CN115599119A - Unmanned aerial vehicle keeps away barrier system - Google Patents
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Abstract
The invention discloses an obstacle avoidance system of an unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicle control and comprises the following steps of determining the position of the unmanned aerial vehicle, and acquiring a topographic map of an area where the unmanned aerial vehicle is located through a data network; acquiring first image information in a surrounding area of the unmanned aerial vehicle along the advancing direction of the unmanned aerial vehicle; determining the position of the positioning module based on the positioning module, and acquiring second image information in a map information base; acquiring first image information and second similar information, and judging images around the unmanned aerial vehicle; acquiring an identification image, and identifying the barrier to form an identification result; and acquiring an identification result, forming a control instruction, and controlling the unmanned aerial vehicle to avoid the identified obstacle to form a flight path. Determining a flight path by using a CCD imaging module, a map information module and an ultrasonic detection module in cooperation with edge detection to avoid obstacles; the flight path is reasonably determined, the obstacle is avoided, the current single obstacle avoidance through a machine vision means is equivalent to the current single obstacle avoidance, and the safety is higher.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an obstacle avoidance system of an unmanned aerial vehicle.
Background
After the 21 st century, the unmanned aerial vehicle technology in China is developed very rapidly. Obstacle avoidance technology is a key technology for unmanned aerial vehicle control. The unmanned aerial vehicle has the advantages that the field or urban environment is complex and changeable, and the number of obstacles is large, so that difficulty is increased for the unmanned aerial vehicle to travel.
The existing unmanned aerial vehicle obstacle avoidance system usually adopts an ultrasonic obstacle avoidance method and a comprehensive processing method based on combination of image edge detection, and provides a new implementation scheme for realizing the obstacle avoidance function and selecting a path of the unmanned aerial vehicle. The specific operation flow is that firstly, the image acquisition and processing are carried out on the object in front of the front, and the path planning is carried out; and simultaneously, ultrasonic distance measurement obstacle avoidance and image processing operations are carried out, and the obstacle is detected by utilizing an ultrasonic obstacle avoidance technology, so that a reasonable driving path is obtained.
When the method is used for controlling the unmanned aerial vehicle, although the safety is improved, the obstacle is judged through imaging identification, external interference factors are large, the obstacle is easily influenced by light conditions, and image identification hardly plays a due role under the condition that the light conditions are weak.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an obstacle avoidance system of an unmanned aerial vehicle, which comprises a data acquisition module, a retrieval module and a judgment module; the image identification module is used for acquiring an identification image, identifying the obstacle and forming an identification result; the control module acquires an identification result to form a control instruction, controls the unmanned aerial vehicle to avoid the identified barrier to form a flight path, reasonably determines the flight path, and avoids the barrier, which is equivalent to the current single means of avoiding the barrier through machine vision, so that the safety is higher, and the technical problem of insufficient safety in the existing inorganic barrier avoiding system in the background art is solved.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an unmanned aerial vehicle keeps away barrier system includes: the data acquisition module is used for determining the position of the data acquisition module and acquiring a topographic map of the area where the unmanned aerial vehicle is located through a data network; acquiring first image information in a surrounding area of the unmanned aerial vehicle along the advancing direction of the unmanned aerial vehicle; the retrieval module determines the position of the retrieval module based on the positioning module, and acquires second image information in a map information base; the judging module is used for acquiring the first image information and the second similar information and judging the images around the unmanned aerial vehicle; the image identification module is used for acquiring an identification image, identifying the obstacle and forming an identification result; the control module acquires an identification result to form a control instruction, controls the unmanned aerial vehicle to avoid the identified obstacle to form a flight path, and also applies an obstacle avoiding method of the unmanned aerial vehicle when an obstacle avoiding system of the unmanned aerial vehicle is applied to obstacle avoidance; acquiring first image information in a surrounding area of the unmanned aerial vehicle along the advancing direction of the unmanned aerial vehicle; determining the position of the positioning module based on the positioning module, and acquiring second image information in a map information base; acquiring first image information and second similar information, and judging images around the unmanned aerial vehicle; acquiring an identification image, and identifying the barrier to form an identification result; and acquiring an identification result, forming a control command, and controlling the unmanned aerial vehicle to avoid the identified obstacle to form a flight path.
Further, determining the range of the area where the unmanned aerial vehicle is located according to the position of the unmanned aerial vehicle; acquiring a map of an area where the unmanned aerial vehicle is located; obtaining map information in an area and establishing a map information base; the regions are defined as follows: inquiring the unmanned aerial vehicle of the current model and the current electric quantity, and determining the remaining maximum range of the unmanned aerial vehicle; determining the area of the map by taking 10% -15% of the remaining maximum voyage as the radius and the current position of the unmanned aerial vehicle as the circle center; when the flight line is located at a distance change of more than 15%, the area map is updated.
Further, image information in front of the flying of the unmanned aerial vehicle is acquired at fixed time intervals along the advancing direction of the unmanned aerial vehicle through a CCD imaging module; acquiring image information, establishing a CCD image information base, and marking based on a shooting position; converting the acquired image into a gray image, and extracting image features after sharpening and binarization processing; taking the shooting position as a mark, and classifying the image characteristics; determining the current position of the unmanned aerial vehicle through a positioning module to form first position information; and acquiring a shooting position, acquiring image characteristics and establishing an image characteristic library.
Further, the position information of the unmanned aerial vehicle is obtained through a positioning unit to form second position information; retrieving and acquiring image information around the second position information from a map information base; acquiring first position information with the highest degree of superposition with the second position information from an image feature library; acquiring image features of the periphery of the unmanned aerial vehicle from the image feature library through the first position information; and identifying based on the image characteristics, judging the image information around the unmanned aerial vehicle, and forming second image information.
Further, acquiring first image information and second similar information, and judging the similarity of the first image information and the second similar information; if the similarity of the two images is higher than a threshold value, first judgment information is formed; if the similarity of the two images is not higher than the threshold value, second judgment information is formed; receiving first judgment information, and acquiring a panoramic image around the position of the unmanned aerial vehicle from a map information base to serve as a first identification image; and receiving second judgment information, acquiring related image characteristics around the position of the unmanned aerial vehicle from the image characteristic library, and identifying the image characteristics to be used as a second identification image.
Further, acquiring a first identification image and identifying the obstacle; if the obstacle exists in the flight direction of the unmanned aerial vehicle, forming a first identification result; if no obstacle exists in the flight direction of the unmanned aerial vehicle, forming a second identification result; acquiring a second identification image, and identifying the obstacle to form a second identification result; if the obstacle exists in the flight direction of the unmanned aerial vehicle, a third recognition result is formed; and if no obstacle exists in the flight direction of the unmanned aerial vehicle, forming a fourth recognition result.
Further, receiving the first recognition result and the third recognition result, and judging the edge of the recognition image; and receiving a second identification result and a fourth identification result, and controlling the unmanned aerial vehicle to keep the original flight state.
Upon detecting the presence of an obstacle in front, there are the following steps: detecting through ultrasonic waves to judge whether an obstacle exists in front; if the obstacle exists, forming distance information; acquiring distance information, and if the distance is lower than a threshold value, giving an alarm; and if the distance is higher than the threshold value, controlling the unmanned aerial vehicle to keep the original flight state until the distance is lower than the threshold value.
Further, upon detecting the presence of an obstacle ahead and below a threshold, then the following are present: determining a safe flight area by taking the threshold distance as a limit; identifying the edge of the image and determining a flight path; and planning a path, and controlling the unmanned aerial vehicle to fly along the planned path.
Further, the image edge is the edge of the obstacle; the specific method comprises the following steps: the central point of the bottom line of the image starts to detect towards two sides, the number of pixel points when the colors of two sides change is calculated, if the two sides are equal, the current direction is judged to be just in the middle of a path, if the two sides are equal, the flying direction of the unmanned aerial vehicle is judged to be deviated to one side of the path, the traveling direction of the unmanned aerial vehicle needs to be adjusted, the unmanned aerial vehicle is positioned in the center of the path, the point is recorded, then the previous line is detected, the circulation is repeated, and the flying path is virtualized in the image.
(III) advantageous effects
The invention provides an obstacle avoidance system of an unmanned aerial vehicle. The method has the following beneficial effects:
when the unmanned aerial vehicle flies, the position of the unmanned aerial vehicle is determined based on a positioning module of the unmanned aerial vehicle, then map information around the current position of the unmanned aerial vehicle is obtained through a data network, meanwhile, a CCD imaging module adapted to the unmanned aerial vehicle is used for imaging along the flying direction of the unmanned aerial vehicle, the CCD imaging module and the unmanned aerial vehicle are mutually verified to determine the current flying environment of the unmanned aerial vehicle, and if the similarity of the two is higher, the current flying environment is directly judged according to the map information;
if the similarity between the two is low, the CCD imaging identification is taken as the main part, the map information is taken as the auxiliary part, and an ultrasonic detection module is further adopted to check the detected barrier, so that the safer flight distance and the safer region are finally determined, and the flight path is finally determined to avoid the barrier in cooperation with the edge detection; therefore, the cooperation of triple means is utilized to ensure that the obstacle on the flight path is avoided, the flight path is reasonably determined, the obstacle is avoided, the current single means of avoiding the obstacle through machine vision is equivalent to the current single means, the safety is higher, meanwhile, the map information is utilized for assistance, the judgment of a user under the global condition is facilitated, the visual field is wider, and the judgment redundancy is higher.
Drawings
FIG. 1 is a schematic diagram of an obstacle avoidance system of the unmanned aerial vehicle of the present invention;
FIG. 2 is a schematic flow chart of an obstacle avoidance method of the unmanned aerial vehicle according to the present invention;
in the figure: 10. a data acquisition module; 20. a retrieval module; 30. a judgment module; 40. an image recognition module; 50. and a control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Example 1
Referring to fig. 1, the present invention provides an obstacle avoidance method for an unmanned aerial vehicle, including the following steps:
step one, determining the position of the unmanned aerial vehicle, and acquiring a topographic map of an area where the unmanned aerial vehicle is located through a data network;
step 101, determining the range of an area where an unmanned aerial vehicle is located according to the position of the unmanned aerial vehicle; wherein the regions are defined in the following manner: inquiring the current model unmanned aerial vehicle and the current electric quantity, and determining the remaining maximum flight distance of the unmanned aerial vehicle; determining the area of the map by taking 10% -15% of the remaining maximum voyage as the radius and the current position of the unmanned aerial vehicle as the circle center; when the flying straight line is positioned at a position where the distance changes by more than 15%, updating the regional map; during the use, when judging unmanned aerial vehicle flying distance, be correlated with the unmanned aerial vehicle electric quantity.
102, obtaining a map of an area where the unmanned aerial vehicle is located;
the map is retrieved from a network, and the map information comprises a time panoramic map, a topographic map, an aerial view and the like;
when the map is obtained, the definition of the map is gradually blurred outwards along the current position, and the map is used for reducing the data exchange amount and reducing the required storage space;
and 103, acquiring map information in the area, and establishing a map information base.
In the first step, map data information is established based on the real-time position of the unmanned aerial vehicle by utilizing the matching of the steps in the steps 101 to 103, and the position of the unmanned aerial vehicle is changed in real time, so that the map information is always in a state of change, when the data exchange amount is limited, the map information of a relatively small area is obtained by control, the map precision in the small area can be improved, and the map information in the unmanned aerial vehicle area can be obtained, so that the common CCD imaging identification can be verified, mutual dependence is realized, and the accuracy of the CCD imaging identification is improved.
Step two, acquiring first image information in a surrounding area of the unmanned aerial vehicle along the advancing direction of the unmanned aerial vehicle; specifically, first image information around the unmanned aerial vehicle is obtained through an imaging module; acquiring first imaging characteristic information through characteristic extraction; the method comprises the following steps:
step 201, acquiring image information in front of the flight of the unmanned aerial vehicle at fixed time intervals through a CCD imaging module along the advancing direction of the unmanned aerial vehicle; the interval time can be 10s or 15s and other suitable time; front obstacles are judged by regularly imaging through a CCD (charge coupled device) so as to be avoided as far as possible;
step 202, acquiring image information, establishing a CCD image information base, and marking based on a shooting position;
step 203, converting the acquired image into a gray image, and extracting image features after sharpening and binarization processing;
when in use, the steps 201 to 203 are integrated, images in the flight direction of the unmanned aerial vehicle are acquired periodically, and image characteristics are acquired; and the image features are marked to facilitate subsequent acquisition.
Step 204, classifying image features by taking the shooting position as a mark;
step 205, determining the current position of the unmanned aerial vehicle through a positioning module to form first position information;
and step 206, acquiring a shooting position, acquiring image characteristics and establishing an image characteristic library.
When the unmanned aerial vehicle flying device is used, the CCD imaging module images the advancing direction of the unmanned aerial vehicle, after the image features are extracted, the image feature library is established based on the shooting position, and the image decomposition is completed.
Determining the position of the positioning module based on the positioning module, and acquiring second image information in a map information base; the method specifically comprises the following steps:
301, acquiring the position information of the unmanned aerial vehicle through a positioning unit to form second position information;
step 302, retrieving and acquiring image information around the second position information from a map information base;
step 303, acquiring first position information with the highest superposition degree with the second position information from an image feature library;
when the unmanned aerial vehicle positioning system is used, after the information of the flight position of the unmanned aerial vehicle is obtained, positioning is carried out from a map, and therefore image information around the unmanned aerial vehicle in the map is determined.
304, acquiring image characteristics of the periphery of the unmanned aerial vehicle from an image characteristic library through the first position information;
and 305, identifying based on the image characteristics, judging the image information around the unmanned aerial vehicle, and forming second image information.
It should be noted that it is difficult to update the network map in real time, and the panoramic map of some areas is updated even for several months or more, that is, the map information is obtained from the network channel, and only can be used as a reference, but cannot be directly used;
in use, in conjunction with steps 301 to 305, after determining the position information of the drone in the flight area, image information is determined from the map to facilitate verification after identification by the imaging device.
Step four, acquiring first image information and second similar information, and judging images around the unmanned aerial vehicle; the method comprises the following information:
step 401, acquiring first image information and second similar information, and judging the similarity of the first image information and the second similar information; if the similarity of the two images is higher than a threshold value, first judgment information is formed; if the similarity of the two images is not higher than the threshold value, second judgment information is formed; it should be noted that, the similarity threshold is preset by the user according to the use scenario, for example, when flying on the lake surface and flying in a city, the image similarity threshold has a certain difference;
step 402, receiving first judgment information, and acquiring a panoramic image around the position of the unmanned aerial vehicle from a map information base to serve as a first identification image;
step 403, receiving second judgment information, acquiring relevant image characteristics around the position where the unmanned aerial vehicle is located from the image characteristic library, and identifying the relevant image characteristics to serve as a second identification image;
in this step, the similarity between the first image information and the second image information is judged to play a role in image recognition, and accordingly, matching can be performed from two different recognition angles through matching of the CCD imaging module and the map information module to acquire image information around the position of the unmanned aerial vehicle, and the acquired image information is more stable relative to single CCD imaging recognition, and meanwhile, based on fitting of the CCD imaging and the map information, if the similarity is higher than a threshold value, after the image is acquired, topographic information of the position of the unmanned aerial vehicle, such as whether barrier information such as a steep slope, boulders and the like exists or not, can be acquired; also can acquire the altitude information for the position that the unmanned aerial vehicle is located, judge whether the height that unmanned aerial vehicle was flown this moment is low excessively, judge whether unmanned aerial vehicle flying height is low excessively through altitude.
Acquiring an identification image, and identifying the barrier to form an identification result; the method specifically comprises the following steps:
step 501, acquiring a first identification image, and identifying an obstacle; if the unmanned aerial vehicle has an obstacle in the flight direction, forming a first identification result; if no obstacle exists in the flight direction of the unmanned aerial vehicle, forming a second identification result;
step 502, acquiring a second identification image, and identifying the obstacle to form a second identification result; if the unmanned aerial vehicle has obstacles in the flight direction, forming a third recognition result; and if no obstacle exists in the flight direction of the unmanned aerial vehicle, forming a fourth recognition result.
When the unmanned aerial vehicle is used, whether obstacles exist in the image or not is mainly considered, and meanwhile, if the obstacles are not detected, the current flight state of the unmanned aerial vehicle is continuously kept.
Step six, obtaining an identification result, forming a control instruction, and controlling the unmanned aerial vehicle to avoid the identified obstacle to form a flight path; the method comprises the following steps:
601, receiving a first recognition result and a third recognition result, and judging the edge of the recognized image;
and step 602, receiving the second identification result and the fourth identification result, and controlling the unmanned aerial vehicle to keep the original flight state.
Upon detecting the presence of an obstacle in front, there are the following steps:
603, detecting through ultrasonic waves and judging whether an obstacle exists in front; if the obstacle exists, forming distance information;
step 604, obtaining distance information, and if the distance is lower than a threshold value, giving an alarm; if the distance is higher than the threshold value, the unmanned aerial vehicle is controlled to keep the original flight state until the distance is lower than the threshold value;
upon detecting the presence of an obstacle ahead and below a threshold, then the following is present:
step 605, determining a safe flight area by taking the threshold distance as a limit;
step 606, identifying the image edge and determining a flight path;
in step 606, the image edge is the edge of the obstacle; the specific method comprises the following steps:
starting to detect towards two sides from the central point of the lowest line of the image, calculating the number of pixel points when the colors of the two sides change, if the two sides are equal, judging that the current direction is just in the middle of the path, if the two sides are not equal, judging that the flight direction of the unmanned aerial vehicle deviates to one side of the path, adjusting the traveling direction of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be positioned in the center of the path, recording the point, detecting the previous line, repeating the steps in such a way, and virtualizing a flight path in the image;
and step 607, planning a path, and controlling the unmanned aerial vehicle to fly along the planned path.
When the unmanned aerial vehicle safety flight control system is used, the steps 605 to 606 are combined, the obstacle in the current flight direction can be judged through image identification, and the ultrasonic detection device can be used for checking whether the obstacle exists in the front, namely whether the obstacle exists in the flight direction of the unmanned aerial vehicle or not is determined, the distance can be determined, and the safe flight area is determined by combining the distance; the edge of the obstacle is determined by determining the edge of the timing image, and a flight path is planned based on the edge of the obstacle.
Example 2
Referring to fig. 1, the present invention provides an obstacle avoidance system for an unmanned aerial vehicle, including
The data acquisition module 10 is used for determining the position of the unmanned aerial vehicle and acquiring a topographic map of the area where the unmanned aerial vehicle is located through a data network; acquiring first image information in a surrounding area of the unmanned aerial vehicle along the advancing direction of the unmanned aerial vehicle;
the retrieval module 20 determines the position of the user based on the positioning module, and acquires second image information in a map information base;
the judging module 30 is used for acquiring the first image information and the second similar information and judging the images around the unmanned aerial vehicle;
the image recognition module 40 is used for acquiring a recognition image, recognizing obstacles and forming a recognition result;
and the control module 50 acquires the identification result, forms a control command, controls the unmanned aerial vehicle to avoid the identified obstacle and forms a flight path.
In the method, when the unmanned aerial vehicle flies, the position of the unmanned aerial vehicle is determined based on a positioning module of the unmanned aerial vehicle, then map information around the current position of the unmanned aerial vehicle is obtained through a data network, meanwhile, a CCD imaging module adapted to the unmanned aerial vehicle is used for imaging along the flying direction of the unmanned aerial vehicle, the CCD imaging module and the unmanned aerial vehicle are mutually verified to determine the current flying environment of the unmanned aerial vehicle, if the similarity of the two is higher, the current flying environment is directly judged by the map information, if the similarity of the two is lower, CCD imaging identification is taken as the main part, the map information is taken as the auxiliary part, and an ultrasonic detection module is further adopted to check detected obstacles, so that a safer flying distance and a safer region are finally determined, edge detection is matched, and a flying path is finally determined to avoid the obstacles; therefore, the cooperation of the triple means is utilized to ensure that the obstacle on the flight path is avoided, the flight path is reasonably determined, the obstacle is avoided, the method is equivalent to the current single means of avoiding the obstacle through machine vision, and the safety is higher.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer instructions or the computer program are loaded or executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, data center, etc., that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists singly, A and B exist simultaneously, and B exists singly, wherein A and B can be singular or plural. In addition, the "/" in this document generally indicates that the former and latter associated objects are in an "or" relationship, but may also indicate an "and/or" relationship, which may be understood with particular reference to the former and latter text.
In the present application, "at least one" means one or more, "a plurality" means two or more. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not imply any order of execution, and the order of execution of the processes should be determined by their functions and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical 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 position, or may be distributed on multiple 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 application 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: 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.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides an unmanned aerial vehicle keeps away barrier system which characterized in that: the method comprises the following steps: the data acquisition module is used for determining the position of the data acquisition module and acquiring a topographic map of the area where the unmanned aerial vehicle is located through a data network; acquiring first image information in a surrounding area of the unmanned aerial vehicle along the advancing direction of the unmanned aerial vehicle; the retrieval module determines the position of the retrieval module based on the positioning module, and acquires second image information in a map information base; the judging module is used for acquiring the first image information and the second similar information and judging the images around the unmanned aerial vehicle; the image identification module is used for acquiring an identification image and identifying the obstacle to form an identification result; the control module acquires the identification result to form a control command, and controls the unmanned aerial vehicle to avoid the identified obstacle to form a flight path;
when the obstacle avoidance system of the unmanned aerial vehicle is applied to the flight of the unmanned aerial vehicle, the following method is also applied: the method comprises the following steps:
step 1, determining the position of the unmanned aerial vehicle, and acquiring a topographic map of an area where the unmanned aerial vehicle is located through a data network; the step 1 comprises the following steps: step 101, determining the range of an area where an unmanned aerial vehicle is located according to the position of the unmanned aerial vehicle; acquiring a map of an area where the unmanned aerial vehicle is located; 102, acquiring map information in an area, and establishing a map information base; the regions are defined as follows: inquiring the current model unmanned aerial vehicle and the current electric quantity, and determining the remaining maximum flight distance of the unmanned aerial vehicle; determining the area of the map by taking 10% -15% of the remaining maximum voyage as the radius and the current position of the unmanned aerial vehicle as the circle center; and 103, updating the regional map when the flying straight line is positioned at the distance change exceeding 15%.
Step 2, acquiring first image information in a surrounding area of the unmanned aerial vehicle along the advancing direction of the unmanned aerial vehicle; step 3, determining the position of the positioning module based on the positioning module, and acquiring second image information in a map information base; step 4, acquiring first image information and second similar information, and judging images around the unmanned aerial vehicle; step 5, acquiring an identification image, and identifying the obstacle to form an identification result; and 6, acquiring the identification result, forming a control instruction, and controlling the unmanned aerial vehicle to avoid the identified obstacle to form a flight path.
2. An obstacle avoidance system for unmanned aerial vehicles according to claim 1, wherein: the step 2 comprises the following steps: step 201, acquiring image information in front of the flight of the unmanned aerial vehicle at fixed time intervals through a CCD imaging module along the advancing direction of the unmanned aerial vehicle; step 202, acquiring image information, establishing a CCD image information base, and marking based on a shooting position; and 203, converting the acquired image into a gray image, and extracting image features after sharpening and binarization processing.
3. The obstacle avoidance system of the unmanned aerial vehicle of claim 2, wherein: after step 203, the method further comprises: step 204, classifying image features by taking the shooting position as a mark; step 205, determining the current position of the unmanned aerial vehicle through a positioning module to form first position information; and step 206, acquiring a shooting position, acquiring image characteristics and establishing an image characteristic library.
4. An obstacle avoidance system for unmanned aerial vehicles according to claim 3, wherein: the step 3 comprises the following steps: 301, acquiring position information of the unmanned aerial vehicle through a positioning unit to form second position information; step 302, retrieving and acquiring image information around the second position information from a map information base; step 303, acquiring first position information with the highest superposition degree with the second position information from an image feature library; 304, acquiring image characteristics of the periphery of the unmanned aerial vehicle from an image characteristic library through the first position information; and 305, identifying based on the image characteristics, judging the image information around the unmanned aerial vehicle, and forming second image information.
5. The obstacle avoidance system of the unmanned aerial vehicle of claim 4, wherein: the step 4 comprises the following steps: step 401, acquiring first image information and second similar information, and judging the similarity of the first image information and the second similar information; if the similarity of the two images is higher than a threshold value, first judgment information is formed; if the similarity of the two images is not higher than the threshold value, second judgment information is formed; step 402, receiving first judgment information, and acquiring a panoramic image around the position where the unmanned aerial vehicle is located from a map information base to serve as a first identification image; and 403, receiving second judgment information, acquiring related image characteristics around the position where the unmanned aerial vehicle is located from the image characteristic library, and identifying the image characteristics to be used as a second identification image.
6. An obstacle avoidance system for unmanned aerial vehicles according to claim 5, wherein: the step 5 comprises the following steps: step 501, acquiring a first identification image, and identifying an obstacle; if the unmanned aerial vehicle has an obstacle in the flight direction, forming a first identification result; if no obstacle exists in the flight direction of the unmanned aerial vehicle, forming a second recognition result; step 502, acquiring a second identification image, and identifying the obstacle to form a second identification result; if the obstacle exists in the flight direction of the unmanned aerial vehicle, a third recognition result is formed; and if no obstacle exists in the flight direction of the unmanned aerial vehicle, forming a fourth recognition result.
7. The obstacle avoidance system for the unmanned aerial vehicle according to claim 6, wherein the step 6 comprises: 601, receiving a first recognition result and a third recognition result, and judging the edge of the recognition image; step 602, receiving a second identification result and a fourth identification result, and controlling the unmanned aerial vehicle to keep the original flight state; step 603, when detecting that an obstacle exists in front, the method comprises the following steps: detecting through ultrasonic waves to judge whether an obstacle exists in front; if the obstacle exists, forming distance information; step 604, obtaining distance information, and if the distance is lower than a threshold value, giving an alarm; if the distance is higher than the threshold value, the unmanned aerial vehicle is controlled to keep the original flight state until the distance is lower than the threshold value.
8. An obstacle avoidance system for unmanned aerial vehicles according to claim 7, wherein: after step 604, there is also: if, after detecting the presence of an obstacle in front and below a threshold, the following is present: step 605, determining a safe flight area by taking the threshold distance as a limit; step 606, recognizing the image edge and determining a flight path; planning a path and controlling the unmanned aerial vehicle to fly along the planned path.
9. An obstacle avoidance system for unmanned aerial vehicles according to claim 8, wherein: in step 606, the image edge is the edge of the obstacle; the specific method comprises the following steps: the central point of the lowest line of the image begins to detect towards two sides, the number of pixel points when the colors of two sides change is calculated, if the two sides are equal, the current direction is just in the middle of a path, if the two sides are not equal, the flying direction of the unmanned aerial vehicle is judged to be deviated to one side of the path, the traveling direction of the unmanned aerial vehicle needs to be adjusted, the unmanned aerial vehicle is located in the center of the path, the point is recorded, then the previous line is detected, the circulation is repeated, and the flying path is virtualized in the image.
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| CN117170411B (en) * | 2023-11-02 | 2024-02-02 | 山东环维游乐设备有限公司 | Vision assistance-based auxiliary obstacle avoidance method for racing unmanned aerial vehicle |
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