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Obstacle dodging method, obstacle dodging device, carrier and unmanned aerial vehicle

A carrier and obstacle avoidance technology, applied in the control field, can solve the problem of high computational complexity, achieve the effect of improving user experience, reducing computational complexity, and reducing the amount of data processed

Active Publication Date: 2016-09-28
ZEROTECH (BEIJING) INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, an embodiment of the present invention provides an obstacle avoidance method, device, carrier, and unmanned aerial vehicle to improve the problem of high computational complexity of the above obstacle avoidance method

Method used

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  • Obstacle dodging method, obstacle dodging device, carrier and unmanned aerial vehicle
  • Obstacle dodging method, obstacle dodging device, carrier and unmanned aerial vehicle
  • Obstacle dodging method, obstacle dodging device, carrier and unmanned aerial vehicle

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no. 1 example

[0037] figure 2 shows the obstacle avoidance method provided by the first embodiment of the present invention, please refer to figure 2 , the method includes:

[0038] Step S110: Obtain a depth map in the moving direction of the carrier.

[0039] The depth map is a two-dimensional image, and the unit is a pixel point. Different pixel values ​​of the pixel point represent different depth information, corresponding to different depth values. The depth value represents the distance between the obstacle in the depth map and the carrier. That is, different pixel values ​​of a pixel point may represent different distances between the position in the actual environment corresponding to the pixel point and the carrier. Generally, the larger the pixel value, the farther the distance is, and the smaller the pixel value is, the closer the distance is. The correspondence between specific pixel values ​​and distance values ​​is determined according to actual needs, and is not limited in...

no. 2 example

[0101] Such as Figure 9 Shown is the obstacle avoidance device 200 provided by the second embodiment of the present invention. See Figure 9 , the UAV obstacle avoidance device 200 includes:

[0102] A depth map acquisition module 210, configured to acquire a depth map in the moving direction of the carrier; a region of interest acquisition module 220, configured to determine a region of interest in the depth map, and the projection area of ​​the carrier in the depth map is Within the scope of the region of interest; connected line acquisition module 230, used to obtain connected lines formed by continuous pixels satisfying preset conditions in the border pixels of the region of interest; motion control module 240, used to control the The carrier moves to the area corresponding to the connecting line.

[0103] Further, in this embodiment, in order to ensure that the carrier can smoothly pass through the barrier-free communication area corresponding to the communication lin...

no. 3 example

[0115] This embodiment provides a drone 300, such as Figure 10 As shown, the UAV 300 includes an image acquisition unit 310; and a processor 320, the processor 320 is electrically connected to the image acquisition unit.

[0116] Wherein, the image acquisition unit is used to acquire a depth map in the motion direction of the drone;

[0117] The processor is used to determine the region of interest in the depth map, and the projection area of ​​the UAV in the depth map is within the range of the region of interest; obtain the border pixels of the region of interest A connection line formed by continuous pixel points satisfying preset conditions; and, controlling the UAV to move to the area corresponding to the connection line.

[0118] It can be understood that the obstacle avoidance method provided by the embodiment of the present invention can also be implemented by the overall hardware device of the drone 300 provided by this embodiment.

[0119] The image acquiring unit...

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Abstract

An embodiment of the invention provides an obstacle dodging method, an obstacle dodging device, a carrier and an unmanned aerial vehicle. The obstacle dodging method comprises the steps of acquiring a depth map in a carrier motion direction; determining an interested area in the depth map, wherein the projection area of the carrier in the depth map is in the range of the interested area; acquiring a connecting line which is formed by pixel points that satisfy a preset condition in boundary pixel points in the interested area; and making the carrier move to the area which corresponds with the connecting line. According to the obstacle dodging method, processing on the depth map part is required, thereby reducing data processing amount, reducing operation complexity, reducing processing time and improving user experience.

Description

technical field [0001] The present invention relates to the field of control technology, in particular, to an obstacle avoidance method, device, carrier and unmanned aerial vehicle. Background technique [0002] Carriers such as drones, remote control cars, and robots need to avoid obstacles on the movement route in time during the movement process. If the operator controls it, it is often difficult to judge and avoid obstacles in a short time. [0003] For unmanned aerial vehicles, during the flight of the unmanned aerial vehicle, the operator needs to control the unmanned aerial vehicle to avoid obstacles in real time, and when the flying speed of the unmanned aerial vehicle is fast, it is often difficult for the operator to Judging and avoiding obstacles on its flight path will cause the UAV to easily collide with obstacles and cause damage. Therefore, it is necessary for the UAV to automatically adjust the flight direction for obstacle avoidance. [0004] Existing obst...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 李萌坚孙孟孟俞伟斌周炯杨建军
Owner ZEROTECH (BEIJING) INTELLIGENCE TECH CO LTD
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