WO2024067132A1

WO2024067132A1 - Flight obstacle avoidance method and system for unmanned aerial vehicle, and readable storage medium

Info

Publication number: WO2024067132A1
Application number: PCT/CN2023/118875
Authority: WO
Inventors: 胡华智; 刘畅; 陈皓东; 宋晨晖
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2022-09-29
Filing date: 2023-09-14
Publication date: 2024-04-04
Also published as: CN115602003A

Abstract

A flight obstacle avoidance method and system for an unmanned aerial vehicle, and a readable storage medium. The method comprises: acquiring flight path information, and on the basis of the flight path information, analyzing obstacle data in a route section which has not been traveled by an unmanned aerial vehicle (S102); on the basis of the obstacle data, performing fixed-point and fixed-section control over the unmanned aerial vehicle, so as to perform obstacle avoidance (S104); acquiring panoramic image data during a flight process of the unmanned aerial vehicle; and on the basis of head-on data, determining an avoidance angle of the unmanned aerial vehicle, and on the basis of the avoidance angle, controlling the unmanned aerial vehicle to perform obstacle avoidance (S108). During the flight process of the unmanned aerial vehicle, a set flight trajectory can be tracked in real time, and a flight path can be rationally optimized to avoid an obstacle; and an aerial obstacle can be found in a timely manner and avoided in an emergency during the flight process, such that the flight safety of the unmanned aerial vehicle can be ensured, thereby reducing the flight failure rate of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium

Technical Field

The present invention relates to the technical field of unmanned aerial vehicles, and more specifically, to an unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium.

Background technique

With the continuous development of science and technology, the application of unmanned aerial vehicles has achieved unprecedented development. Compared with manned aircraft, unmanned aerial vehicles are often more suitable for some repetitive mechanical tasks or highly dangerous tasks. In the civil field, unmanned aerial vehicles + industry applications are the real rigid demand for unmanned aerial vehicles; their applications in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, creating romance and other fields have greatly expanded the use of unmanned aerial vehicles themselves.

At the same time, with the increasing application of unmanned aerial vehicles, the flight safety of unmanned aerial vehicles has received more and more attention. At present, there are problems such as the lack of system and organization of obstacle avoidance when unmanned aerial vehicles are flying in automatic cruise flight, which may easily cause unnecessary bombings, or the problem of artificially forcibly setting routes, causing unmanned aerial vehicles to enter no-fly zones. Therefore, the above problems need to be solved urgently.

Summary of the invention

The purpose of the present invention is to provide a method, system and readable storage medium for unmanned aerial vehicle flight obstacle avoidance, which can track the established flight trajectory in real time during the flight of the unmanned aerial vehicle, reasonably optimize the flight path to avoid obstacles, and can promptly discover and urgently avoid aerial obstacles during the flight, thereby protecting the flight safety of the unmanned aerial vehicle and reducing the flight failure rate of the unmanned aerial vehicle.

A first aspect of the present invention provides a method for avoiding obstacles in flight of an unmanned aerial vehicle, comprising the following steps:

Acquiring preset flight path information of the unmanned aerial vehicle, and analyzing obstacle data in a section of the road where the unmanned aerial vehicle is not traveling based on the flight path information;

Based on the obstacle data, the unmanned aerial vehicle is controlled at a fixed point and a fixed section to avoid obstacles;

Acquire panoramic image data captured in real time during the flight of the unmanned aerial vehicle, and acquire oncoming data of obstacles currently within a preset range of the unmanned aerial vehicle based on the panoramic image data;

An avoidance angle of the unmanned aerial vehicle is determined based on the oncoming data, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle.

In this solution, the step of obtaining the preset flight path information of the unmanned aerial vehicle and analyzing the obstacle data in the section where the unmanned aerial vehicle is not traveling based on the flight path information specifically includes:

Establishing a communication connection with the unmanned aerial vehicle to obtain the flight path information, wherein the connection is established in a manner including a wireless connection and/or a wired connection;

Establishing a communication connection with a preset communication base station and/or a preset information transceiver device to obtain spatial data of the airspace to which the unmanned aerial vehicle currently belongs;

The obstacle data is obtained based on cross-matching the spatial data with the road section that the unmanned aerial vehicle has not traveled, wherein the obstacle data includes intersections and/or intersection sections.

In this solution, the fixed-point and fixed-segment control of the unmanned aerial vehicle based on the obstacle data to avoid obstacles specifically includes:

identifying the intersection and/or the intersection section based on the obstacle data;

When the intersection is identified, controlling the unmanned aerial vehicle to perform fixed-point obstacle avoidance at the intersection;

When the intersection is identified, the unmanned aerial vehicle is controlled to perform segment-specific obstacle avoidance at the intersection.

In this solution, the step of acquiring panoramic image data captured in real time during the flight of the unmanned aerial vehicle and acquiring oncoming data of obstacles within a preset range of the unmanned aerial vehicle based on the panoramic image data specifically includes:

Acquiring the panoramic image data based on a panoramic camera preset on the unmanned aerial vehicle;

Identify obstacles within the preset range of the current unmanned aerial vehicle based on the panoramic image data;

Based on the obstacle, the oncoming data in the current traveling direction of the unmanned aerial vehicle is identified, wherein the oncoming data is the surface space data of the obstacle opposite to the traveling direction of the unmanned aerial vehicle.

In this solution, the step of determining the avoidance angle of the unmanned aerial vehicle based on the oncoming data, and controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle specifically includes:

Determining a collision surface of the obstacle based on the surface space data;

Acquire a travel plane based on a travel direction of the unmanned aerial vehicle and a fuselage of the unmanned aerial vehicle;

The avoidance angle is obtained by extending and intersecting the collision surface and the travel plane, and then the action of the unmanned aerial vehicle is controlled based on the avoidance angle to avoid obstacles.

In this solution, the method further includes acquiring obstacle avoidance data of other unmanned aerial vehicles within the target range, and identifying an obstacle avoidance interval based on the obstacle avoidance data to control the unmanned aerial vehicle to avoid obstacles.

The second aspect of the present invention further provides an unmanned aircraft flight obstacle avoidance system, comprising a memory and a processor, wherein the memory comprises an unmanned aircraft flight obstacle avoidance method program, and when the unmanned aircraft flight obstacle avoidance method program is executed by the processor, the following steps are implemented:

The third aspect of the present invention provides a computer-readable storage medium, which includes an unmanned aerial vehicle flight obstacle avoidance method program of a machine. When the unmanned aerial vehicle flight obstacle avoidance method program is executed by a processor, the steps of an unmanned aerial vehicle flight obstacle avoidance method as described in any one of the above items are implemented.

The present invention discloses an unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium, which can track a predetermined flight trajectory in real time during the flight of the unmanned aerial vehicle, reasonably optimize the flight path to avoid obstacles, and can timely discover and urgently avoid aerial obstacles during the flight, thereby protecting the flight safety of the unmanned aerial vehicle and reducing the flight failure rate of the unmanned aerial vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 shows a flow chart of a method for avoiding obstacles in flight of an unmanned aerial vehicle according to the present invention;

[Corrected 20.11.2023 in accordance with Article 91]
2A and 2B are schematic diagrams showing an obstacle avoidance method for an unmanned aerial vehicle flight according to the present invention;

[Corrected 20.11.2023 in accordance with Article 91]
3A and 3B are schematic diagrams showing an obstacle avoidance method for an unmanned aerial vehicle flight avoiding obstacle according to the present invention;

FIG4 shows a block diagram of a flight obstacle avoidance system for an unmanned aerial vehicle according to the present invention.

Detailed ways

In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

FIG1 shows a flow chart of a method for avoiding obstacles in flight of an unmanned aerial vehicle according to the present application.

As shown in FIG1 , the present application discloses a method for avoiding obstacles in flight of an unmanned aerial vehicle, comprising the following steps:

S102, obtaining preset flight path information of the unmanned aerial vehicle, and analyzing obstacle data in a section where the unmanned aerial vehicle is not traveling based on the flight path information;

S104, performing fixed-point and fixed-segment control on the unmanned aerial vehicle based on the obstacle data to avoid obstacles;

S106, obtaining panoramic image data captured in real time during the flight of the unmanned aerial vehicle, and obtaining oncoming data of obstacles currently within a preset range of the unmanned aerial vehicle based on the panoramic image data;

S108, determining an avoidance angle of the unmanned aerial vehicle based on the oncoming data, and controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle.

It should be noted that, in this embodiment, when the unmanned aerial vehicle is automatically cruising, the flight path information predetermined by the unmanned aerial vehicle is obtained, and then the obstacle data in the section where the unmanned aerial vehicle is not traveling is identified through the flight path information, so that the unmanned aerial vehicle can obtain the location and other data of the obstacle in advance in the subsequent flight process to plan obstacle avoidance in advance, that is, the unmanned aerial vehicle is controlled to avoid obstacles at fixed points and sections through the obstacle data, wherein the obstacle data includes the intersection point and/or the intersection section between the obstacle and the unmanned aerial vehicle, and further, during the flight of the unmanned aerial vehicle, the panoramic image data obtained by the preset panoramic camera is used to obtain the head-on data of the obstacle within the preset range of the current unmanned aerial vehicle, wherein the head-on data is the surface space data of the obstacle relative to the traveling direction of the unmanned aerial vehicle, and then the avoidance angle of the unmanned aerial vehicle can be judged through the head-on data, so as to perform obstacle avoidance control through the avoidance angle.

According to an embodiment of the present invention, the step of obtaining preset flight path information of the unmanned aerial vehicle and analyzing obstacle data in a section where the unmanned aerial vehicle is not traveling based on the flight path information specifically includes:

It should be noted that, in this embodiment, the flight path information is obtained by establishing a communication connection with the unmanned aerial vehicle. Specifically, the spatial data of the current airspace of the unmanned aerial vehicle can be obtained by establishing a communication connection with the preset communication base station and/or the information transceiver device through wireless Bluetooth and/or WiFi connection, or CAN bus connection, wherein the spatial data includes other flight path information in the airspace or fixed object data in the airspace, and the information transceiver device is such as a router, etc., and the airspace is determined by the communication range of the communication base station and/or the information transceiver device, and can be adjusted as needed during actual operation; after the flight path information and the spatial data are obtained, an intersection judgment can be made on the current section where the unmanned aerial vehicle has not traveled, that is, a cross-match is performed based on the spatial data and the section where the unmanned aerial vehicle has not traveled, wherein intersection points and/or intersection sections are extracted as the obstacle data.

According to an embodiment of the present invention, the performing fixed-point and fixed-segment control on the unmanned aerial vehicle based on the obstacle data to avoid obstacles specifically includes:

It should be noted that, in the present embodiment, the above embodiment describes that the obstacle data includes the intersection and/or the intersection section. Therefore, based on the obstacle data, the specific obstacles in the section that the unmanned aerial vehicle is not currently traveling on can be identified. For example, when the intersection is identified, the unmanned aerial vehicle is controlled to perform fixed-point obstacle avoidance at the intersection, such as by raising or lowering the altitude to avoid the obstacles at the current intersection. For example, when the intersection section is identified, the unmanned aerial vehicle is controlled to perform fixed-segment obstacle avoidance at the intersection section, such as by switching the route to avoid the current intersection section, such as horizontally to the right (or left) to avoid the flight paths of other unmanned aerial vehicles on the current intersection section.

According to an embodiment of the present invention, the step of acquiring panoramic image data captured in real time during the flight of the unmanned aerial vehicle and acquiring oncoming data of obstacles within a preset range of the unmanned aerial vehicle based on the panoramic image data specifically includes:

It should be noted that, in this embodiment, when the unmanned aerial vehicle is flying, the panoramic image data of the unmanned aerial vehicle within the shooting range of the panoramic camera is also obtained through the preset panoramic camera. Based on the panoramic image data, the obstacles within the preset range of the current unmanned aerial vehicle can be identified, wherein the obstacle appears suddenly or the spatial data is a detected obstacle, and the preset range is an adjustable parameter, which can be set to "5" meters during actual operation. Based on the obstacle, the surface spatial data of the current unmanned aerial vehicle's travel direction facing the obstacle is identified, so as to obtain the avoidance angle corresponding to the unmanned aerial vehicle.

According to an embodiment of the present invention, determining the avoidance angle of the unmanned aerial vehicle based on the oncoming data, and controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle specifically includes:

It should be noted that, in this embodiment, if the obstacle appears stationary on the flight path of the unmanned aerial vehicle, the collision surface of the obstacle can be determined based on the surface space data, and the travel plane corresponding to the unmanned aerial vehicle can be obtained based on the travel direction of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle. The avoidance angle is obtained by extending and intersecting the collision surface and the travel plane, and then the unmanned aerial vehicle is controlled to perform actions based on the avoidance angle to complete the obstacle avoidance operation.

[Corrected 20.11.2023 in accordance with Article 91]
Specifically, as shown in Figures 2A and 2B, in Figure 2A, the avoidance angle corresponding to the unmanned aerial vehicle is α, and in Figure 2B, the avoidance angle corresponding to the unmanned aerial vehicle is β. Preferably, when the obstacle is in a non-stationary state, the relative stationary state of the obstacle and the unmanned aerial vehicle can be simulated by identifying the relative speed between the obstacle and the unmanned aerial vehicle to obtain the corresponding avoidance angle.

According to an embodiment of the present invention, the method further includes acquiring obstacle avoidance data of other unmanned aerial vehicles within the target range, and identifying an obstacle avoidance interval based on the obstacle avoidance data to control the unmanned aerial vehicle to avoid obstacles.

It should be noted that, in the present embodiment, in the above embodiment, it is described that the corresponding spatial data is obtained by using a preset communication base station. Since the distribution of the base stations sometimes cannot completely cover the unmanned aerial vehicle, the present embodiment proposes to obtain the obstacle avoidance data of other unmanned aerial vehicles within the target range to obtain the obstacle avoidance interval within the current target range, so as to control the unmanned aerial vehicle to avoid obstacles. Specifically, in actual operation, the target range can be selected as "100" meters.

It is worth mentioning that the method also includes acquiring environmental data to adjust the flight speed.

It should be noted that in this embodiment, when the unmanned aerial vehicle is avoiding obstacles, the flight speed of the unmanned aerial vehicle is also one of the reference factors. Therefore, in this embodiment, the flight speed is adjusted accordingly by obtaining the environmental data to identify the weather data. Specifically, different speeds can be set for different weather conditions. For example, the speed can be set to "15m/s" on rainy days. The speed can also be adaptively adjusted according to the amount of rainfall. During the specific operation, it can be adjusted in real time as needed.

It is worth mentioning that the method also includes adjusting the flight altitude based on historical flight data.

It should be noted that, in this embodiment, the historical flight data in the current flight airspace of the unmanned aerial vehicle is obtained, and the flight altitude is adjusted based on the historical experience data, wherein the historical experience data is the statistical value of the flight altitudes of multiple unmanned aerial vehicles in the airspace. Adjusting the flight altitude in this way can effectively avoid obstacles.

It is worth mentioning that the method further includes: obtaining the coordinate range of the flight area for matching to avoid the no-fly zone.

It should be noted that, in this embodiment, in order to avoid the situation where the unmanned aerial vehicle enters a no-fly zone and loses control signals, resulting in the loss of the unmanned aerial vehicle, the coordinate range of the flight area is obtained for matching to determine whether the current flight area of the unmanned aerial vehicle is close to the no-fly zone, and a prohibited distance, such as "1km", is set. When the unmanned aerial vehicle approaches the prohibited distance "1km", the unmanned aerial vehicle is controlled to move away to avoid the no-fly zone.

It is worth mentioning that the method further includes identifying the size of the avoidance angle and the preset angle to determine the avoidance posture, specifically including:

The absolute difference between the avoidance angle and 90° is calculated, and the absolute difference is compared with the preset angle, wherein:

If the absolute difference is less than or equal to the preset angle, controlling the unmanned aerial vehicle to adjust its attitude based on the avoidance angle to avoid the obstacle;

If the absolute difference is greater than the preset angle, the flight altitude of the unmanned aerial vehicle is adjusted to achieve obstacle avoidance.

[Corrected 20.11.2023 in accordance with Article 91]
It should be noted that, in this embodiment, the preset angle is taken as 75°. When the absolute difference is less than or equal to 75°, the unmanned aerial vehicle is controlled to adjust its attitude to complete obstacle avoidance as shown in Figures 2A and 2B. When the absolute difference is greater than 75°, the flight altitude of the unmanned aerial vehicle is adjusted to complete obstacle avoidance. The specific adjustment value of the flight altitude can be determined depending on the volume of the obstacle. As shown in Figure 3A, the flight altitude is increased to complete obstacle avoidance. As shown in Figure 3B, the flight altitude is lowered to complete obstacle avoidance.

As shown in FIG4 , the present invention discloses an unmanned aircraft flight obstacle avoidance system, including a memory and a processor, wherein the memory includes an unmanned aircraft flight obstacle avoidance method program, and when the unmanned aircraft flight obstacle avoidance method program is executed by the processor, the following steps are implemented:

A third aspect of the present invention provides a computer-readable storage medium, which includes an unmanned aerial vehicle flight obstacle avoidance method program. When the unmanned aerial vehicle flight obstacle avoidance method program is executed by a processor, the steps of an unmanned aerial vehicle flight obstacle avoidance method as described in any one of the above items are implemented.

In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

Those skilled in the art will understand that all or part of the steps of implementing the above method embodiments may be accomplished by hardware associated with program instructions, and the aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the above method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks, and other media that can store program codes.

Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

A method for avoiding obstacles in flight of an unmanned aerial vehicle, characterized in that it comprises the following steps:

Acquiring preset flight path information of the unmanned aerial vehicle, and analyzing obstacle data in a section of the road where the unmanned aerial vehicle is not traveling based on the flight path information;

Based on the obstacle data, the unmanned aerial vehicle is controlled at a fixed point and a fixed section to avoid obstacles;

Acquire panoramic image data captured in real time during the flight of the unmanned aerial vehicle, and acquire oncoming data of obstacles currently within a preset range of the unmanned aerial vehicle based on the panoramic image data;

An avoidance angle of the unmanned aerial vehicle is determined based on the oncoming data, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle.
The unmanned aerial vehicle flight obstacle avoidance method according to claim 1 is characterized in that the step of obtaining preset flight path information of the unmanned aerial vehicle and analyzing obstacle data in the section where the unmanned aerial vehicle is not traveling based on the flight path information specifically comprises:

Establishing a communication connection with the unmanned aerial vehicle to obtain the flight path information, wherein the connection is established in a manner including a wireless connection and/or a wired connection;

Establishing a communication connection with a preset communication base station and/or a preset information transceiver device to obtain spatial data of the airspace to which the unmanned aerial vehicle currently belongs;

The obstacle data is obtained based on cross-matching the spatial data with the road section that the unmanned aerial vehicle has not traveled, wherein the obstacle data includes intersections and/or intersection sections.
The unmanned aerial vehicle flight obstacle avoidance method according to claim 2 is characterized in that the step of performing fixed-point and fixed-segment control on the unmanned aerial vehicle based on the obstacle data to avoid the obstacle specifically comprises:

identifying the intersection and/or the intersection section based on the obstacle data;

When the intersection is identified, controlling the unmanned aerial vehicle to perform fixed-point obstacle avoidance at the intersection;

When the intersection is identified, the unmanned aerial vehicle is controlled to perform segment-specific obstacle avoidance at the intersection.
The unmanned aerial vehicle flight obstacle avoidance method according to claim 1 is characterized in that the step of acquiring panoramic image data captured in real time during the flight of the unmanned aerial vehicle and acquiring oncoming data of obstacles within a preset range of the unmanned aerial vehicle based on the panoramic image data specifically comprises:

Acquiring the panoramic image data based on a panoramic camera preset on the unmanned aerial vehicle;

Identify obstacles within the preset range of the current unmanned aerial vehicle based on the panoramic image data;

Based on the obstacle, the oncoming data in the current traveling direction of the unmanned aerial vehicle is identified, wherein the oncoming data is the surface space data of the obstacle opposite to the traveling direction of the unmanned aerial vehicle.
The unmanned aerial vehicle flight obstacle avoidance method according to claim 4 is characterized in that the step of determining the avoidance angle of the unmanned aerial vehicle based on the head-on data and controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle specifically comprises:

Determining a collision surface of the obstacle based on the surface space data;

Acquire a travel plane based on a travel direction of the unmanned aerial vehicle and a fuselage of the unmanned aerial vehicle;

The avoidance angle is obtained by extending and intersecting the collision surface and the travel plane, and then the action of the unmanned aerial vehicle is controlled based on the avoidance angle to avoid obstacles.
According to the unmanned aerial vehicle flight obstacle avoidance method according to claim 1, it is characterized in that the method also includes obtaining obstacle avoidance data of other unmanned aerial vehicles within the target range, and identifying an obstacle avoidance interval based on the obstacle avoidance data to control the unmanned aerial vehicle to avoid obstacles.
An unmanned aircraft flight obstacle avoidance system, characterized in that it comprises a memory and a processor, wherein the memory comprises an unmanned aircraft flight obstacle avoidance method program, and when the unmanned aircraft flight obstacle avoidance method program is executed by the processor, the following steps are implemented:

Acquiring preset flight path information of the unmanned aerial vehicle, and analyzing obstacle data in a section of the road where the unmanned aerial vehicle is not traveling based on the flight path information;

Based on the obstacle data, the unmanned aerial vehicle is controlled at a fixed point and a fixed section to avoid obstacles;

Acquire panoramic image data captured in real time during the flight of the unmanned aerial vehicle, and acquire oncoming data of obstacles currently within a preset range of the unmanned aerial vehicle based on the panoramic image data;

An avoidance angle of the unmanned aerial vehicle is determined based on the oncoming data, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle.
The unmanned aerial vehicle flight obstacle avoidance system according to claim 7 is characterized in that the step of obtaining the preset flight path information of the unmanned aerial vehicle and analyzing the obstacle data in the section where the unmanned aerial vehicle is not traveling based on the flight path information specifically comprises:

Establishing a communication connection with the unmanned aerial vehicle to obtain the flight path information, wherein the connection is established in a manner including a wireless connection and/or a wired connection;

Establishing a communication connection with a preset communication base station and/or a preset information transceiver device to obtain spatial data of the airspace to which the unmanned aerial vehicle currently belongs;

The obstacle data is obtained based on cross-matching the spatial data with the road section that the unmanned aerial vehicle has not traveled, wherein the obstacle data includes intersections and/or intersection sections.
The unmanned aerial vehicle flight obstacle avoidance system according to claim 7 is characterized in that the step of acquiring panoramic image data captured in real time during the flight of the unmanned aerial vehicle and acquiring oncoming data of obstacles within a preset range of the unmanned aerial vehicle based on the panoramic image data specifically includes:

Acquiring the panoramic image data based on a panoramic camera preset on the unmanned aerial vehicle;

Identify obstacles within the preset range of the current unmanned aerial vehicle based on the panoramic image data;

Based on the obstacle, the oncoming data in the current traveling direction of the unmanned aerial vehicle is identified, wherein the oncoming data is the surface space data of the obstacle opposite to the traveling direction of the unmanned aerial vehicle.
A computer-readable storage medium, characterized in that the computer-readable storage medium includes an unmanned aerial vehicle flight obstacle avoidance method program, and when the unmanned aerial vehicle flight obstacle avoidance method program is executed by a processor, the steps of an unmanned aerial vehicle flight obstacle avoidance method as described in any one of claims 1 to 6 are implemented.