WO2021088684A1 - Procédé d'évitement d'obstacle omnidirectionnel et véhicule aérien sans pilote - Google Patents

Procédé d'évitement d'obstacle omnidirectionnel et véhicule aérien sans pilote Download PDF

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Publication number
WO2021088684A1
WO2021088684A1 PCT/CN2020/124059 CN2020124059W WO2021088684A1 WO 2021088684 A1 WO2021088684 A1 WO 2021088684A1 CN 2020124059 W CN2020124059 W CN 2020124059W WO 2021088684 A1 WO2021088684 A1 WO 2021088684A1
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image frame
flight
frame rate
unmanned aerial
aerial vehicle
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PCT/CN2020/124059
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English (en)
Chinese (zh)
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李昭早
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深圳市道通智能航空技术股份有限公司
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Publication of WO2021088684A1 publication Critical patent/WO2021088684A1/fr

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    • 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

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  • the invention relates to the technical field of unmanned aerial vehicles, in particular to an omnidirectional obstacle avoidance method and an unmanned aerial vehicle.
  • Unmanned aerial vehicles With the continuous development of unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are gradually becoming more and more popular. There are many ways to control unmanned aerial vehicles, such as remote control, mobile phone, computer and other mobile terminals.
  • the embodiments of the present invention provide an omnidirectional obstacle avoidance method and an unmanned aerial vehicle that improve the accuracy of long-distance obstacle avoidance of an unmanned aerial vehicle under the condition of certain visual obstacle avoidance processing performance.
  • an omnidirectional obstacle avoidance method applied to an unmanned aerial vehicle the unmanned aerial vehicle includes a plurality of cameras in different directions, and the method includes: acquiring the unmanned aerial vehicle Flight speed information of human aircraft;
  • the UAV is omnidirectionally avoiding obstacles.
  • the adjusting the image frame rate of the cameras in multiple different directions according to the flight speed information includes:
  • the flight speed information includes flight speeds corresponding to different directions
  • the obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information includes:
  • the flight direction corresponding to the one of the flight speeds is used as the flight direction information.
  • the adjusting the image frame rate of the cameras in multiple different directions according to the flight direction information includes:
  • the image frame rate of the camera corresponding to other directions is reduced.
  • the increasing the image frame rate of the camera corresponding to the current flight direction includes:
  • the reducing the image frame rate of the camera corresponding to other directions includes:
  • the image frame rate of the camera corresponding to the other direction is reduced to half of the maximum value.
  • the increasing the image frame rate of the camera corresponding to the current flight direction includes:
  • the reducing the image frame rate of the camera corresponding to other directions includes:
  • the image frame rate of the camera corresponding to the other direction is reduced to a minimum.
  • an omnidirectional obstacle avoidance device includes: a flight speed information acquisition module for acquiring flight speed information of the unmanned aerial vehicle.
  • the image frame rate adjustment module is configured to adjust the image frame rate of the cameras in multiple different directions according to the flight speed information.
  • the comprehensive obstacle avoidance control module is used to perform omnidirectional obstacle avoidance on the UAV according to the adjusted image frame rate of the camera.
  • the image frame rate adjustment module includes a flight direction information acquisition unit and an image frame rate control unit;
  • the flight direction information acquiring unit is configured to obtain flight direction information of the unmanned aerial vehicle according to the flight speed information;
  • the graphic frame rate control unit is configured to adjust the image frame rates of the cameras in multiple different directions according to the flight direction information.
  • the graphics frame rate control unit includes a current flight direction extraction subunit, an image frame rate increase subunit, and an image frame rate decrease subunit ;
  • the current flight direction extraction subunit is used to extract the current flight direction of the unmanned aerial vehicle according to the flight direction information
  • the image frame rate increasing subunit is used to increase the image frame rate of the camera corresponding to the current flight direction
  • the image frame rate reduction subunit is used to reduce the image frame rate of the camera corresponding to other directions.
  • an unmanned aerial vehicle includes:
  • An arm connected to the fuselage
  • the power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly;
  • the group can be used to perform the omnidirectional obstacle avoidance method described above.
  • the omnidirectional obstacle avoidance method provided by the embodiment of the present invention can be achieved by first obtaining the flight speed information of the unmanned aerial vehicle, and then adjusting all directions in multiple different directions according to the obtained flight speed information.
  • the image frame rate of the camera may further perform omnidirectional obstacle avoidance for the unmanned aerial vehicle according to the adjusted image frame rate of the camera.
  • the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance, and the visual obstacle avoidance processing performance is constant. Under the circumstances, the UAV can better avoid obstacles in all directions.
  • FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of an omnidirectional obstacle avoidance method provided by one of the embodiments of the present invention
  • Fig. 3 is a schematic diagram of the flow of S30 in Fig. 2;
  • FIG. 4 is a schematic diagram of the flow of S31 in FIG. 3;
  • FIG. 5 is a schematic diagram of the flow of S32 in Figure 3;
  • Fig. 6 is a structural block diagram of an omnidirectional obstacle avoidance device provided by one of the embodiments of the present invention.
  • Fig. 7 is a structural block diagram of an unmanned aerial vehicle provided by one embodiment of the present invention.
  • the embodiment of the present invention provides an omnidirectional obstacle avoidance method and an unmanned aerial vehicle, wherein the omnidirectional obstacle avoidance method applied to the unmanned aerial vehicle first obtains the flight speed information of the unmanned aerial vehicle, and then according to the obtained information. According to the flight speed information, the image frame rates of the cameras in multiple different directions are adjusted, and then the UAV can be omnidirectional obstacle avoidance according to the adjusted image frame rates of the cameras.
  • the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance, and the visual obstacle avoidance processing performance is constant. Under the circumstances, the UAV can better avoid obstacles in all directions.
  • the following examples illustrate the application environment of the omnidirectional obstacle avoidance method.
  • FIG. 1 is a schematic diagram of an application environment of an aircraft-free control method provided by an embodiment of the present invention; as shown in FIG. 1, the application scenario includes an unmanned aerial vehicle 10, an infrared wireless network 20, a remote control device 30 and a user 40.
  • the user 40 can use the remote control device 30 to control the UAV 10 through the infrared wireless network.
  • the unmanned aerial vehicle 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, an umbrella-wing unmanned aerial vehicle, a flapping-wing unmanned aerial vehicle, and a helicopter model.
  • the unmanned aerial vehicle 10 may have a corresponding volume or power according to actual needs, so as to provide load capacity, flight speed, and flight range that can meet the needs of use.
  • One or more functional modules may be added to the unmanned aerial vehicle 10 to enable the unmanned aerial vehicle 10 to realize corresponding functions.
  • the UAV 10 is provided with a battery module, a positioning device, an infrared emitting device, and multiple sets of binocular cameras.
  • the battery module can provide the UAV 10 with power.
  • the battery module includes a voltage conversion module, a voltage detection module, a current detection module, a temperature detection module, an IO input and output module, a CPU control module, a communication module, a power display module, and an interface circuit.
  • the voltage conversion module realizes the conversion of the battery input voltage into the 5V and 3.3V voltages required by the board; the voltage detection module uses a balanced plug to connect to the battery to realize the measurement of the single voltage value and the total voltage value; the battery power output line
  • the current detection module can be connected to convert the collected current value into a voltage value and send it to the CPU interface for AD collection; the temperature detection module can realize temperature collection by connecting 1 to 8 platinum resistance sensors; the communication module is used for
  • the connection between the board and peripherals can support CAN, RS232, and RS485 interfaces.
  • the CPU control module is connected with the voltage detection module, the current detection module and the temperature detection module through the interface circuit to realize the collection of voltage, current, and temperature.
  • the positioning device may be a GPS positioning system, and the GPS positioning system is used to obtain real-time geographic location information of the unmanned aerial vehicle.
  • the infrared emission device is used to send infrared access information and receive infrared control instructions issued by the remote control device. For example, when the remote control device issues an infrared control instruction, the infrared emission device receives the infrared control instruction, and then makes The unmanned aerial vehicle 10 controls the activation state of the unmanned aerial vehicle 10 according to the infrared control command. After the battery module is connected to the UAV 10, the infrared emitting device can send the infrared access information obtained from the access information of the battery module to the remote control device 30.
  • the binocular camera includes a front view camera, a rear view camera, a top view camera, a bottom view camera, a left view camera, and a right view camera.
  • the front view camera, the rear view camera, the top view camera, the bottom view camera, and the left view camera The camera and the right-view camera are respectively installed on the front end, the rear end, the upper shell, the lower shell, the left end and the right end of the UAV.
  • the above-mentioned cameras can be used to capture image information in corresponding directions respectively, and then the unmanned aerial vehicle
  • the aircraft can perform omnidirectional obstacle avoidance based on the graphic information.
  • the unmanned aerial vehicle 10 includes at least one flight control module, which serves as the control core for the flight and data transmission of the unmanned aerial vehicle 10, and has the ability to monitor, calculate, and manipulate the flight and mission of the unmanned aerial vehicle.
  • the flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding light pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
  • the remote control device 30 can be any type of smart device used to establish a communication connection with the UAV 10, such as a mobile phone, a tablet computer, a notebook computer, or other mobile control terminals.
  • the remote control device 30 is equipped with an infrared receiving device for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle.
  • the remote control device 30 may be used to receive infrared access information generated by the UAV 10 when the battery module is normally connected to the UAV.
  • the remote control device 30 can also send an infrared control command generated according to the control command of the user 40 to the UAV 10 to control the activation state of the UAV 10.
  • the remote control device 30 can also be equipped with an image transmission module for controlling positioning images, pan-tilt shooting images, and aiming images return.
  • the image transmission module can also modulate a binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
  • the remote control device 30 may also be equipped with one or more different user 40 interaction devices to collect instructions from the user 40 or display and feedback information to the user 40.
  • buttons, display screens, touch screens, speakers, and remote control joysticks are examples of interactive devices.
  • the remote control device 30 may be equipped with a touch screen, through which the user 40 receives remote control instructions for the UAV 10.
  • the unmanned aerial vehicle 10 and the remote control device 30 can also be integrated with the existing image visual processing technology to further provide more intelligent services.
  • the unmanned aerial vehicle 10 may use a dual-lens camera to collect images, and the remote control device 30 may analyze the images, so as to realize the gesture control of the unmanned aerial vehicle 10 by the user 40.
  • Fig. 2 is an embodiment of an omnidirectional obstacle avoidance method provided by an embodiment of the present invention. This method can be performed by the unmanned aerial vehicle in FIG. 1. Specifically, referring to Figure 2, the method may include but is not limited to the following steps:
  • the flight speed information is flight speed vectors in different directions, including the current unmanned aerial vehicle's forward speed information v x , backward speed information-v x , left to right speed information ⁇ v y , up and down speed information, ⁇ v z .
  • the flight speed information can be obtained through the following steps. First obtain the image information, and do the gray-scale processing to obtain the gray-scale image of the image. Among them, the real-time image information of the ground is acquired by the image sensor, and the acquired real-time image information is gray-scaled to obtain continuous image gray-scale images. Then the pyramid optical flow algorithm is used to obtain the optical flow speed, and the flight speed vectors of the unmanned aerial vehicle in different directions are obtained according to the optical flow speed and the height data of the unmanned aerial vehicle, and used as the flight speed information.
  • the pyramid optical flow algorithm links the two-dimensional velocity field with the gray level, introduces the optical flow constraint equation, and obtains the basic algorithm for optical flow calculation.
  • 1 The gray scale of the moving object remains unchanged in a short interval; 2
  • the time is continuous or the movement is small, and the image moves slowly over time.
  • the actual middle refers to The ratio of the time change to the motion in the image should be small enough.
  • the use of the pyramid optical flow algorithm to calculate the optical flow speed has the following problems: there are certain requirements for the flight speed, image frequency and processor hardware of the UAV, and the speed measurement range is small.
  • the flying speed of the aircraft is too fast, and the problem of large errors or even complete errors is prone to occur.
  • Increasing the image frequency can solve the error or error problem caused by the flying speed too fast, but at the same time it will bring about the problem of calculation speed.
  • Increasing the image frequency will This results in an increase in the amount of processor calculations and higher requirements on the hardware configuration of the processor, making it impossible to achieve low-cost accurate measurements.
  • the pyramid algorithm is used to calculate the optical flow speed with higher accuracy and real-time performance.
  • the gray image of the image is updated after the flight speed of the unmanned aerial vehicle is obtained, and at the same time, it is judged whether the flight speed is greater than the first threshold. It is assumed that the obtained unmanned aerial vehicle is flying If the speed is greater than the first threshold, the block matching optical flow algorithm is used to obtain the optical flow speed, and the flight speed of the unmanned aerial vehicle is obtained according to the optical flow speed and the height data of the unmanned aerial vehicle; otherwise, the pyramid optical flow algorithm is used to obtain the optical flow speed. Flow speed, and finally obtain the flight speed information of the UAV according to the obtained optical flow speed and the altitude data of the UAV.
  • the flight direction information of the unmanned aerial vehicle is obtained according to the flight speed information obtained by the above calculation, and then the image frame rates of the cameras in multiple different directions are adjusted according to the flight direction information.
  • the flight speed information includes the current flight speed of the unmanned aerial vehicle in different directions. For example, forward speed v x1 , backward speed v x2 , left to right speed v y , and up and down speed v z . Then, it is determined whether the flight speed in different directions exceeds the preset speed threshold, and then the current flight direction information of the unmanned aerial vehicle can be determined according to the judgment result. Furthermore, according to the flight direction information, the image frame rates of the cameras in multiple different directions are adjusted. For example, the image frame rate of the camera corresponding to the acquired flight direction information is increased, and the image frame rate of the camera corresponding to other directions is decreased.
  • the UAV is further provided with a storage device, and the storage device stores the preset speed threshold value.
  • the storage device may be flash memory, hard disk memory, micro multimedia card memory, card memory (for example, SD or XD memory), random access memory (RAM), static random access memory (SRAM), Readable memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disks and optical disks.
  • flash memory for example, SD or XD memory
  • card memory for example, SD or XD memory
  • RAM random access memory
  • SRAM static random access memory
  • ROM Readable memory
  • EEPROM electrically erasable programmable read-only memory
  • PROM programmable read-only memory
  • magnetic memory magnetic disks and optical disks.
  • true omnidirectional obstacle avoidance requires support for six directions: front, bottom, rear, left, right, and top.
  • the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance.
  • the embodiment of the present invention provides an omnidirectional obstacle avoidance method.
  • the method first obtains the flight speed information of the unmanned aerial vehicle, and then adjusts the cameras in multiple different directions according to the obtained flight speed information.
  • the UAV According to the adjusted image frame rate of the camera, the UAV can be omnidirectionally avoided obstacles.
  • the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance, and the visual obstacle avoidance processing performance is constant. Under the circumstances, the UAV can better avoid obstacles in all directions.
  • S30 includes the following steps:
  • the flight speed information includes the current flight speed of the unmanned aerial vehicle in different directions. For example, forward speed v x1 , backward speed v x2 , left to right speed v y , and up and down speed v z . Then, it is determined whether the flight speed in different directions exceeds the preset speed threshold, and then the current flight direction information of the unmanned aerial vehicle can be determined according to the judgment result.
  • the image frame rate of the camera in different directions can be adjusted accordingly.
  • the flight direction information is the upward flight direction information
  • the flight direction information indicates that the unmanned aircraft is rising, and then the image frame rate of the binocular camera corresponding to the upward direction is increased, and the image frame of the binocular camera corresponding to other directions is increased.
  • the rate is reduced.
  • the flight direction information is forward flight direction information, it indicates that the unmanned aircraft is flying forward, and then the image frame rate of the binocular camera corresponding to the forward direction is increased, and the image of the binocular camera corresponding to other directions is increased.
  • the frame rate is reduced.
  • the flight direction information is the backward flight direction information
  • the flight direction information indicates that the unmanned aircraft is flying backward, and then the image frame rate of the binocular camera corresponding to the backward direction is increased, and the images of the binocular camera corresponding to other directions
  • the frame rate is reduced.
  • the flight direction information is leftward flight direction information, it indicates that the unmanned aircraft is flying to the left, and then the image frame rate of the binocular camera corresponding to the left direction is increased, and the images of the binocular camera corresponding to other directions The frame rate is reduced.
  • S31 includes the following steps:
  • the pre-speed threshold is Is 7.5m/s
  • the forward speed v x1 6m/s
  • the backward speed v x2 5m/s
  • the leftward speed v y1 7m/s
  • the rightward speed v y2 8m/s
  • the upward speed v z 3m/s
  • the flight direction information is rightward flight direction information.
  • preset speed thresholds are correspondingly set in different directions, and the preset speed thresholds in different directions may be the same or different. Then, the flight speeds corresponding to different directions are compared with the corresponding preset speed thresholds.
  • S32 further includes the following steps:
  • S321 Extract the current flight direction of the unmanned aerial vehicle according to the flight direction information.
  • flight direction information when the flight direction information is upward flight direction information, it indicates that the unmanned aerial vehicle is ascending, and the current flight direction of the unmanned aerial vehicle is upward flight.
  • flight direction information when the flight direction information is forward flight direction information, it indicates that the unmanned aerial vehicle is flying forward, and the current flight direction of the unmanned aerial vehicle is forward flight.
  • flight direction information includes both leftward flight direction information and forward direction information, it indicates that the unmanned aerial vehicle is flying in the forward left direction, and the current flight direction of the unmanned aerial vehicle is flying in the forward left direction.
  • the current flight direction is the upward direction
  • the image frame rate of the binocular camera corresponding to the upward direction is increased, and the image frame rate of the binocular camera corresponding to other directions is reduced.
  • the current flight direction is the forward direction
  • the image frame rate of the binocular camera corresponding to the forward direction is increased, and the image frame rate of the binocular camera corresponding to other directions is reduced.
  • the current flight direction is the backward direction
  • the image frame rate of the binocular camera corresponding to the backward direction is increased, and the image frame rate of the binocular camera corresponding to the other directions is reduced. And so on.
  • increasing the image frame rate of the camera corresponding to the current flight direction means that the image frame rate of the camera corresponding to the current flight direction can be increased to The maximum value; the reducing the image frame rate of the camera corresponding to other directions refers to reducing the image frame rate of the camera corresponding to other directions to half of the maximum value.
  • the embodiments of the present application provide an omnidirectional obstacle avoidance device 70, which is applied to an unmanned aerial vehicle.
  • the omnidirectional obstacle avoidance device 70 includes: a flight speed information acquisition module 71, an image frame rate adjustment module 72, and an image frame rate adjustment module 73.
  • the flight speed information acquisition module 71 is used to acquire flight speed information of the unmanned aerial vehicle.
  • the image frame rate adjustment module 72 is configured to adjust the image frame rates of the cameras in multiple different directions according to the flight speed information.
  • the overall obstacle avoidance control module 73 is configured to perform omnidirectional obstacle avoidance on the UAV according to the adjusted image frame rate of the camera.
  • the image frame rates of the cameras in different directions can be adjusted accordingly.
  • omnidirectional obstacle avoidance is performed on the UAV.
  • the image frame rate adjustment module includes a flight direction information acquisition unit and an image frame rate control unit;
  • the flight direction information acquiring unit is configured to obtain flight direction information of the unmanned aerial vehicle according to the flight speed information;
  • the graphic frame rate control unit is configured to adjust the image frame rates of the cameras in multiple different directions according to the flight direction information.
  • the graphics frame rate control unit includes a current flight direction extraction subunit, an image frame rate increase subunit, and an image frame Rate reduction sub-unit;
  • the current flight direction extraction subunit is used to extract the current flight direction of the unmanned aerial vehicle according to the flight direction information
  • the image frame rate increasing subunit is used to increase the image frame rate of the camera corresponding to the current flight direction
  • the image frame rate reduction subunit is used to reduce the image frame rate of the camera corresponding to other directions.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle 10 provided by an embodiment of the present application.
  • the unmanned aerial vehicle 10 may be any type of unmanned vehicle and can execute the omnidirectional obstacle avoidance method provided by the corresponding method embodiment above. Or, run the omnidirectional obstacle avoidance device 70 provided by the corresponding device embodiment above.
  • the unmanned aerial vehicle includes: a fuselage, an arm, a power unit, an infrared transmitting device, a flight control module 110, a memory 120, and a communication module 130.
  • the arm is connected to the fuselage;
  • the power device is provided on the arm for providing flight power to the unmanned aerial vehicle;
  • the infrared emitting device is provided in the fuselage for Send infrared access information and receive infrared control instructions from the remote control device;
  • the flight control module has the ability to monitor, calculate and manipulate the flight and mission of the unmanned aerial vehicle, and includes a set of equipment for controlling the launch and recovery of the unmanned aerial vehicle.
  • the flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
  • the flight control module 110, the memory 120, and the communication module 130 establish a communication connection between any two through a bus.
  • the flight control module 110 can be of any type and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.
  • the memory 120 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions corresponding to the omnidirectional obstacle avoidance method in the embodiment of the present invention / Module (for example, the flight speed information acquisition module 71, the image frame rate adjustment module 72, and the overall obstacle avoidance control module 73 shown in FIG. 6).
  • the flight control module 110 executes various functional applications and data processing of the omnidirectional obstacle avoidance device 70 by running the non-transient software programs, instructions, and modules stored in the memory 120, that is, realizes all of the above-mentioned method embodiments. To the obstacle avoidance method.
  • the memory 120 may include a storage program area and a storage data area.
  • the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the omnidirectional obstacle avoidance device 70, etc. .
  • the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the storage 120 may optionally include storage remotely provided with respect to the flight control module 110, and these remote storages may be connected to the UAV 10 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the memory 120 stores instructions that can be executed by the at least one flight control module 110; the at least one flight control module 110 is used to execute the instructions to implement the omnidirectional obstacle avoidance method in any of the foregoing method embodiments For example, the steps 10, 20, 30, etc. of the method described above are executed to realize the functions of the modules 71-73 in FIG. 6.
  • the communication module 130 is a functional module used to establish a communication connection and provide a physical channel.
  • the communication module 130 may be any type of wireless or wired communication module 130, including but not limited to a WiFi module or a Bluetooth module.
  • the embodiment of the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are controlled by one or more flight controllers.
  • the execution of the module 110 for example, executed by one of the flight control modules 110 in FIG. 7, can cause the above-mentioned one or more flight control modules 110 to execute the omnidirectional obstacle avoidance method in any of the above-mentioned method embodiments, for example, execute the above description
  • the method steps 10, 20, 30, etc. realize the functions of the modules 71-73 in FIG. 6.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • a person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware by a computer program in a computer program product.
  • the computer program can be stored in a non-transitory computer.
  • the computer program includes program instructions, and when the program instructions are executed by a related device, the related device can execute the flow of the foregoing method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
  • the above products can execute the omnidirectional obstacle avoidance method provided by the embodiment of the present invention, and have the corresponding functional modules and beneficial effects for executing the omnidirectional obstacle avoidance method.
  • the omnidirectional obstacle avoidance method provided in the embodiment of the present invention.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so that the computer or other programmable equipment is executed
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé d'évitement d'obstacle omnidirectionnel et un véhicule aérien sans pilote (10). Le procédé d'évitement d'obstacle omnidirectionnel est appliqué dans le véhicule aérien sans pilote (10) et comprend : tout d'abord, l'acquisition d'informations de vitesse de vol du véhicule aérien sans pilote (10) (S10) ; ensuite, l'ajustement, en fonction des informations de vitesse de vol acquises, des fréquences de trames d'images de multiples caméras dans différentes directions (S20) ; et la réalisation, en fonction des fréquences de trames d'images ajustées des caméras, d'un évitement d'obstacle omnidirectionnel pour le véhicule aérien sans pilote (10). Dans l'invention, les fréquences de trames d'images des caméras correspondant aux informations de direction de vol sont ajustées pour augmenter significativement les fréquences de trames d'images des caméras, ce qui permet d'améliorer la précision de l'évitement d'obstacles à distance et de permettre à un véhicule aérien sans pilote (10) avec une capacité de traitement d'évitement d'obstacle visuelle limitée d'avoir une meilleure performance d'évitement d'obstacle omnidirectionnel.
PCT/CN2020/124059 2019-11-07 2020-10-27 Procédé d'évitement d'obstacle omnidirectionnel et véhicule aérien sans pilote WO2021088684A1 (fr)

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CN201911083405.5A CN110673647B (zh) 2019-11-07 2019-11-07 全向避障方法及无人飞行器
CN201911083405.5 2019-11-07

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