequent route is smaller than the first avoidance distance, and defining the interference area as an interference area;
if the interference area does not exist, intercepting the interference section of which the distance between the running track and the subsequent route is smaller than the first avoidance distance, and defining the interference section as an interference area;
the unmanned aerial vehicle starts autonomous evasive navigation in an interference area:
translating the intercepted interfering section of the subsequent route a distance of the first avoidance distance in a direction away from the obstacle;
respectively extending two ends of the interference section after translation, and sequentially and smoothly connecting the two ends with the front of the interception starting point and the rear of the interception end point;
and removing redundant branches at the connecting points to form an autonomous avoidance route, and navigating the unmanned aerial vehicle along the autonomous avoidance route in the interference area.
6. The method and device for controlling unmanned aerial vehicle lane stress obstacle avoidance according to claim 4, wherein the judgment of the interference between the synchronous position of the obstacle in the static state and the subsequent lane of the unmanned aerial vehicle specifically comprises:
predefining a second avoidance distance;
when the obstacle appearing in the obstacle avoidance area is detected to be in a static state, calculating the closest distance between the subsequent route and the obstacle;
if the nearest distance is larger than the second avoidance distance, continuing navigating along the subsequent route;
otherwise, intercepting an interference section of which the distance between the subsequent route and the obstacle is smaller than the second avoidance distance, and defining the interference section as an interference area;
the unmanned aerial vehicle starts autonomous evasive navigation in an interference area:
translating the intercepted interference section of the subsequent route by a distance of the second avoidance distance in a direction away from the obstacle;
respectively extending two ends of the interference section after translation, and sequentially and smoothly connecting the two ends with the front of the interception starting point and the rear of the interception end point;
and removing redundant branches at the connecting points to form an autonomous avoidance route, and navigating the unmanned aerial vehicle along the autonomous avoidance route in the interference area.
7. The method and device for controlling the unmanned aerial vehicle lane stress obstacle avoidance according to claim 1, wherein after the unmanned aerial vehicle completes the autonomous avoidance navigation, the unmanned aerial vehicle continues to respond to control information based on subsequent lanes, and specifically comprises:
when the unmanned aerial vehicle is in the process of autonomous evasive navigation, the unmanned aerial vehicle does not respond to the control information;
and after the unmanned aerial vehicle finishes autonomous evasive navigation, responding to the control information and continuing navigation based on a subsequent route.
8. A control method and a device for unmanned aerial vehicle route stress obstacle avoidance are characterized by comprising the following steps:
a detection radar module: the method comprises the steps of pre-checking the operation state of a detection radar assembly carried by the unmanned aerial vehicle, and enabling the detection radar assembly to operate independently;
a data processing module: acquiring control information, carrying out obstacle avoidance navigation by the unmanned aerial vehicle according to the control information, and automatically detecting the synchronous position of an obstacle in an obstacle avoidance area of the unmanned aerial vehicle by the detection radar component;
an interference avoidance module: when detecting that the synchronous position of an obstacle in obstacle avoidance navigation of the unmanned aerial vehicle interferes with a subsequent route, intercepting the subsequent route in an interference area, and starting autonomous avoidance navigation by the unmanned aerial vehicle in the interference area;
a permission definition module: and after the unmanned aerial vehicle finishes the autonomous evasive navigation, continuing to respond to the control information based on the subsequent air route.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor implements the steps of the method and apparatus for controlling unmanned aerial vehicle course stress obstacle avoidance according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method and apparatus for controlling an unmanned aerial vehicle airline stress obstacle avoidance according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110977493.4A CN113703476A (en) | 2021-08-24 | 2021-08-24 | Control method and device for unmanned aerial vehicle air route stress obstacle avoidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110977493.4A CN113703476A (en) | 2021-08-24 | 2021-08-24 | Control method and device for unmanned aerial vehicle air route stress obstacle avoidance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113703476A true CN113703476A (en) | 2021-11-26 |
Family
ID=78668931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110977493.4A Pending CN113703476A (en) | 2021-08-24 | 2021-08-24 | Control method and device for unmanned aerial vehicle air route stress obstacle avoidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113703476A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590417A (en) * | 2022-03-24 | 2022-06-07 | 武昌理工学院 | Method and device for controlling catapult takeoff of unmanned aerial vehicle |
| CN115576357A (en) * | 2022-12-01 | 2023-01-06 | 浙江大有实业有限公司杭州科技发展分公司 | Full-automatic unmanned aerial vehicle inspection intelligent path planning method under RTK signal-free scene |
| CN116723487A (en) * | 2023-08-11 | 2023-09-08 | 四川腾盾科技有限公司 | Anti-interference group topology optimization method based on random motion model and topology prediction |
-
2021
- 2021-08-24 CN CN202110977493.4A patent/CN113703476A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590417A (en) * | 2022-03-24 | 2022-06-07 | 武昌理工学院 | Method and device for controlling catapult takeoff of unmanned aerial vehicle |
| CN114590417B (en) * | 2022-03-24 | 2023-05-26 | 武昌理工学院 | Unmanned aerial vehicle catapult-assisted take-off control method and device |
| CN115576357A (en) * | 2022-12-01 | 2023-01-06 | 浙江大有实业有限公司杭州科技发展分公司 | Full-automatic unmanned aerial vehicle inspection intelligent path planning method under RTK signal-free scene |
| CN115576357B (en) * | 2022-12-01 | 2023-07-07 | 浙江大有实业有限公司杭州科技发展分公司 | Full-automatic unmanned aerial vehicle inspection intelligent path planning method under RTK signal-free scene |
| CN116723487A (en) * | 2023-08-11 | 2023-09-08 | 四川腾盾科技有限公司 | Anti-interference group topology optimization method based on random motion model and topology prediction |
| CN116723487B (en) * | 2023-08-11 | 2023-11-07 | 四川腾盾科技有限公司 | Anti-interference group topology optimization method based on random motion model and topology prediction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113703476A (en) | Control method and device for unmanned aerial vehicle air route stress obstacle avoidance | |
| JP7291158B2 (en) | Information processing method, system, device, program and computer storage medium | |
| RU2768997C1 (en) | Method, device and equipment for recognition of obstacles or ground and flight control, and data carrier | |
| CN108253958B (en) | Robot real-time positioning method in sparse environment | |
| CN110470333B (en) | Calibration method and device of sensor parameters, storage medium and electronic device | |
| BRPI0904628A2 (en) | collision avoidance system and method for determining a collision avoidance maneuver path | |
| AU2014360672A1 (en) | Method and apparatus for developing a flight path | |
| US11055875B2 (en) | Computer-vision-based autonomous or supervised- autonomous landing of aircraft | |
| CN109558854B (en) | Obstacle sensing method and device, electronic equipment and storage medium | |
| CN108876857B (en) | Method, system, device and storage medium for positioning unmanned vehicle | |
| US11455771B2 (en) | Venue survey using unmanned aerial vehicle | |
| US10951579B2 (en) | Systems and methods for resolving double address faults during the commissioning of a connected system | |
| CN112015178A (en) | Control method, device, equipment and storage medium | |
| CN112083728A (en) | Parking method, device, equipment and storage medium for driving equipment | |
| CN114379802A (en) | Automatic safe landing place selection for unmanned flight system | |
| CN110542414B (en) | Navigation module management method and device of unmanned aerial vehicle | |
| CN117671013A (en) | Point cloud positioning method, intelligent device and computer readable storage medium | |
| CN113895457A (en) | Method, device and equipment for controlling running state of vehicle and automatic driving vehicle | |
| CN112834249B (en) | Steering parameter detection method, device, equipment and storage medium | |
| CN110375710A (en) | The determination method, apparatus and aerocraft system of aircraft altitude | |
| CN116481541A (en) | Vehicle autonomous return control method, device and medium without satellite navigation | |
| CN112629547A (en) | Method and apparatus for creating positioning map | |
| CN113758492A (en) | Map detection method and device | |
| CN116629106A (en) | Quasi-digital twin method, system, equipment and medium for mobile robot operation scene | |
| CN115902839A (en) | Port laser radar calibration method and device, storage medium and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |