WO2023082257A1 - 无人机的控制方法、控制装置、无人机及存储介质 - Google Patents

无人机的控制方法、控制装置、无人机及存储介质 Download PDF

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Publication number
WO2023082257A1
WO2023082257A1 PCT/CN2021/130663 CN2021130663W WO2023082257A1 WO 2023082257 A1 WO2023082257 A1 WO 2023082257A1 CN 2021130663 W CN2021130663 W CN 2021130663W WO 2023082257 A1 WO2023082257 A1 WO 2023082257A1
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WIPO (PCT)
Prior art keywords
uav
unmanned aerial
aerial vehicle
route
detour
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PCT/CN2021/130663
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English (en)
French (fr)
Inventor
黄兴鸿
高翔
高文良
田原原
王璐
贾向华
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2021/130663 priority Critical patent/WO2023082257A1/zh
Priority to CN202180100503.4A priority patent/CN117693722A/zh
Publication of WO2023082257A1 publication Critical patent/WO2023082257A1/zh

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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

Definitions

  • the present application relates to the field of unmanned aerial vehicles, and in particular to a method for controlling an unmanned aerial vehicle, a control device, an unmanned aerial vehicle, and a storage medium.
  • UAVs for operations and operations, especially the use of UAVs for pesticide spraying, chemical fertilizer spraying, and crop sowing, which has the advantages of little damage to crops and low pesticide use. It has the advantages of high utilization rate and reduced labor intensity.
  • the UAV finds an obstacle during the operation, the UAV will avoid the obstacle, but when avoiding the obstacle, it is easy for the UAV to deviate from the operation object, which affects the operation efficiency and effect, and the user experience is not good. good.
  • the embodiment of the present application provides a control method, a control device, a drone and a storage medium for a drone, aiming at improving the operational efficiency and operation efficiency of the drone while ensuring the operational safety of the drone. Effect.
  • an embodiment of the present application provides a method for controlling a drone, the drone can acquire sensing data from a distance sensor and a vision sensor, and the method includes:
  • the first detour mode satisfies: when the UAV flies around the obstacle, the distance between the height of the target operation object of the UAV and the ground-following flight height of the UAV is The difference is less than or equal to a preset threshold, and the ground-following flight height is a constant height between the drone and the target operation object when the drone is flying in a ground-following operation.
  • the embodiment of the present application also provides a control device for a drone, the drone can acquire sensing data from a distance sensor and a vision sensor, and the control device includes a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and realize the control method of the drone as described above when the computer program is executed.
  • the embodiment of the present application also provides a drone, including:
  • the power system is arranged on the body and is used to provide flight power for the unmanned aerial vehicle.
  • a distance sensor and a vision sensor are fixedly or detachably connected to the body;
  • the control device of the unmanned aerial vehicle as described above is set in the body and is used to control the unmanned aerial vehicle.
  • the embodiment of the present application also provides a storage medium, the storage medium stores a computer program, and when the computer program is executed by the processor, the processor implements the control method of the drone as described above .
  • the embodiment of the present application provides a control method for a drone, a control device, a drone and a storage medium.
  • the control method is based on the fact that if the sensing of the distance sensor and the vision sensor are effective when the drone is flying in imitation of the ground, , then use the distance sensor and vision sensor to accurately identify the obstacle information in the direction of the UAV's route, and then control the UAV to avoid the obstacle in the direction of the route according to the accurate obstacle information.
  • FIG. 1 is a schematic diagram of a scene implementing a control method for a drone provided by an embodiment of the present application
  • Fig. 2 is a schematic flowchart of the steps of a method for controlling a drone provided in an embodiment of the present application;
  • Fig. 3 is a schematic diagram of the three-dimensional coordinate system of the drone in the embodiment of the present application.
  • Fig. 4 is a schematic flow chart of the steps of another method for controlling a drone provided in an embodiment of the present application
  • Fig. 5 is a schematic flowchart of a sub-step of the control method of the UAV in Fig. 3;
  • FIG. 6 is a schematic flowchart of another sub-step of the control method of the UAV in FIG. 3;
  • Fig. 7 is a schematic structural block diagram of a control device for an unmanned aerial vehicle provided by an embodiment of the present application.
  • Fig. 8 is a schematic structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • UAVs for operations and operations, especially the use of UAVs for pesticide spraying, chemical fertilizer spraying, and crop sowing, which has the advantages of little damage to crops and low pesticide use. It has the advantages of high utilization rate and reduced labor intensity.
  • the UAV finds an obstacle during the operation, the UAV will avoid the obstacle, but when avoiding the obstacle, it is easy for the UAV to deviate from the operation object, which affects the operation efficiency and effect, and the user experience is not good. good.
  • the embodiment of the present application provides a control method, a control device, a drone and a storage medium for an unmanned aerial vehicle. If the sensing is effective, the distance sensor and visual sensor are used to accurately identify the obstacle information in the direction of the UAV's route, and then according to the accurate obstacle information, the UAV is controlled to bypass the route according to the first detour
  • the obstacle flight in the direction enables the UAV to accurately fly around the obstacle while ensuring that the difference between the height of the UAV from the target operation object and the height of the ground-like flight is less than or equal to the preset threshold, avoiding When the UAV avoids obstacles, it will cause the UAV to deviate from the operation object, which will affect the operation effect and efficiency, and then improve the operation efficiency and effect of the UAV.
  • FIG. 1 is a schematic diagram of a scenario for implementing the method for controlling a drone provided by an embodiment of the present application.
  • the scene includes a UAV 100 and a control terminal 200 , and the control terminal 200 communicates with the UAV 100 for controlling the UAV 100 .
  • the UAV 100 includes a body 110, a power system 120, a distance sensor 130, a visual sensor 140 and a control device (not shown in FIG. 1), and the power system 120 is arranged on the body 110 for unmanned
  • the aircraft 100 provides flight power, and the distance sensor 130 and the visual sensor 140 are fixedly connected or detachably connected with the body 110.
  • the distance sensor 130 and the visual sensor 140 are used to sense the environment around the drone 100 to generate sensing data and control
  • the device is used to control the flight of the drone 100 .
  • the distance sensor 130 includes a radar device, and the radar device may include a millimeter-wave radar or a laser radar.
  • the UAV 100 may not be equipped with the distance sensor 130 and the visual sensor 140, but may be connected with a device equipped with the distance sensor and the visual sensor, so that the UAV 100 can obtain the distance sensor and the visual sensor. sensing data.
  • a device equipped with a distance sensor and a vision sensor can use the distance sensor and/or vision sensor to identify obstacle information in the direction of the flight path of the UAV 100 .
  • the power system 120 may include one or more propellers 121 , one or more motors 122 corresponding to the one or more propellers, and one or more electronic governors (referred to as ESCs for short).
  • the motor 122 is connected between the electronic governor and the propeller 121, and the motor 122 and the propeller 121 are arranged on the body 110 of the UAV 100; the electronic governor is used to receive the driving signal generated by the control device, and provide Drive current to the motor 122 to control the speed of the motor 122 .
  • the motor 122 is used to drive the propeller 121 to rotate, so as to provide power for the flight of the UAV 100 , and the power enables the UAV 100 to realize movement of one or more degrees of freedom.
  • drone 100 may rotate about one or more axes of rotation.
  • the above-mentioned rotation axes may include a roll axis, a yaw axis and a pitch axis.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the control device controls the UAV 100 to perform ground imitation flight
  • the sensing of the distance sensor 130 and the vision sensor 140 are both effective
  • the distance sensor 130 and the vision sensor 140 are used to identify the position of the UAV 100.
  • Obstacle information on the route direction, and according to the obstacle information control the UAV 100 to fly around the obstacle on the route direction according to the first detour direction; if the sensing of the distance sensor 130 is valid, and the visual sensor 140 If the sensing is invalid, the distance sensor 130 is used to identify the obstacle information in the direction of the route of the UAV 100, and according to the obstacle information, the UAV 100 is controlled to fly around the obstacle in the direction of the route according to the second detour direction .
  • the first detour mode satisfies: when the UAV 100 is flying around obstacles, the difference between the height of the target operation object from the UAV 100 and the ground imitation flight height of the UAV 100 is less than or equal to the preset Threshold, the ground-following flight height is a constant height of the UAV 100 from the target operation object when the UAV 100 is flying in a ground-following operation.
  • the second detour mode satisfies that: when the UAV 100 flies around obstacles, the height of the target operation object from the UAV 100 is the same as the ground-following flight height of the UAV 100 .
  • the control terminal 200 is connected in communication with the display device 210, and the display device 210 is used to display the image sent by the UAV 100.
  • the display device 210 includes a display screen arranged on the control terminal 200 or a display independent of the control terminal 200.
  • the display independent of the control terminal 200 may include a mobile phone, a tablet computer or a personal computer, etc., or may also be a Other electronic devices with display screens.
  • the display screen includes an LED display screen, an OLED display screen, an LCD display screen and the like.
  • the UAV 100 includes a rotor UAV, such as a dual-rotor UAV, a quad-rotor UAV, a six-rotor UAV, an eight-rotor UAV, or a fixed-wing UAV, or a rotor-type UAV.
  • Control terminals 200 may include, but are not limited to: smart phones/cell phones, tablet computers, personal digital assistants (PDAs), desktop computers, media content players, video game stations/systems, virtual reality systems, augmented reality systems, wearable devices (eg, watches, glasses, gloves, headgear (eg, hats, helmets, virtual reality headsets, augmented reality headsets, head-mounted devices (HMD), headbands).
  • PDAs personal digital assistants
  • HMD head-mounted devices
  • the method for controlling the drone provided by the embodiment of the present application will be described in detail in combination with the scene in FIG. 1 .
  • the scene in FIG. 1 is only used to explain the control method of the drone provided by the embodiment of the present application, but does not constitute a limitation on the application scene of the control method of the drone provided by the embodiment of the present application.
  • FIG. 2 is a schematic flowchart of steps of a method for controlling a drone provided in an embodiment of the present application.
  • the method for controlling the drone includes steps S101 to S102.
  • Step S101 when the UAV is flying in imitation of the ground, if the sensing of the distance sensor and the vision sensor are both effective, use the distance sensor and the vision sensor to identify the obstacle information in the direction of the UAV's route;
  • Step S102 control the UAV to fly around the obstacle in the route direction according to the first detour mode.
  • the UAVs can acquire sensing data from distance sensors and vision sensors.
  • the UAV can be equipped with a distance sensor and a vision sensor, or the distance sensor and the vision sensor can be detachably connected to the UAV, or the UAV can communicate with a device equipped with the distance sensor and the vision sensor.
  • the distance sensor and the visual sensor when the sensing of the distance sensor and the visual sensor are effective, the obstacle information on the route direction of the drone can be accurately identified, and the recognition accuracy of the obstacle information can be improved, so that the drone When flying on the ground, it can accurately avoid obstacles in the direction of the route to ensure the safety of the drone's operation.
  • the route direction of the UAV refers to the flight direction of the UAV when the UAV performs the ground-imitation flight according to the planned ground-imitation flight route.
  • the first detour mode satisfies: when the UAV flies around obstacles, the difference between the height of the target operation object from the UAV and the ground-following flight height of the UAV is less than or equal to the preset threshold, and the ground-following flight
  • the height is the constant height of the UAV from the target operation object when the UAV is flying on the ground.
  • the target operation object can include crops, fruit trees, buildings, etc.
  • the preset threshold may be set based on actual conditions, which is not specifically limited in this embodiment. For example, the preset threshold is 2 meters.
  • the first detour mode satisfies: the UAV flies around obstacles in the direction of the route in the horizontal direction and/or vertical direction, that is, the UAV circumvents obstacles in the direction of the route in a three-dimensional detour. obstacle flight.
  • the UAV when the UAV flies around obstacles in the direction of the route in the horizontal direction, the UAV horizontally moves along the first direction, the second direction, the third direction or the fourth direction (such as forward, backward, left) , right) to fly, when the UAV flies around obstacles in the direction of the route in the vertical direction, the UAV flies vertically along the fifth or sixth direction (such as vertically upward, vertically downward). Since the UAV can fly around obstacles in the direction of the route in a three-dimensional detour, the UAV can avoid obstacles according to the optimal detour path and reduce the energy loss of the UAV.
  • the nose direction of the drone is the X axis
  • the vertical direction is the Z axis
  • the horizontal line is the Y axis to establish a three-dimensional coordinate system for the drone.
  • the UAV When the human-machine flies around the obstacles in the direction of the route in the horizontal direction, the UAV will follow the first direction (positive direction of X-axis), the second direction (negative direction of X-axis), and the third direction ( Y-axis positive direction) or the fourth direction (Y-axis negative direction), when the UAV flies around obstacles in the direction of the route in the vertical direction, the UAV moves along the fifth direction ( Z-axis positive direction) or the sixth direction (Z-axis negative direction).
  • the method for controlling the drone includes steps S201 to S202.
  • Step S201 when the UAV is flying in imitation of the ground, if the sensing of the visual sensor is invalid and the sensing of the distance sensor is valid, use the distance sensor to identify the obstacle information in the direction of the UAV's route;
  • Step S202 control the UAV to fly around the obstacle in the direction of the route according to the second detour mode.
  • the second detour mode satisfies: when the UAV flies around the obstacle in the direction of the route, the height from the target operation object of the UAV is the same as the ground imitation flight height of the UAV.
  • the UAV is controlled to fly around obstacles in the direction of the route according to the second detour mode, so that no one
  • the height from the drone's target work object is the same as the drone's ground-following flight height, so as to prevent the drone from deviating from the work object when the drone avoids obstacles, affecting the operation effect and efficiency , and then improve the operating efficiency and effect of the drone.
  • the second circumvention mode satisfies: the drone flies around obstacles in the horizontal direction, that is, the drone flies around obstacles in a two-dimensional circumnavigation mode.
  • the distance sensor includes millimeter wave radar.
  • the millimeter-wave radar cannot perceive the specific height of the obstacle due to the radio frequency scheme of the antenna and the influence of the reflection intensity of the object. Therefore, to control the UAV in the horizontal direction Flying around obstacles can ensure the flight safety of the UAV, and avoid collisions with obstacles when the UAV flies around obstacles in the vertical direction because the millimeter-wave radar cannot perceive the specific height of obstacles.
  • the laser radar is used to identify the obstacle information in the direction of the drone's route, and according to the obstacle
  • the object information is used to control the UAV to fly around obstacles in the first detour mode. Since the lidar can perceive the specific height of the obstacle and the relative positional relationship between the obstacle and the UAV, it can ensure the safety of the UAV when the UAV flies around the obstacle in a three-dimensional way. The UAV can avoid obstacles according to the optimal detour path and reduce the energy consumption of the UAV.
  • the drone when the drone is flying around obstacles in the direction of the route, the drone is controlled to perform operations.
  • the operations carried out by drones include spraying operations, sowing operations, surveying and mapping operations, or power inspection operations.
  • the UAV when the UAV is flying around obstacles in the route direction, the distance between the UAV and the target operation is obtained; the distance between the UAV and the target operation is less than or equal to the preset When the distance is set, the UAV is controlled to carry out the operation; when the distance between the UAV and the target operation is greater than the preset distance, the UAV is controlled to suspend the operation.
  • the operation effect can be guaranteed, and the consumption of pesticides, fertilizers or seeds can also be reduced.
  • the preset distance may be set based on actual conditions, which is not specifically limited in this embodiment.
  • the preset distance is 1 meter.
  • the drone when the drone is controlled to fly around obstacles in the direction of the route, if the height between the drone and the crop canopy is greater than 1 meter, the drone will be controlled Pause the spraying, if the height between the drone and the crop canopy is less than 1 meter, then control the spraying of the drone, which not only ensures the effect of the drone spraying pesticides on the crops, but also reduces the consumption of pesticides.
  • the UAV when the UAV is flying around obstacles in the direction of the route, the UAV is controlled to suspend its operation; Start the job.
  • the UAV By controlling the UAV to suspend the operation when the UAV bypasses the obstacle, and start the operation when the UAV resumes the imitation flight after bypassing the obstacle, the influence of the obstacle on the operation effect can be reduced, and the operation of the UAV can be improved. Effect.
  • the distance sensor when the distance sensor is in the on state, it is determined that the sensing by the distance sensor is valid, and when the distance sensor is in the off state, it is determined that the sensing by the distance sensor is invalid.
  • the ambient light intensity, the image brightness difference between a plurality of sensors in the visual sensor and/or the lens dirty degree of the visual sensor are acquired; when the ambient light intensity is less than the preset light intensity, the image brightness difference When it is greater than the preset brightness difference and/or the degree of dirt on the lens is greater than the preset degree of dirt, it is determined that the sensing of the visual sensor is invalid; when the ambient light intensity is greater than or equal to the preset light intensity, and the image brightness difference is less than or equal to the preset When the brightness difference and/or the dirtiness of the lens is less than or equal to the preset dirtiness, it is determined that the sensing by the visual sensor is valid.
  • the preset light intensity, the preset brightness difference and the preset dirt degree may be set based on actual conditions, which are not specifically limited in this embodiment. Whether the vision sensor's sensing is effective can be accurately evaluated according to the ambient light intensity, the image brightness difference between multiple sensors in the vision sensor, and/or the degree of dirtiness of the lens of the vision sensor.
  • the vision sensor is a binocular vision sensor, including a left vision sensor and a right vision sensor, and the image brightness difference refers to the brightness difference of images collected by the left vision sensor and the right vision sensor respectively.
  • the ambient light intensity collected by the photosensitive sensor mounted on the drone is obtained.
  • the distance sensor is used to identify the obstacle information in the direction of the UAV's route, and according to the obstacle information, the UAV is controlled in two dimensions.
  • the detour mode bypasses the obstacles in the direction of the UAV's route, and realizes the two-dimensional detour of the UAV when the ambient light is too dark, which can ensure the flight safety of the UAV.
  • the vision sensor includes at least a first sensor and a second sensor, the first sensor may be a first vision module, and the second sensor may be a second vision module.
  • the method of acquiring the image brightness difference between multiple sensors in the visual sensor may be: acquiring the first image acquired by the first sensor and the second image acquired by the second sensor; determining the difference between the first image and the second image The brightness difference between them is determined as the image brightness difference.
  • the image brightness difference between the multiple sensors in the visual sensor is used to describe the brightness consistency of the images collected by the multiple sensors in the visual sensor. If the image brightness difference is greater than the preset brightness difference, it means that the brightness is consistent Therefore, the distance sensor is used to identify the obstacle information in the direction of the UAV's route, and according to the obstacle information, the UAV is controlled to bypass the UAV in a two-dimensional way. Obstacles in the direction of the flight path of the man-machine can control the UAV to perform two-dimensional detour when the ambient light is too dark, which can ensure the flight safety of the UAV.
  • the way to obtain the degree of dirtiness of the lens of the visual sensor can be: determine the light attenuation map and/or the light refraction map of the image collected by the visual sensor; determine the lens according to the light attenuation map and/or the light refraction map degree of dirt.
  • the inventor found that when the lens is dirty, light will attenuate when it passes through the lens and enters the interior of the visual sensor, which will also cause changes in the refractive index of the lens. To this end, by determining the light attenuation map and/or Light refraction map to accurately determine how dirty the lens of the vision sensor is.
  • the way to determine the degree of lens dirt can be: according to the light attenuation diagram, determine the light attenuation degree of the lens of the vision sensor, and according to the light attenuation degree, determine the visual How dirty the lens of the sensor is.
  • the light refraction index of the lens of the vision sensor is determined according to the light refraction diagram
  • the degree of dirtiness of the lens of the vision sensor is determined according to the light refraction index of the lens of the vision sensor.
  • the pre-stored conversion relationship between the degree of light attenuation and the degree of lens dirt is obtained, and according to the conversion relationship and the degree of light attenuation of the lens of the visual sensor, the degree of dirt of the lens of the visual sensor is determined.
  • the conversion relationship between the degree of light attenuation and the degree of dirt on the lens can be obtained through multiple experiments.
  • the refractive index of the target light is obtained, wherein the refractive index of the target light is the refractive index of the light when the lens of the vision sensor is in a clean state; and the refractive index between the refractive index of the target light and the refractive index of the light determined based on the light refraction diagram is determined Difference: According to the conversion relationship between the pre-stored refractive index difference and the degree of lens dirt and the refractive index difference between the target light refractive index and the light refractive index determined based on the light refraction map, determine the lens dirty of the visual sensor degree. Wherein, the conversion relationship between the refractive index difference and the degree of lens dirt is obtained based on multiple experiments.
  • the light attenuation degree of the lens of the visual sensor is determined according to the light attenuation diagram
  • the light refractive index of the vision sensor lens is determined according to the light refraction diagram
  • the lens is determined to be dirty according to the light attenuation degree and the light refractive index degree.
  • the first degree of dirt is determined according to the degree of light attenuation
  • the second degree of dirt is determined according to the refractive index of light
  • the first degree of dirt and the second degree of dirt are weighted and summed to obtain the dirty lens of the visual sensor degree of pollution.
  • step S102 may include: substeps S1021 to S1022.
  • Step S1021 planning the first detour route of the UAV according to the obstacle information and the first detour mode
  • Step S1022 according to the first detour route, control the UAV to fly around obstacles in the direction of the route according to the first detour mode.
  • the first detour mode needs to meet the condition: when the drone flies around obstacles, the difference between the height of the target operation object of the drone and the ground-like flying height of the drone is less than or equal to the preset threshold, And/or, the drone flies around obstacles in the horizontal direction and/or vertical direction. Therefore, the first detour route planned according to the obstacle information and the first detour manner also meets the above conditions, and the first detour route may be a three-dimensional detour route or a two-dimensional detour route.
  • the first detour route is a three-dimensional detour route
  • the first imitation ground detour on the first detour route At the waypoint, control the drone to fly around obstacles in the horizontal direction, and control the drone to fly around obstacles in the vertical direction at the second ground-like orbiting waypoint on the first circumnavigation route , so as to realize the three-dimensional detour of the UAV;
  • the UAV At the ground-like orbiting waypoint, the UAV is controlled to fly around obstacles in the horizontal direction to realize the two-dimensional orbiting of the UAV.
  • the UAV's ground-like orbiting waypoint is determined from the three-dimensional dense map of the environment where the UAV is located; according to the ground-like detour waypoint, the planning The drone's first detour.
  • the three-dimensional dense map of the environment where the UAV is located is established based on the first sensing data collected by the distance sensor and the second sensing data collected by the vision sensor.
  • the detour method can determine the optimal ground-like circumnavigation waypoint that satisfies the constraint conditions accurately from the three-dimensional dense map with high accuracy. obstacle.
  • determining the ground-like circumnavigation point of the drone from the three-dimensional dense map of the environment where the drone is located may include: determining the horizontal direction of the drone from the three-dimensional dense map of the environment where the drone is located And/or the ground-like orbiting waypoint in the vertical direction, that is, the ground-like orbiting waypoint of the UAV is determined from the three-dimensional dense map in a three-dimensional planning manner.
  • the ground imitation circumnavigation waypoint of the UAV is determined by means of three-dimensional planning, so that the first detour route formed by the determined ground imitation circumnavigation waypoint is optimal, which can reduce the energy loss of obstacle avoidance.
  • the difference between the height of some or all of the ground-following waypoints and the target operation object and the ground-following flying height of the UAV is less than or equal to a preset threshold.
  • the ground-following waypoints include a first ground-following waypoint in the horizontal direction of the drone and/or a second ground-following waypoint in the vertical direction of the drone.
  • the difference between the height of all the first ground imitation circumnavigation waypoints from the target operation object and the ground imitation flight height of the UAV is less than or equal to the preset threshold, and some or all of the second ground imitation circumnavigation waypoints are far from the target operation
  • the difference between the height of the object and the ground-following flight height of the UAV is less than or equal to the preset threshold.
  • the ground-imitating circumnavigation waypoint needs to meet the constraints:
  • the difference between the height of the point and the target operation object and the ground-following flight height is less than or equal to the preset threshold, but in some cases, the ground-following circumnavigation waypoint may not be required to meet the constraint conditions, for example, the horizontal detour cannot When you open an obstacle, you can only go around the obstacle vertically, but the height of the obstacle is relatively high.
  • the distance between the height of the ground-like orbiting waypoint and the height of the target operation object and the height of the ground-like flight The difference will be greater than the preset threshold. Therefore, the difference between the determined height of the ground-following circumnavigation waypoint from the target operation object and the ground-following flying height may be greater than the preset threshold.
  • the target route segment corresponding to the obstacle in the direction of the route is obtained from the ground-following flight route of the UAV; line.
  • the imitation flight route is a flight route planned in advance or in real time.
  • step S102 may include: substeps S1023 to S1024.
  • Step S1024 according to the obstacle information and the movement state information of the drone, control the drone to fly around the obstacle in the direction of the route according to the first detour mode.
  • the movement state information of the UAV may include the movement direction and/or movement speed of the UAV.
  • the motion state information of the UAV and the first detour mode the first detour route of the UAV is planned; according to the first detour route, the UAV is controlled according to the first detour route.
  • the circumnavigation mode is used to fly around obstacles in the direction of the route.
  • the first detour route with better flight energy consumption can be planned, so that the UAV can also reduce the avoidance rate under the premise of ensuring the safe flight of the UAV.
  • the flight energy loss of obstacles can be improved, thereby increasing the endurance of drones.
  • the ground-like orbiting waypoint of the drone is determined from the three-dimensional dense map of the environment where the drone is located; Imitationally circumnavigate the waypoint, planning the first detour route of the UAV. For example, based on the obstacle information and the first detour way, multiple candidate waypoints are determined, and the multiple candidate waypoints include the first candidate waypoint on the horizontal direction of the drone and the second candidate waypoint on the vertical direction of the drone.
  • the first candidate waypoint can be determined as a simulated ground-flying waypoint.
  • the target relative distance between the UAV and the obstacle on the route direction is obtained; according to the target relative distance, the flight speed limit of the UAV is determined; according to the flight speed limit and obstacle information, control The unmanned aerial vehicle flies around obstacles in the direction of the route according to the first orbiting manner.
  • the flight speed limit is the maximum flight speed of the UAV.
  • the flight speed limit of the UAV is determined by the relative distance between the UAV and the obstacle, and based on the flight speed limit and obstacle information, the UAV is controlled to avoid obstacles in the direction of the route according to the first detour method
  • the flight of objects can ensure the flight safety of drones.
  • the method of obtaining the relative distance between the UAV and the obstacle in the direction of the route may be: according to the three-dimensional dense map of the environment where the UAV is located, determine the obstacle in the direction of the UAV and the route The first relative distance between objects; according to the depth map collected by the visual sensor of the UAV, determine the second relative distance between the UAV and the obstacle on the route direction; for the first relative distance and the second relative distance The distances are weighted and summed to obtain the relative distance of the target.
  • the relative distance between the UAV and the obstacle in the direction of the route can be determined more accurately, which is convenient for subsequent precise control of the UAV to avoid obstacles.
  • the method of determining the flight speed limit of the UAV can be: obtaining the conversion relationship between the pre-stored flight speed limit and the distance; The conversion relationship and the target relative distance between the UAV and the obstacle in the route direction determine the flight speed limit of the UAV.
  • the conversion relationship between the flight speed limit and the distance can be set based on actual conditions, which is not specifically limited in this embodiment.
  • the first sensing data collected by the distance sensor and the second sensing data collected by the visual sensor are obtained; according to the first sensing data and the second sensing data, the environment of the drone is established 3D dense map; Obtain obstacle information in the direction of the drone's route from the 3D dense map.
  • the first sensing data includes raw point cloud data collected by the radar device
  • the second sensing data includes image data collected by the visual sensor.
  • the method of establishing a three-dimensional dense map of the environment where the UAV is located may be: filter out the point cloud corresponding to the false target from the original point cloud data, and obtain the first One point cloud data; according to the position and orientation of the UAV, the first point cloud data is rigidly changed to obtain the second point cloud data; the tracking target is determined, and the point cloud data corresponding to the tracking target is obtained from the second point cloud data to obtain Target point cloud data; according to the image data collected by the visual sensor, determine the depth map; according to the target point cloud data and depth map, establish a three-dimensional dense map of the environment where the drone is located.
  • the three-dimensional dense map is sent to a control terminal communicatively connected with the UAV, so that the control terminal can display the three-dimensional dense map.
  • the control terminal displays the three-dimensional dense map, it also displays the position of the drone, the position of obstacles, and the direction of movement of the drone in the three-dimensional dense map.
  • the displayed position includes the current position of the drone and the The predicted position of the machine for a period of time after the current system time.
  • the method of controlling the UAV to fly around the obstacle in the route direction according to the second detour method may include: planning the UAV according to the obstacle information and the second detour method The second detour route; according to the second detour route, the UAV is controlled to fly around obstacles in the direction of the route according to the second detour mode.
  • the second detour route is a two-dimensional detour route, that is, when the UAV is controlled to avoid obstacles according to the second detour method, at all the ground-like detour waypoints of the second detour route, the control UAV The man-machine flies around obstacles in the horizontal direction to realize the two-dimensional orbit of the UAV.
  • the ground imitation circumnavigation waypoint of the unmanned aerial vehicle is determined from the three-dimensional dense map of the environment where the unmanned aerial vehicle is located;
  • the second detour route of the UAV is established based on the first sensing data collected by the distance sensor.
  • the obstacle information and the second detour method it can be determined from the three-dimensional dense map that the exact constraint conditions are met.
  • determining the ground-like circumnavigation point of the drone from the three-dimensional dense map of the environment where the drone is located may include: determining the horizontal direction of the drone from the three-dimensional dense map of the environment where the drone is located The ground-like orbiting waypoints on the ground, that is, to determine the ground-like orbiting waypoints of the UAV from the three-dimensional dense map in a two-dimensional planning method.
  • the height of all ground-following waypoints in the second circumnavigation route from the target operation object is the same as the ground-following flying height of the UAV.
  • the ground imitation circumnavigation waypoint of the UAV is determined by means of two-dimensional planning, so that the second detour route formed by the determined ground imitation circumnavigation waypoint is optimal, which can reduce the energy loss of obstacle avoidance.
  • the planning method of the second detour route is similar to that of the first detour route, and the specific planning process of the second detour route can refer to the planning process of the first detour route, which will not be repeated here. .
  • FIG. 7 is a schematic structural block diagram of a control device for a drone provided by an embodiment of the present application.
  • the control device 300 of the drone includes a processor 310 and a memory 320, and the processor 310 and the memory 320 are connected by a bus 330, such as an I2C (Inter-integrated Circuit) bus.
  • UAVs can acquire sensing data from distance sensors and vision sensors.
  • the UAV can be equipped with a distance sensor and a vision sensor, or the distance sensor and the vision sensor can be detachably connected to the UAV, or the UAV can communicate with a device equipped with a distance sensor and a vision sensor.
  • the processor 310 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 320 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 310 is configured to run a computer program stored in the memory 320, and implement the following steps when executing the computer program:
  • the first detour mode satisfies: when the UAV flies around the obstacle, the distance between the height of the target operation object of the UAV and the ground-following flight height of the UAV is The difference is less than or equal to a preset threshold, and the ground-following flight height is a constant height between the drone and the target operation object when the drone is flying in a ground-following operation.
  • the first circumvention mode satisfies that: the drone flies around the obstacle in a horizontal direction and/or a vertical direction.
  • processor is also used to implement the following steps:
  • the distance sensor is used to identify obstacles in the direction of the UAV’s route information
  • the second detour mode satisfies that: when the UAV flies around the obstacle, the height from the target operation object of the UAV is the same as the ground-following flight height of the UAV.
  • the second circumvention mode satisfies that: the drone flies around the obstacle in a horizontal direction.
  • processor is also used to implement the following steps:
  • the unmanned aerial vehicle When the unmanned aerial vehicle flies around the obstacle in the direction of the route, the unmanned aerial vehicle is controlled to perform operations.
  • the processor controls the UAV to perform operations when the UAV is flying around obstacles in the route direction, it is used to:
  • the drone When the distance between the drone and the target operation object is less than or equal to a preset distance, the drone is controlled to perform operations.
  • processor is also used to implement the following steps:
  • the drone When the distance between the drone and the target operation is greater than the preset distance, the drone is controlled to suspend the operation.
  • processor is also used to implement the following steps:
  • the operation is started when the drone resumes the ground imitation flight after avoiding the obstacle in the route direction.
  • processor is also used to implement the following steps:
  • the ambient light intensity is less than a preset light intensity
  • the image brightness difference is greater than a preset brightness difference, and/or the lens is dirty more than a preset dirty degree, it is determined that the sensing of the visual sensor is invalid .
  • the visual sensor includes at least a first sensor and a second sensor
  • the processor is configured to realize:
  • a brightness difference between the first image and the second image is determined, and the brightness difference is determined as the image brightness difference.
  • the processor acquires the degree of dirtiness of the lens of the visual sensor, it is used to:
  • the degree of dirtiness of the lens is determined.
  • the processor determines the degree of dirtiness of the lens according to the light attenuation map and/or the light refraction map, it is used to:
  • the light attenuation map determine the light attenuation degree of the lens of the visual sensor
  • the degree of dirtiness of the lens is determined.
  • processor is also used to implement the following steps:
  • the processor controls the UAV to fly around the obstacle in the direction of the route according to the obstacle information according to the obstacle information, it is used to realize:
  • the UAV is controlled to fly around obstacles in the direction of the route in a first detour manner.
  • the processor implements planning the first detour route of the UAV according to the obstacle information and the first detour mode, it is used to implement:
  • the obstacle information and the first detour method determine the ground-like detour waypoint of the UAV from the three-dimensional dense map of the environment where the UAV is located;
  • the first detour route of the UAV is planned.
  • the processor implements planning the first detour route of the UAV according to the ground-like detour waypoint, it is used to realize:
  • the difference between the height of some or all of the ground-following waypoints from the target operation object and the ground-following flying height of the UAV is less than or equal to a preset threshold.
  • the ground-like circling waypoint includes a first ground-like circling waypoint in the horizontal direction of the UAV and/or a second ground-like circling waypoint in the vertical direction of the UAV. waypoint.
  • the difference between the height of all the first ground-following circumnavigation waypoints from the target operation object and the ground-following flying height of the UAV is less than or equal to a preset threshold, and some or all of the The difference between the height of the second ground-following circumnavigation waypoint from the target object and the ground-following flying height of the UAV is less than or equal to a preset threshold.
  • the processor controls the UAV to fly around obstacles in the route direction according to the obstacle information according to the obstacle information, it is used to realize:
  • the UAV is controlled to fly around the obstacle in the direction of the route in a first detour manner.
  • the processor controls the UAV to fly around obstacles in the direction of the route according to the obstacle information and the movement state information of the UAV. , used to implement:
  • the UAV is controlled to fly around obstacles in the direction of the route in a first detour manner.
  • the processor plans the first detour route of the UAV according to the obstacle information, the motion state information of the UAV and the first detour mode, it is used to implement
  • the motion state information of the UAV and the first detour mode determine the ground-like orbiting waypoint of the UAV from the three-dimensional dense map of the environment where the UAV is located ;
  • the first detour route of the UAV is planned.
  • the processor controls the UAV to fly around the obstacle in the direction of the route according to the obstacle information according to the obstacle information, it is used to realize:
  • the UAV is controlled to fly around obstacles in the direction of the route in a first detour manner.
  • the processor obtains the target relative distance between the UAV and the obstacle in the route direction, it is used to realize:
  • the three-dimensional dense map of the environment where the UAV is located determine a first relative distance between the UAV and obstacles in the direction of the route;
  • the distance sensor includes a millimeter wave radar.
  • the processor realizes using the distance sensor and the vision sensor to identify obstacle information in the direction of the UAV's route, it is used to realize:
  • processor is also used to implement the following steps:
  • controlling the drone to send the three-dimensional dense map to a control terminal communicatively connected to the drone, so that the control terminal can display the three-dimensional dense map.
  • FIG. 8 is a schematic structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • the drone 400 includes a body 410 , a power system 420 , a distance sensor 430 , a vision sensor 440 and a control device 450 .
  • the power system 420 is set on the body 410 and is used to provide flight power for the UAV 400.
  • the distance sensor 430 and the visual sensor 440 are fixedly connected or detachably connected to the body 410 for collecting sensing data and controlling the device.
  • the 450 is disposed in the body 410 for controlling the UAV 400 .
  • the control device 450 may be the control device 300 shown in FIG. 7 .
  • the embodiment of the present application also provides a storage medium, the storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to realize the control of the drone provided by the above embodiments method steps.
  • the storage medium may be the internal storage unit of the drone described in any of the above embodiments, such as the hard disk or memory of the drone.
  • the storage medium can also be an external storage device of the drone, such as a plug-in hard disk equipped on the drone, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card , Flash Card (Flash Card) and so on.

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种无人机的控制方法，包括：在无人机进行仿地飞行时，若距离传感器和视觉传感器的感测均有效，利用距离传感器和视觉传感器，识别无人机的航线方向上的障碍物信息（S101）；根据障碍物信息，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行，其中，第一绕行方式满足：无人机绕开障碍物飞行时距离无人机的目标作业物的高度与无人机的仿地飞行高度之间的差值小于或等于预设阈值（S102）。该方法能够在保证无人机的作业安全性的同时，提高无人机的作业效率和作业效果。

Description

无人机的控制方法、控制装置、无人机及存储介质 技术领域
本申请涉及无人机领域，尤其涉及一种无人机的控制方法、控制装置、无人机及存储介质。
背景技术
随着无人机制造业的快速发展，越来越多的用户开始采用无人机进行作业和，尤其是利用无人机进行农药喷洒、化肥喷洒和农作物播撒等，具有对农作物损害小、农药利用率高和降低劳动强度等优点。目前，无人机在作业过程中，如果发现障碍物，无人机会避让障碍物，但在避让障碍物时，容易出现无人机偏离作业物的问题，影响作业效率和作业效果，用户体验不好。
发明内容
基于此，本申请实施例提供了一种无人机的控制方法、控制装置、无人机及存储介质，旨在保证无人机的作业安全性的同时，提高无人机的作业效率和作业效果。
第一方面，本申请实施例提供了一种无人机的控制方法，所述无人机能够获取距离传感器和视觉传感器的感测数据，所述方法包括：
在所述无人机进行仿地飞行时，若所述距离传感器和所述视觉传感器的感测均有效，利用所述距离传感器和所述视觉传感器，识别所述无人机的航线方向上的障碍物信息；
根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行；
其中，所述第一绕行方式满足：所述无人机绕开所述障碍物飞行时距离所述无人机的目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值，所述仿地飞行高度为所述无人机在仿地飞行作业时，所述无人机距离所述目标作业物的恒定高度。
第二方面，本申请实施例还提供了一种无人机的控制装置，所述无人机能够获取距离传感器和视觉传感器的感测数据，所述控制装置包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如上所述的无人机的控制方法。
第三方面，本申请实施例还提供了一种无人机，包括：
机体；
动力系统，设于所述机体上，用于为所述无人机提供飞行动力。
距离传感器和视觉传感器，与所述机体固定连接或可拆卸地连接；
如上所述的无人机的控制装置，设于所述机体内，用于控制所述无人机。
第四方面，本申请实施例还提供了一种存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的无人机的控制方法。
本申请实施例提供了一种无人机的控制方法、控制装置、无人机及存储介质，该控制方法通过在无人机进行仿地飞行时，若距离传感器和视觉传感器的感测均有效，则利用距离传感器和视觉传感器，准确地识别无人机的航线方向上的障碍物信息，然后根据准确地障碍物信息，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行，使得无人机能够在精确绕开障碍物飞行的同时，保证无人机距离目标作业物的高度与仿地飞行高度之间的差值小于或等于预设阈值，避免无人机避让障碍物时导致无人机偏离作业物，影响作业效果和作业效率，进而提高无人机的作业效率和作业效果。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是实施本申请实施例提供的无人机的控制方法的一场景示意图；
图2是本申请实施例提供的一种无人机的控制方法的步骤示意流程图；
图3是本申请实施例中无人机的三维坐标系的一示意图；
图4是本申请实施例提供的另一种无人机的控制方法的步骤示意流程图；
图5是图3中的无人机的控制方法的一子步骤示意流程图；
图6是图3中的无人机的控制方法的另一子步骤示意流程图；
图7是本申请实施例提供的一种无人机的控制装置的结构示意性框图；
图8是本申请实施例提供的一种无人机的结构示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
随着无人机制造业的快速发展，越来越多的用户开始采用无人机进行作业和，尤其是利用无人机进行农药喷洒、化肥喷洒和农作物播撒等，具有对农作物损害小、农药利用率高和降低劳动强度等优点。目前，无人机在作业过程中，如果发现障碍物，无人机会避让障碍物，但在避让障碍物时，容易出现无人机偏离作业物的问题，影响作业效率和作业效果，用户体验不好。
为解决上述问题，本申请实施例提供了一种无人机的控制方法、控制装置、无人机及存储介质，该控制方法通过在无人机进行仿地飞行时，若距离传感器和视觉传感器的感测均有效，则利用距离传感器和视觉传感器，准确地识别无人机的航线方向上的障碍物信息，然后根据准确地障碍物信息，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行，使得无人机能够在精确绕开障碍物飞行的同时，保证无人机距离目标作业物的高度与仿地飞行高度之间的差值小于或等于预设阈值，避免无人机避让障碍物时导致无人机偏离作业物，影响作业效果和作业效率，进而提高无人机的作业效率和作业效果。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，图1是实施本申请实施例提供的无人机的控制方法的一场景示意图。如图1所示，该场景包括无人机100和控制终端200，控制终端200与无人机100通信连接，用于控制无人机100。
在一实施例中，无人机100包括机体110、动力系统120、距离传感器130、视觉传感器140和控制装置(图1未示出)，动力系统120设于机体110上，用于为无人机100提供飞行动力，距离传感器130和视觉传感器140与机体110 固定连接或者可拆卸地连接，距离传感器130和视觉传感器140用于感测无人机100周围的环境，以生成感测数据，控制装置用于控制无人机100的飞行。其中，距离传感器130包括雷达装置，雷达装置可以包括毫米波雷达、激光雷达。
在一实施例中，无人机100也可以不搭载距离传感器130和视觉传感器140，而是与搭载了距离传感器和视觉传感器的设备通信连接，使得无人机100能够获取距离传感器和视觉传感器的感测数据。其中，搭载了距离传感器和视觉传感器的设备能够利用距离传感器和/或视觉传感器识别无人机100的航线方向上的障碍物信息。
其中，动力系统120可以包括一个或多个螺旋桨121、与一个或多个螺旋桨相对应的一个或多个电机122、一个或多个电子调速器(简称为电调)。其中，电机122连接在电子调速器与螺旋桨121之间，电机122和螺旋桨121设置在无人机100的机体110上；电子调速器用于接收控制装置产生的驱动信号，并根据驱动信号提供驱动电流给电机122，以控制电机122的转速。电机122用于驱动螺旋桨121旋转，从而为无人机100的飞行提供动力，该动力使得无人机100能够实现一个或多个自由度的运动。在某些实施例中，无人机100可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴、偏航轴和俯仰轴。应理解，电机122可以是直流电机，也可以交流电机。另外，电机122可以是无刷电机，也可以是有刷电机。
在一实施例中，控制装置在控制无人机100进行仿地飞行时，若距离传感器130和视觉传感器140的感测均有效，则利用距离传感器130和视觉传感器140，识别无人机100的航线方向上的障碍物信息，并根据该障碍物信息，控制无人机100按照第一绕行方向绕开航线方向上的障碍物飞行；若距离传感器130的感测有效，且视觉传感器140的感测无效，则利用距离传感器130识别无人机100的航线方向上的障碍物信息，并根据该障碍物信息，控制无人机100按照第二绕行方向绕开航线方向上的障碍物飞行。
其中，第一绕行方式满足：无人机100绕开障碍物飞行时距离无人机100的目标作业物的高度与无人机100的仿地飞行高度之间的差值小于或等于预设阈值，该仿地飞行高度为无人机100在仿地飞行作业时，无人机100距离所述目标作业物的恒定高度。第二绕行方式满足：无人机100绕开障碍物飞行时距离无人机100的目标作业物的高度与无人机100的仿地飞行高度相同。
其中，控制终端200与显示装置210通信连接，显示装置210用于显示无 人机100发送的图像。需要说明的是，显示装置210包括设置在控制终端200上的显示屏或者独立于控制终端200的显示器，独立于控制终端200的显示器可以包括手机、平板电脑或者个人电脑等，或者也可以是带有显示屏的其他电子设备。其中，该显示屏包括LED显示屏、OLED显示屏、LCD显示屏等等。
无人机100包括旋翼型无人机，例如双旋翼无人机、四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机，还可以是旋翼型与固定翼无人机的组合，在此不做具体限定。控制终端200可以包括但不限于：智能电话/手机、平板电脑、个人数字助理(PDA)、台式计算机、媒体内容播放器、视频游戏站/系统、虚拟现实系统、增强现实系统、可穿戴式装置(例如，手表、眼镜、手套、头饰(例如，帽子、头盔、虚拟现实头戴耳机、增强现实头戴耳机、头装式装置(HMD)、头带)。
以下，将结合图1中的场景对本申请的实施例提供的无人机的控制方法进行详细介绍。需知，图1中的场景仅用于解释本申请实施例提供的无人机的控制方法，但并不构成对本申请实施例提供的无人机的控制方法应用场景的限定。
请参阅图2，图2是本申请实施例提供的一种无人机的控制方法的步骤示意流程图。
如图2所示，该无人机的控制方法包括步骤S101至步骤S102。
步骤S101、在无人机进行仿地飞行时，若距离传感器和视觉传感器的感测均有效，利用距离传感器和视觉传感器，识别无人机的航线方向上的障碍物信息；
步骤S102、根据障碍物信息，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行。
无人机能够获取距离传感器和视觉传感器的感测数据。其中，无人机可以搭载距离传感器和视觉传感器，或者距离传感器和视觉传感器可拆卸地与无人机连接，或者无人机与搭载了距离传感器和视觉传感器的设备通信连接。通过在距离传感器和视觉传感器的感测均有效时，利用距离传感器和视觉传感器，可以精确地识别无人机的航线方向上的障碍物信息，提高障碍物信息的识别准确度，使得无人机在进行仿地飞行时，能够精准地绕开航线方向上的障碍物，保证无人机的作业安全。
其中，无人机的航线方向是指无人机按照规划好的仿地飞行航线进行仿地飞行时的飞行方向。第一绕行方式满足：无人机绕开障碍物飞行时距离无人机的目标作业物的高度与无人机的仿地飞行高度之间的差值小于或等于预设阈值， 仿地飞行高度为无人机在仿地飞行作业时，无人机距离目标作业物的恒定高度，目标作业物可以包括农作物、果树、建筑物等。其中，预设阈值可基于实际情况进行设置，本实施例对此不做具体限定。例如，预设阈值为2米。
在一实施例中，第一绕行方式满足：无人机在水平方向和/或竖直方向上绕开航线方向上的障碍物飞行，即无人机以三维绕行方式绕开航线方向上的障碍物飞行。其中，无人机在水平方向绕开航线方向上的障碍物飞行时，无人机水平地沿第一方向、第二方向、第三方向或第四方向(如前向、后向、左向、右向)飞行，无人机在竖直方向上绕开航线方向上的障碍物飞行时，无人机竖直地沿第五方向或第六方向(如垂直向上、垂直向下)飞行。由于无人机能够以三维绕行方式绕开航线方向上的障碍物飞行，使得无人机能够按照最优绕行路径绕开障碍物，降低无人机的能量损耗。
例如，如图3所示，以无人机的中心为原点O，无人机的机头方向为X轴，竖直方向为Z轴、水平线为Y轴建立无人机的三维坐标系，无人机在水平方向绕开航线方向上的障碍物飞行时，无人机在XOY形成的平面内沿第一方向(X轴正方向)、第二方向(X轴负方向)、第三方向(Y轴正方向)或第四方向(Y轴负方向)飞行，无人机在竖直方向上绕开航线方向上的障碍物飞行时，无人机在YOZ形成的平面内沿第五方向(Z轴正方向)或者第六方向(Z轴负方向)飞行。
在一实施例中，如图4所示，该无人机的控制方法包括步骤S201至步骤S202。
步骤S201、在无人机进行仿地飞行时，若视觉传感器的感测无效且距离传感器的感测有效，利用距离传感器，识别无人机的航线方向上的障碍物信息；
步骤S202、根据障碍物信息，控制无人机按照第二绕行方式绕开航线方向上的障碍物飞行。
其中，第二绕行方式满足：无人机绕开航线方向上的障碍物飞行时距离无人机的目标作业物的高度与无人机的仿地飞行高度相同。通过在视觉传感器的感测无效且距离传感器的感测有效时，利用距离传感器识别到的障碍物信息，控制无人机按照第二绕行方式绕开航线方向上的障碍物飞行，使得无人机在绕开障碍物时距离无人机的目标作业物的高度与无人机的仿地飞行高度相同，避免无人机避让障碍物时导致无人机偏离作业物，影响作业效果和作业效率，进而提高无人机的作业效率和作业效果。
在一实施例中，第二绕行方式满足：无人机在水平方向上绕开障碍物飞行， 即无人机以二维绕行方式绕开障碍物飞行。其中，距离传感器包括毫米波雷达。在视觉传感器的感测无效且距离传感器的感测有效时，受限于天线射频方案、物体反射强度的影响，毫米波雷达无法感知障碍物的具体高度，因此，控制无人机在水平方向上绕开障碍物飞行，能够保证无人机的飞行安全，避免因为毫米波雷达无法感知障碍物具体高度导致无人机在竖直方向上绕行障碍物飞行时与障碍物发生碰撞。
在一实施例中，在视觉传感器的感测无效、距离传感器的感测有效，且距离传感器为激光雷达时，利用激光雷达，识别无人机的航线方向上的障碍物信息，并根据该障碍物信息，控制无人机按照第一绕行方式绕开障碍物飞行。由于激光雷达可以感知障碍物的具体高度以及障碍物与无人机之间的相对位置关系，使得无人机以三维绕行方式绕开障碍物飞行时，可以保证无人机的飞行安全，同时无人机能够按照最优绕行路径绕开障碍物，降低无人机的能量损耗。
在一实施例中，在无人机绕开航线方向上的障碍物飞行时，控制无人机进行作业。其中，无人机进行的作业包括喷洒作业、播撒作业、测绘作业或电力巡检作业等。通过在控制无人机绕开障碍物的同时，控制无人机进行作业，可以提高无人机的作业效率。
在一实施例中，在无人机绕开航线方向上的障碍物飞行时，获取无人机与目标作业物之间的距离；在无人机与目标作业物之间的距离小于或等于预设距离时，控制无人机进行作业；在无人机与目标作业之间的距离大于预设距离时，控制无人机暂停作业。通过在控制无人机绕开障碍物的同时，基于无人机与目标作业之间的距离，控制无人机作业或暂停作业，可以保证作业效果，也可以降低农药、化肥或种子的消耗。
其中，预设距离可以基于实际情况进行设置，本实施例对此不做具体限定。例如，预设距离为1米。例如，若无人机在给农作物喷洒农药，则在控制无人机绕开航线方向上的障碍物飞行时，若无人机与农作物冠层之间的高度大于1米，则控制无人机暂停喷洒，若无人机与农作物冠层之间的高度小于1米，则控制无人机喷洒，这样，既保证了无人机给农作物喷洒农药的效果，也降低了农药的消耗。
在一实施例中，在无人机绕开航线方向上的障碍物飞行的过程中，控制无人机暂停作业；在无人机绕开航线方向上的障碍物后重新进行仿地飞行时，启动作业。通过在无人机绕开障碍物时控制无人机暂停作业，而在绕开障碍物后重新进行仿地飞行时，启动作业，可以降低障碍物对作业效果的影响，提高无 人机的作业效果。
在一实施例中，在距离传感器处于开启状态时，确定距离传感器的感测有效，在距离传感器处于关闭状态时，确定距离传感器的感测无效。
在一实施例中，获取环境光照强度、视觉传感器中的多个传感器之间的图像亮度差值和/或视觉传感器的镜头脏污程度；在环境光照强度小于预设光照强度、图像亮度差值大于预设亮度差值和/或镜头脏污程度大于预设脏污程度时，确定视觉传感器的感测无效；在环境光照强度大于或等于预设光照强度、图像亮度差值小于或等于预设亮度差值和/或镜头脏污程度小于或等于预设脏污程度时，确定视觉传感器的感测有效。
可选的，上述三个条件可以只检测其中之一，也可以检测其中任意两个或三个。其中，预设光照强度、预设亮度差值和预设脏污程度可以基于实际情况进行设置，本实施例对此不做具体限定。通过环境光照强度、视觉传感器中的多个传感器之间的图像亮度差值和/或视觉传感器的镜头脏污程度，可以准确地评价视觉传感器的感测是否有效。比如，视觉传感器为双目视觉传感器，包括左视觉传感器和右视觉传感器，则图像亮度差值是指左视觉传感器和右视觉传感器各自采集的图像的亮度差值。
在一实施例中，获取无人机搭载的光敏传感器采集到的环境光照强度。通过在环境光照强度小于预设光照强度时，确定视觉传感器的感测无效，进而使用距离传感器识别无人机的航线方向上的障碍物信息，并根据障碍物信息，控制无人机以二维绕行方式绕开无人机的航线方向上的障碍物，实现环境光过暗时控制无人机进行二维绕行，可以保证无人机的飞行安全。
在一实施例中，视觉传感器至少包括第一传感器和第二传感器，第一传感器可以为第一视觉模组，第二传感器可以为第二视觉模组。视觉传感器中的多个传感器之间的图像亮度差值的获取方式可以为：获取第一传感器采集到的第一图像和第二传感器采集到的第二图像；确定第一图像与第二图像之间的亮度差值，并将亮度差值确定为图像亮度差值。
其中，视觉传感器中的多个传感器之间的图像亮度差值用于描述视觉传感器中的多个传感器采集到的图像的亮度一致性，图像亮度差值大于预设亮度差值，则表示亮度一致性较低，进而可以确定视觉传感器的感测无效，因此使用距离传感器识别无人机的航线方向上的障碍物信息，并根据障碍物信息，控制无人机以二维绕行方式绕开无人机的航线方向上的障碍物，实现环境光过暗时控制无人机进行二维绕行，可以保证无人机的飞行安全。
在一实施例中，视觉传感器的镜头脏污程度的获取方式可以为：确定视觉传感器采集到的图像的光线衰减图和/或光线折射图；根据光线衰减图和/或光线折射图，确定镜头脏污程度。发明人发现镜头存在脏污时，光线透过镜头进入视觉传感器的内部时会存在衰减，也会导致镜头的折射率发生变化，对此通过确定视觉传感器采集到的图像的光线衰减图和/或光线折射图，可以准确地确定视觉传感器的镜头脏污程度。
在一实施例中，根据光线衰减图和/或光线折射图，确定镜头脏污程度的方式可以为：根据光线衰减图，确定视觉传感器的镜头的光线衰减程度，并根据光线衰减程度，确定视觉传感器的镜头脏污程度。或者，根据光线折射图，确定视觉传感器的镜头的光线折射率，并根据视觉传感器的镜头的光线折射率，确定视觉传感器的镜头脏污程度。
示例性的，获取预存的光线衰减程度与镜头脏污程度之间的转换关系，并根据该转换关系和视觉传感器的镜头的光线衰减程度，确定视觉传感器的镜头脏污程度。其中，光线衰减程度与镜头脏污程度之间的转换关系可以通过多次试验得到。
示例性的，获取目标光线折射率，其中，目标光线折射率为视觉传感器的镜头处于干净状态时的光线折射率；确定目标光线折射率与基于光线折射图确定的光线折射率之间的折射率差值；根据预存的折射率差值与镜头脏污程度之间的转换关系以及目标光线折射率与基于光线折射图确定的光线折射率之间的折射率差值，确定视觉传感器的镜头脏污程度。其中，折射率差值与镜头脏污程度之间的转换关系基于多次试验得到。
在一实施例中，根据光线衰减图，确定视觉传感器的镜头的光线衰减程度，根据光线折射图，确定视觉传感器的镜头的光线折射率，并根据光线衰减程度和光线折射率，确定镜头脏污程度。示例性的，根据光线衰减程度确定第一脏污程度，并根据光线折射率确定第二脏污程度；对第一脏污程度和第二脏污程度进行加权求和，得到视觉传感器的镜头脏污程度。
在一实施例中，如图5所示，步骤S102可以包括：子步骤S1021至S1022。
步骤S1021、根据障碍物信息和第一绕行方式，规划无人机的第一绕行航线；
步骤S1022、根据第一绕行航线，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行。
由于第一绕行方式需要满足条件：无人机绕开障碍物飞行时距离无人机的 目标作业物的高度与无人机的仿地飞行高度之间的差值小于或等于预设阈值，和/或，无人机在水平方向和/或竖直方向上绕开障碍物飞行。因此，按照障碍物信息和第一绕行方式规划的第一绕行航线也满足上述条件，且第一绕行航线可以为三维绕行航线，也可以为二维绕行航线。
在一实施例中，若第一绕行航线为三维绕行航线，则在控制无人机按照第一绕行方式绕开障碍物时，在第一绕行航线上的第一仿地绕行航点处，控制无人机在水平方向上绕开障碍物飞行，在第一绕行航线上的第二仿地绕行航点处，控制无人机在竖直方向上绕开障碍物飞行，以实现无人机的三维绕行；若第一绕行航线为二维绕行航线，则在控制无人机按照第一绕行方式绕开障碍物时，在第一绕行航线的全部仿地绕行航点处，控制无人机在水平方向上绕开障碍物飞行，以实现无人机的二维绕行。
在一实施例中，根据障碍物信息和第一绕行方式，从无人机所处环境的三维稠密地图中确定无人机的仿地绕行航点；根据仿地绕行航点，规划无人机的第一绕行航线。其中，无人机所处环境的三维稠密地图是基于距离传感器采集到的第一感测数据和视觉传感器采集到的第二感测数据建立的，精确性较高，通过障碍物信息和第一绕行方式，可以从精确性高的三维稠密地图中确定准确的满足约束条件的最优的仿地绕行航点，无人机在仿地绕行航点飞行时，无人机能够绕开障碍物。
在一实施例中，从无人机所处环境的三维稠密地图中确定无人机的仿地绕行航点可以包括：从无人机所处环境的三维稠密地图中无人机的水平方向和/或竖直方向上的仿地绕行航点，即以三维规划方式，从三维稠密地图中确定无人机的仿地绕行航点。通过三维规划的方式确定无人机的仿地绕行航点，使得确定的仿地绕行航点形成的第一绕行航线最优，可以减少避障的能量损耗。
在一实施例中，部分或者全部仿地绕行航点距离目标作业物的高度与无人机的仿地飞行高度之间的差值小于或等于预设阈值。仿地绕行航点包括无人机的水平方向上的第一仿地绕行航点和/或无人机的竖直方向上的第二仿地绕行航点。全部第一仿地绕行航点距离目标作业物的高度与无人机的仿地飞行高度之间的差值小于或等于预设阈值，部分或者全部第二仿地绕行航点距离目标作业物的高度与无人机的仿地飞行高度之间的差值小于或等于预设阈值。
可以理解的是，按照障碍物信息和第一绕行方式，从三维稠密地图中确定无人机的仿地绕行航点时，需要仿地绕行航点满足约束条件：仿地绕行航点距离目标作业物的高度与仿地飞行高度之间的差值小于或等于预设阈值，但在一 些情况下，可以不要求仿地绕行航点满足约束条件，例如，水平绕行无法绕开障碍物，只能竖直绕行绕开障碍物，但障碍物的高度较高，要想绕开障碍物，仿地绕行航点距离目标作业物的高度与仿地飞行高度之间的差值会大于预设阈值，因此，确定的仿地绕行航点距离目标作业物的高度与仿地飞行高度之间的差值可以大于预设阈值。
在一实施例中，从无人机的仿地飞行航线中获取航线方向上的障碍物对应的目标航线段；根据仿地绕行航点，调整目标航线段，得到无人机的第一绕行航线。其中，仿地飞行航线为提前或者实时规划好的飞行航线。通过确定的仿地绕行航点，调整障碍物对应的目标航线段，使得第一绕行航线与目标航线段之间的偏差较小，进而在控制无人机按照第一绕行航线绕开障碍物时，无人机不用严重偏离仿地飞行航线，能够在保证飞行安全同时，提高作业效果和作业效率。
在一实施例中，如图6所示，步骤S102可以包括：子步骤S1023至S1024。
步骤S1023、获取无人机的运动状态信息；
步骤S1024、根据障碍物信息以及无人机的运动状态信息，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行。
其中，无人机的运动状态信息可以包括无人机的运动方向和/或运动速度。通过障碍物信息和无人机的运动状态信息，可以更优地控制按照第一绕行方式绕开航线方向上的障碍物飞行。
在一实施例中，根据障碍物信息、无人机的运动状态信息和第一绕行方式，规划无人机的第一绕行航线；根据第一绕行航线，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行。基于障碍物信息、无人机的运动状态信息和第一绕行方式，可以规划得到飞行能耗更优的第一绕行航线，使得在保证无人机安全飞行的前提下，也可以降低避障的飞行能量损耗，进而提高无人机的续航时长。
在一实施例中，根据障碍物信息、无人机的运动状态信息和第一绕行方式，从无人机所处环境的三维稠密地图中确定无人机的仿地绕行航点；根据仿地绕行航点，规划无人机的第一绕行航线。例如，基于障碍物信息和第一绕行方式，确定多个候选航点，且多个候选航点包括无人机水平方向上的第一候选航点和无人机竖直方向上的第二候选航点，由于无人机的运动方向为沿着机头方向往前飞行，因此，可以将第一候选航点确定为仿地绕行航点。
在一实施例中，获取无人机与航线方向上的障碍物之间的目标相对距离； 根据目标相对距离，确定无人机的飞行速度限值；根据飞行速度限值和障碍物信息，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行。其中，飞行速度限值为无人机的最大飞行速度。通过无人机与障碍物之间的相对距离确定无人机的飞行速度限值，并基于飞行速度限值和障碍物信息，控制无人机按照第一绕行方式绕开航线方向上的障碍物飞行，可以保证无人机的飞行安全。
在一实施例中，获取无人机与航线方向上的障碍物之间的目标相对距离的方式可以为：根据无人机所处环境的三维稠密地图，确定无人机与航线方向上的障碍物之间的第一相对距离；根据无人机的视觉传感器采集到的深度图，确定无人机与航线方向上的障碍物之间的第二相对距离；对第一相对距离和第二相对距离进行加权求和，得到目标相对距离。通过综合考虑三维稠密地图和视觉传感器采集到的深度图，可以更加准确地确定无人机与航线方向上的障碍物之间的相对距离，便于后续精准地控制无人机绕开障碍物。
示例性的，根据目标相对距离，确定无人机的飞行速度限值的方式可以为：获取预存的飞行速度限值与距离之间的转换关系；根据预存的飞行速度限值与距离之间的转换关系和无人机与航线方向上的障碍物之间的目标相对距离，确定无人机的飞行速度限值。其中，飞行速度限值与距离之间的转换关系可以基于实际情况进行设置，本实施例对此不做具体限定。
在一实施例中，获取距离传感器采集到的第一感测数据和视觉传感器采集到的第二感测数据；根据第一感测数据和第二感测数据，建立无人机所处环境的三维稠密地图；从三维稠密地图中获取无人机的航线方向上的障碍物信息。其中，第一感测数据包括雷达装置采集到的原始点云数据、第二感测数据包括视觉传感器采集到的图像数据。通过融合点云数据和图像数据，可以精确地建立无人机所处环境的三维稠密地图。
示例性的，根据第一感测数据和第二感测数据，建立无人机所处环境的三维稠密地图的方式可以为：从原始点云数据中滤除虚假目标对应的点云，得到第一点云数据；根据无人机位姿对第一点云数据进行刚体变化，得到第二点云数据；确定跟踪目标，并从第二点云数据中获取跟踪目标对应的点云数据，得到目标点云数据；根据视觉传感器采集到的图像数据，确定深度图；根据目标点云数据和深度图，建立无人机所处环境的三维稠密地图。
在一实施例中，将三维稠密地图发送给与无人机通信连接的控制终端，以供控制终端显示三维稠密地图。其中，控制终端在显示三维稠密地图的同时，还在三维稠密地图中显示无人机的位置、障碍物的位置、无人机的运动方向， 显示的位置包括无人机的当前位置和无人机在当前系统时刻之后的一段时间内的预测位置。通过显示三维稠密地图、无人机的位置、障碍物的位置、无人机的运动方向，可以方便用户知晓无人机与障碍物之间的相对关系，便于用户控制无人机。
在一实施例中，根据障碍物信息，控制无人机按照第二绕行方式绕开航线方向上的障碍物飞行的方式可以包括：根据障碍物信息和第二绕行方式，规划无人机的第二绕行航线；根据第二绕行航线，控制无人机按照第二绕行方式绕开航线方向上的障碍物飞行。其中，第二绕行航线为二维绕行航线，即在控制无人机按照第二绕行方式绕开障碍物时，在第二绕行航线的全部仿地绕行航点处，控制无人机在水平方向上绕开障碍物飞行，以实现无人机的二维绕行。
在一实施例中，根据障碍物信息和第二绕行方式，从无人机所处环境的三维稠密地图中确定无人机的仿地绕行航点；根据仿地绕行航点，规划无人机的第二绕行航线。其中，无人机所处环境的三维稠密地图是基于距离传感器采集到的第一感测数据建立的，通过障碍物信息和第二绕行方式，可以从三维稠密地图中确定准确的满足约束条件的最优的仿地绕行航点，无人机在仿地绕行航点飞行时，无人机能够绕开障碍物。
在一实施例中，从无人机所处环境的三维稠密地图中确定无人机的仿地绕行航点可以包括：从无人机所处环境的三维稠密地图中无人机的水平方向上的仿地绕行航点，即以二维规划方式，从三维稠密地图中确定无人机的仿地绕行航点。其中，第二绕行航线中的全部仿地绕行航点距离目标作业物的高度与无人机的仿地飞行高度相同。通过二维规划的方式确定无人机的仿地绕行航点，使得确定的仿地绕行航点形成的第二绕行航线最优，可以减少避障的能量损耗。
可以理解的是，第二绕行航线的规划方式与第一绕行航线的规划方式类似，第二绕行航线的具体规划过程，可以参照第一绕行航线的规划过程，此处不做赘述。
请参阅图7，图7是本申请实施例提供的一种无人机的控制装置的结构示意性框图。
如图7所示，该无人机的控制装置300包括处理器310和存储器320，处理器310和存储器320通过总线330连接，该总线330比如为I2C(Inter-integrated Circuit)总线。无人机能够获取距离传感器和视觉传感器的感测数据。其中，无人机可以搭载距离传感器和视觉传感器，或者距离传感器和视觉传感器可拆卸地与无人机连接，或者无人机与搭载了距离传感器和视觉传感器的设备通信 连接。
具体地，处理器310可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器320可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器310用于运行存储在存储器320中的计算机程序，并在执行所述计算机程序时实现以下步骤：
在所述无人机进行仿地飞行时，若所述距离传感器和所述视觉传感器的感测均有效，利用所述距离传感器和所述视觉传感器，识别所述无人机的航线方向上的障碍物信息；
根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行；
其中，所述第一绕行方式满足：所述无人机绕开所述障碍物飞行时距离所述无人机的目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值，所述仿地飞行高度为所述无人机在仿地飞行作业时，所述无人机距离所述目标作业物的恒定高度。
可选的，所述第一绕行方式满足：所述无人机在水平方向和/或竖直方向上绕开所述障碍物飞行。
可选的，所述处理器还用于实现以下步骤：
在所述无人机进行仿地飞行时，若所述视觉传感器的感测无效且所述距离传感器的感测有效，利用所述距离传感器，识别所述无人机的航线方向上的障碍物信息；
根据所述障碍物信息，控制所述无人机按照第二绕行方式绕开所述航线方向上的障碍物飞行；
其中，所述第二绕行方式满足：所述无人机绕开所述障碍物飞行时距离所述无人机的目标作业物的高度与所述无人机的仿地飞行高度相同。
可选的，所述第二绕行方式满足：所述无人机在水平方向上绕开所述障碍物飞行。
可选的，所述处理器还用于实现以下步骤：
在所述无人机绕开所述航线方向上的障碍物飞行时，控制所述无人机进行作业。
可选的，所述处理器在实现在所述无人机绕开所述航线方向上的障碍物飞行时，控制所述无人机进行作业时，用于实现：
在所述无人机绕开所述航线方向上的障碍物飞行时，获取所述无人机与所述目标作业物之间的距离；
在所述无人机与所述目标作业物之间的距离小于或等于预设距离时，控制所述无人机进行作业。
可选的，所述处理器还用于实现以下步骤：
在所述无人机与所述目标作业之间的距离大于所述预设距离时，控制所述无人机暂停所述作业。
可选的，所述处理器还用于实现以下步骤：
在所述无人机绕开所述航线方向上的障碍物飞行的过程中，控制所述无人机暂停作业；
在所述无人机绕开所述航线方向上的障碍物后重新进行所述仿地飞行时，启动所述作业。
可选的，所述处理器还用于实现以下步骤：
获取环境光照强度、所述视觉传感器中的多个传感器之间的图像亮度差值和/或所述视觉传感器的镜头脏污程度；
在所述环境光照强度小于预设光照强度、所述图像亮度差值大于预设亮度差值和/或所述镜头脏污程度大于预设脏污程度时，确定所述视觉传感器的感测无效。
可选的，所述视觉传感器至少包括第一传感器和第二传感器，所述处理器在实现获取所述视觉传感器中的多个传感器之间的图像亮度差值时，用于实现：
获取所述第一传感器采集到的第一图像和所述第二传感器采集到的第二图像；
确定所述第一图像与所述第二图像之间的亮度差值，并将所述亮度差值确定为所述图像亮度差值。
可选的，所述处理器实现获取所述视觉传感器的镜头脏污程度时，用于实现：
确定所述视觉传感器采集到的图像的光线衰减图和/或光线折射图；
根据所述光线衰减图和/或所述光线折射图，确定所述镜头脏污程度。
可选的，所述处理器在实现根据所述光线衰减图和/或所述光线折射图，确定所述镜头脏污程度时，用于实现：
根据所述光线衰减图，确定所述视觉传感器的镜头的光线衰减程度；
根据所述光线折射图，确定所述视觉传感器的镜头的光线折射率；
根据所述光线衰减程度和所述光线折射率，确定所述镜头脏污程度。
可选的，所述处理器还用于实现以下步骤：
在所述环境光照强度大于或等于预设光照强度、所述图像亮度差值小于或等于预设亮度差值和/或所述镜头脏污程度小于或等于预设脏污程度时，确定所述视觉传感器的感测有效。
可选的，所述处理器在实现根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行时，用于实现：
根据所述障碍物信息和第一绕行方式，规划所述无人机的第一绕行航线；
根据所述第一绕行航线，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
可选的，所述处理器在实现根据所述障碍物信息和第一绕行方式，规划所述无人机的第一绕行航线时，用于实现：
根据所述障碍物信息和第一绕行方式，从所述无人机所处环境的三维稠密地图中确定所述无人机的仿地绕行航点；
根据所述仿地绕行航点，规划所述无人机的第一绕行航线。
可选的，所述处理器在实现根据所述仿地绕行航点，规划所述无人机的第一绕行航线时，用于实现：
从所述无人机的仿地飞行航线中获取所述航线方向上的障碍物对应的目标航线段；
根据所述仿地绕行航点，调整所述目标航线段，得到所述无人机的第一绕行航线。
可选的，部分或者全部所述仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值。
可选的，所述仿地绕行航点包括所述无人机的水平方向上的第一仿地绕行航点和/或所述无人机的竖直方向上的第二仿地绕行航点。
可选的，全部所述第一仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值，部分或者全部所述第二仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值。
可选的，所述处理器在实现根据所述障碍物信息，控制所述无人机按照第 一绕行方式绕开所述航线方向上的障碍物飞行时，用于实现：
获取所述无人机的运动状态信息；
根据所述障碍物信息以及所述无人机的运动状态信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
可选的，所述处理器在实现根据所述障碍物信息以及所述无人机的运动状态信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行时，用于实现：
根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，规划所述无人机的第一绕行航线；
根据所述第一绕行航线，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
可选的，所述处理器在实现根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，规划所述无人机的第一绕行航线时，用于实现
根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，从所述无人机所处环境的三维稠密地图中确定所述无人机的仿地绕行航点；
根据所述仿地绕行航点，规划所述无人机的第一绕行航线。
可选的，所述处理器在实现根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行时，用于实现：
获取所述无人机与所述航线方向上的障碍物之间的目标相对距离；
根据所述目标相对距离，确定所述无人机的飞行速度限值；
根据所述飞行速度限值和所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
可选的，所述处理器在实现获取所述无人机与所述航线方向上的障碍物之间的目标相对距离时，用于实现：
根据所述无人机所处环境的三维稠密地图，确定所述无人机与所述航线方向上的障碍物之间的第一相对距离；
根据所述无人机的视觉传感器采集到的深度图，确定所述无人机与所述航线方向上的障碍物之间的第二相对距离；
对所述第一相对距离和所述第二相对距离进行加权求和，得到所述目标相对距离。
可选的，所述距离传感器包括毫米波雷达。
可选的，所述处理器在实现利用所述距离传感器和所述视觉传感器，识别 所述无人机的航线方向上的障碍物信息时，用于实现：
获取所述距离传感器采集到的第一感测数据和所述视觉传感器采集到的第二感测数据；
根据所述第一感测数据和所述第二感测数据，建立所述无人机所处环境的三维稠密地图；
从所述三维稠密地图中获取所述无人机的航线方向上的障碍物信息。
可选的，所述处理器还用于实现以下步骤：
控制所述无人机将所述三维稠密地图发送给与所述无人机通信连接的控制终端，以供所述控制终端显示所述三维稠密地图。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的无人机的控制装置的具体工作过程，可以参考前述无人机的控制方法实施例中的对应过程，在此不再赘述。
请参阅图8，图8是本申请实施例提供的一种无人机的结构示意性框图。
如图8所示，无人机400包括机体410、动力系统420、距离传感器430、视觉传感器440和控制装置450。其中，动力系统420，设于机体410上，用于为无人机400提供飞行动力，距离传感器430和视觉传感器440与机体410固定连接或可拆卸地连接，用于采集感测数据，控制装置450设于机体410内，用于控制无人机400。控制装置450可以为如图7所示的控制装置300。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的无人机的具体工作过程，可以参考前述无人机的控制方法实施例中的对应过程，在此不再赘述。
本申请实施例还提供一种存储介质，所述存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的无人机的控制方法的步骤。
其中，所述存储介质可以是前述任一实施例所述的无人机的内部存储单元，例如所述无人机的硬盘或内存。所述存储介质也可以是所述无人机的外部存储设备，例如所述无人机上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (56)

  1. 一种无人机的控制方法，其特征在于，所述无人机能够获取距离传感器和视觉传感器的感测数据，所述方法包括：
    在所述无人机进行仿地飞行时，若所述距离传感器和所述视觉传感器的感测均有效，利用所述距离传感器和所述视觉传感器，识别所述无人机的航线方向上的障碍物信息；
    根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行；
    其中，所述第一绕行方式满足：所述无人机绕开所述障碍物飞行时距离所述无人机的目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值，所述仿地飞行高度为所述无人机在仿地飞行作业时，所述无人机距离所述目标作业物的恒定高度。
  2. 根据权利要求1所述的无人机的控制方法，其特征在于，所述第一绕行方式满足：所述无人机在水平方向和/或竖直方向上绕开所述障碍物飞行。
  3. 根据权利要求1所述的无人机的控制方法，其特征在于，所述方法还包括：
    在所述无人机进行仿地飞行时，若所述视觉传感器的感测无效且所述距离传感器的感测有效，利用所述距离传感器，识别所述无人机的航线方向上的障碍物信息；
    根据所述障碍物信息，控制所述无人机按照第二绕行方式绕开所述航线方向上的障碍物飞行；
    其中，所述第二绕行方式满足：所述无人机绕开所述障碍物飞行时距离所述无人机的目标作业物的高度与所述无人机的仿地飞行高度相同。
  4. 根据权利要求3所述的无人机的控制方法，其特征在于，所述第二绕行方式满足：所述无人机在水平方向上绕开所述障碍物飞行。
  5. 根据权利要求1-4中任一项所述的无人机的控制方法，其特征在于，所述方法还包括：
    在所述无人机绕开所述航线方向上的障碍物飞行时，控制所述无人机进行作业。
  6. 根据权利要求5所述的无人机的控制方法，其特征在于，所述在所述无人机绕开所述航线方向上的障碍物飞行时，控制所述无人机进行作业，包括：
    在所述无人机绕开所述航线方向上的障碍物飞行时，获取所述无人机与所述目标作业物之间的距离；
    在所述无人机与所述目标作业物之间的距离小于或等于预设距离时，控制所述无人机进行作业。
  7. 根据权利要求6所述的无人机的控制方法，其特征在于，所述方法还包括：
    在所述无人机与所述目标作业之间的距离大于所述预设距离时，控制所述无人机暂停所述作业。
  8. 根据权利要求1-4中任一项所述的无人机的控制方法，其特征在于，所述方法还包括：
    在所述无人机绕开所述航线方向上的障碍物飞行的过程中，控制所述无人机暂停作业；
    在所述无人机绕开所述航线方向上的障碍物后重新进行所述仿地飞行时，启动所述作业。
  9. 根据权利要求1-8中任一项所述的无人机的控制方法，其特征在于，所述方法还包括：
    获取环境光照强度、所述视觉传感器中的多个传感器之间的图像亮度差值和/或所述视觉传感器的镜头脏污程度；
    在所述环境光照强度小于预设光照强度、所述图像亮度差值大于预设亮度差值和/或所述镜头脏污程度大于预设脏污程度时，确定所述视觉传感器的感测无效。
  10. 根据权利要求9所述的无人机的控制方法，其特征在于，所述视觉传感器至少包括第一传感器和第二传感器，获取所述视觉传感器中的多个传感器之间的图像亮度差值，包括：
    获取所述第一传感器采集到的第一图像和所述第二传感器采集到的第二图像；
    确定所述第一图像与所述第二图像之间的亮度差值，并将所述亮度差值确定为所述图像亮度差值。
  11. 根据权利要求9所述的无人机的控制方法，其特征在于，获取所述视觉传感器的镜头脏污程度，包括：
    确定所述视觉传感器采集到的图像的光线衰减图和/或光线折射图；
    根据所述光线衰减图和/或所述光线折射图，确定所述镜头脏污程度。
  12. 根据权利要求11所述的无人机的控制方法，其特征在于，所述根据所述光线衰减图和/或所述光线折射图，确定所述镜头脏污程度，包括：
    根据所述光线衰减图，确定所述视觉传感器的镜头的光线衰减程度；
    根据所述光线折射图，确定所述视觉传感器的镜头的光线折射率；
    根据所述光线衰减程度和所述光线折射率，确定所述镜头脏污程度。
  13. 根据权利要求9所述的无人机的控制方法，其特征在于，所述方法还包括：
    在所述环境光照强度大于或等于预设光照强度、所述图像亮度差值小于或等于预设亮度差值和/或所述镜头脏污程度小于或等于预设脏污程度时，确定所述视觉传感器的感测有效。
  14. 根据权利要求1-13中任一项所述的无人机的控制方法，其特征在于，所述根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行，包括：
    根据所述障碍物信息和第一绕行方式，规划所述无人机的第一绕行航线；
    根据所述第一绕行航线，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  15. 根据权利要求14所述的无人机的控制方法，其特征在于，所述根据所述障碍物信息和第一绕行方式，规划所述无人机的第一绕行航线，包括：
    根据所述障碍物信息和第一绕行方式，从所述无人机所处环境的三维稠密地图中确定所述无人机的仿地绕行航点；
    根据所述仿地绕行航点，规划所述无人机的第一绕行航线。
  16. 根据权利要求15所述的无人机的控制方法，其特征在于，所述根据所述仿地绕行航点，规划所述无人机的第一绕行航线，包括：
    从所述无人机的仿地飞行航线中获取所述航线方向上的障碍物对应的目标航线段；
    根据所述仿地绕行航点，调整所述目标航线段，得到所述无人机的第一绕行航线。
  17. 根据权利要求15所述的无人机的控制方法，其特征在于，部分或者全部所述仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值。
  18. 根据权利要求17所述的无人机的控制方法，其特征在于，所述仿地绕行航点包括所述无人机的水平方向上的第一仿地绕行航点和/或所述无人机的 竖直方向上的第二仿地绕行航点。
  19. 根据权利要求18所述的无人机的控制方法，其特征在于，全部所述第一仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值，部分或者全部所述第二仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值。
  20. 根据权利要求1-13中任一项所述的无人机的控制方法，其特征在于，所述根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行，包括：
    获取所述无人机的运动状态信息；
    根据所述障碍物信息以及所述无人机的运动状态信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  21. 根据权利要求20所述的无人机的控制方法，其特征在于，所述根据所述障碍物信息以及所述无人机的运动状态信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行，包括：
    根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，规划所述无人机的第一绕行航线；
    根据所述第一绕行航线，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  22. 根据权利要求21所述的无人机的控制方法，其特征在于，所述根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，规划所述无人机的第一绕行航线，包括：
    根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，从所述无人机所处环境的三维稠密地图中确定所述无人机的仿地绕行航点；
    根据所述仿地绕行航点，规划所述无人机的第一绕行航线。
  23. 根据权利要求1-22中任一项所述的无人机的控制方法，其特征在于，所述根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行，包括：
    获取所述无人机与所述航线方向上的障碍物之间的目标相对距离；
    根据所述目标相对距离，确定所述无人机的飞行速度限值；
    根据所述飞行速度限值和所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  24. 根据权利要求23所述的无人机的控制方法，其特征在于，所述获取所 述无人机与所述航线方向上的障碍物之间的目标相对距离，包括：
    根据所述无人机所处环境的三维稠密地图，确定所述无人机与所述航线方向上的障碍物之间的第一相对距离；
    根据所述无人机的视觉传感器采集到的深度图，确定所述无人机与所述航线方向上的障碍物之间的第二相对距离；
    对所述第一相对距离和所述第二相对距离进行加权求和，得到所述目标相对距离。
  25. 根据权利要求1-22中任一项所述的无人机的控制方法，其特征在于，所述距离传感器包括毫米波雷达。
  26. 根据权利要求1-22中任一项所述的无人机的控制方法，其特征在于，所述利用所述距离传感器和所述视觉传感器，识别所述无人机的航线方向上的障碍物信息，包括：
    获取所述距离传感器采集到的第一感测数据和所述视觉传感器采集到的第二感测数据；
    根据所述第一感测数据和所述第二感测数据，建立所述无人机所处环境的三维稠密地图；
    从所述三维稠密地图中获取所述无人机的航线方向上的障碍物信息。
  27. 根据权利要求26所述的无人机的控制方法，其特征在于，所述方法还包括：
    将所述三维稠密地图发送给与所述无人机通信连接的控制终端，以供所述控制终端显示所述三维稠密地图。
  28. 一种无人机的控制装置，其特征在于，所述无人机能够获取距离传感器和视觉传感器的感测数据，所述控制装置包括存储器和处理器，
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现以下步骤：
    在所述无人机进行仿地飞行时，若所述距离传感器和所述视觉传感器的感测均有效，利用所述距离传感器和所述视觉传感器，识别所述无人机的航线方向上的障碍物信息；
    根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行；
    其中，所述第一绕行方式满足：所述无人机绕开所述障碍物飞行时距离所 述无人机的目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值，所述仿地飞行高度为所述无人机在仿地飞行作业时，所述无人机距离所述目标作业物的恒定高度。
  29. 根据权利要求28所述的无人机的控制装置，其特征在于，所述第一绕行方式满足：所述无人机在水平方向和/或竖直方向上绕开所述障碍物飞行。
  30. 根据权利要求28所述的无人机的控制装置，其特征在于，所述处理器还用于实现以下步骤：
    在所述无人机进行仿地飞行时，若所述视觉传感器的感测无效且所述距离传感器的感测有效，利用所述距离传感器，识别所述无人机的航线方向上的障碍物信息；
    根据所述障碍物信息，控制所述无人机按照第二绕行方式绕开所述航线方向上的障碍物飞行；
    其中，所述第二绕行方式满足：所述无人机绕开所述障碍物飞行时距离所述无人机的目标作业物的高度与所述无人机的仿地飞行高度相同。
  31. 根据权利要求30所述的无人机的控制装置，其特征在于，所述第二绕行方式满足：所述无人机在水平方向上绕开所述障碍物飞行。
  32. 根据权利要求28-31中任一项所述的无人机的控制装置，其特征在于，所述处理器还用于实现以下步骤：
    在所述无人机绕开所述航线方向上的障碍物飞行时，控制所述无人机进行作业。
  33. 根据权利要求32所述的无人机的控制装置，其特征在于，所述处理器在实现在所述无人机绕开所述航线方向上的障碍物飞行时，控制所述无人机进行作业时，用于实现：
    在所述无人机绕开所述航线方向上的障碍物飞行时，获取所述无人机与所述目标作业物之间的距离；
    在所述无人机与所述目标作业物之间的距离小于或等于预设距离时，控制所述无人机进行作业。
  34. 根据权利要求33所述的无人机的控制装置，其特征在于，所述处理器还用于实现以下步骤：
    在所述无人机与所述目标作业之间的距离大于所述预设距离时，控制所述无人机暂停所述作业。
  35. 根据权利要求28-31中任一项所述的无人机的控制装置，其特征在于， 所述处理器还用于实现以下步骤：
    在所述无人机绕开所述航线方向上的障碍物飞行的过程中，控制所述无人机暂停作业；
    在所述无人机绕开所述航线方向上的障碍物后重新进行所述仿地飞行时，启动所述作业。
  36. 根据权利要求28-35中任一项所述的无人机的控制装置，其特征在于，所述处理器还用于实现以下步骤：
    获取环境光照强度、所述视觉传感器中的多个传感器之间的图像亮度差值和/或所述视觉传感器的镜头脏污程度；
    在所述环境光照强度小于预设光照强度、所述图像亮度差值大于预设亮度差值和/或所述镜头脏污程度大于预设脏污程度时，确定所述视觉传感器的感测无效。
  37. 根据权利要求36所述的无人机的控制装置，其特征在于，所述视觉传感器至少包括第一传感器和第二传感器，所述处理器在实现获取所述视觉传感器中的多个传感器之间的图像亮度差值时，用于实现：
    获取所述第一传感器采集到的第一图像和所述第二传感器采集到的第二图像；
    确定所述第一图像与所述第二图像之间的亮度差值，并将所述亮度差值确定为所述图像亮度差值。
  38. 根据权利要求36所述的无人机的控制装置，其特征在于，所述处理器实现获取所述视觉传感器的镜头脏污程度时，用于实现：
    确定所述视觉传感器采集到的图像的光线衰减图和/或光线折射图；
    根据所述光线衰减图和/或所述光线折射图，确定所述镜头脏污程度。
  39. 根据权利要求38所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述光线衰减图和/或所述光线折射图，确定所述镜头脏污程度时，用于实现：
    根据所述光线衰减图，确定所述视觉传感器的镜头的光线衰减程度；
    根据所述光线折射图，确定所述视觉传感器的镜头的光线折射率；
    根据所述光线衰减程度和所述光线折射率，确定所述镜头脏污程度。
  40. 根据权利要求36所述的无人机的控制装置，其特征在于，所述处理器还用于实现以下步骤：
    在所述环境光照强度大于或等于预设光照强度、所述图像亮度差值小于或 等于预设亮度差值和/或所述镜头脏污程度小于或等于预设脏污程度时，确定所述视觉传感器的感测有效。
  41. 根据权利要求28-40中任一项所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行时，用于实现：
    根据所述障碍物信息和第一绕行方式，规划所述无人机的第一绕行航线；
    根据所述第一绕行航线，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  42. 根据权利要求41所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述障碍物信息和第一绕行方式，规划所述无人机的第一绕行航线时，用于实现：
    根据所述障碍物信息和第一绕行方式，从所述无人机所处环境的三维稠密地图中确定所述无人机的仿地绕行航点；
    根据所述仿地绕行航点，规划所述无人机的第一绕行航线。
  43. 根据权利要求42所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述仿地绕行航点，规划所述无人机的第一绕行航线时，用于实现：
    从所述无人机的仿地飞行航线中获取所述航线方向上的障碍物对应的目标航线段；
    根据所述仿地绕行航点，调整所述目标航线段，得到所述无人机的第一绕行航线。
  44. 根据权利要求42所述的无人机的控制装置，其特征在于，部分或者全部所述仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值。
  45. 根据权利要求44所述的无人机的控制装置，其特征在于，所述仿地绕行航点包括所述无人机的水平方向上的第一仿地绕行航点和/或所述无人机的竖直方向上的第二仿地绕行航点。
  46. 根据权利要求45所述的无人机的控制装置，其特征在于，全部所述第一仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值，部分或者全部所述第二仿地绕行航点距离所述目标作业物的高度与所述无人机的仿地飞行高度之间的差值小于或等于预设阈值。
  47. 根据权利要求28-40中任一项所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述障碍物信息，控制所述无人机按照第一绕行方式绕 开所述航线方向上的障碍物飞行时，用于实现：
    获取所述无人机的运动状态信息；
    根据所述障碍物信息以及所述无人机的运动状态信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  48. 根据权利要求47所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述障碍物信息以及所述无人机的运动状态信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行时，用于实现：
    根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，规划所述无人机的第一绕行航线；
    根据所述第一绕行航线，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  49. 根据权利要求48所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，规划所述无人机的第一绕行航线时，用于实现
    根据所述障碍物信息、所述无人机的运动状态信息和第一绕行方式，从所述无人机所处环境的三维稠密地图中确定所述无人机的仿地绕行航点；
    根据所述仿地绕行航点，规划所述无人机的第一绕行航线。
  50. 根据权利要求28-49中任一项所述的无人机的控制装置，其特征在于，所述处理器在实现根据所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行时，用于实现：
    获取所述无人机与所述航线方向上的障碍物之间的目标相对距离；
    根据所述目标相对距离，确定所述无人机的飞行速度限值；
    根据所述飞行速度限值和所述障碍物信息，控制所述无人机按照第一绕行方式绕开所述航线方向上的障碍物飞行。
  51. 根据权利要求50所述的无人机的控制装置，其特征在于，所述处理器在实现获取所述无人机与所述航线方向上的障碍物之间的目标相对距离时，用于实现：
    根据所述无人机所处环境的三维稠密地图，确定所述无人机与所述航线方向上的障碍物之间的第一相对距离；
    根据所述无人机的视觉传感器采集到的深度图，确定所述无人机与所述航线方向上的障碍物之间的第二相对距离；
    对所述第一相对距离和所述第二相对距离进行加权求和，得到所述目标相 对距离。
  52. 根据权利要求28-49中任一项所述的无人机的控制装置，其特征在于，所述距离传感器包括毫米波雷达。
  53. 根据权利要求28-49中任一项所述的无人机的控制装置，其特征在于，所述处理器在实现利用所述距离传感器和所述视觉传感器，识别所述无人机的航线方向上的障碍物信息时，用于实现：
    获取所述距离传感器采集到的第一感测数据和所述视觉传感器采集到的第二感测数据；
    根据所述第一感测数据和所述第二感测数据，建立所述无人机所处环境的三维稠密地图；
    从所述三维稠密地图中获取所述无人机的航线方向上的障碍物信息。
  54. 根据权利要求53所述的无人机的控制装置，其特征在于，所述处理器还用于实现以下步骤：
    控制所述无人机将所述三维稠密地图发送给与所述无人机通信连接的控制终端，以供所述控制终端显示所述三维稠密地图。
  55. 一种无人机，其特征在于，包括：
    机体；
    动力系统，设于所述机体上，用于为所述无人机提供飞行动力。
    距离传感器和视觉传感器，与所述机体固定连接或可拆卸地连接；
    权利要求28-54中任一项所述的无人机的控制装置，设于所述机体内，用于控制所述无人机。
  56. 一种存储介质，其特征在于，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-27中任一项所述的无人机的控制方法。
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