Auxiliary obstacle avoidance method, apparatus and system for aircraft

An aircraft and obstacle avoidance technology, applied in the field of aircraft obstacle avoidance, can solve problems such as large distance measurement errors

Active Publication Date: 2018-06-15
POWERVISION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this scheme, the feature point related matching error of each frame will bring a large distance measurement error

Method used

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  • Auxiliary obstacle avoidance method, apparatus and system for aircraft
  • Auxiliary obstacle avoidance method, apparatus and system for aircraft
  • Auxiliary obstacle avoidance method, apparatus and system for aircraft

Examples

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Embodiment 1

[0050] This embodiment provides an aircraft assisted obstacle avoidance method, which is applied to an aircraft provided with multiple image acquisition devices and multiple distance sensors at various orientations of the fuselage. The aircraft may be a piloted aircraft or an unmanned aircraft such as, Figure 6 and Figure 7 aircraft shown. figure 1 A flow chart of the aircraft assisted obstacle avoidance method is shown, as figure 1 As shown, the method includes the following steps:

[0051] Step S101, receiving images captured simultaneously by multiple image capture devices.

[0052] During the flight of the aircraft, the vision processing module drives multiple image acquisition devices to simultaneously acquire images, and receives the images simultaneously acquired by the multiple image acquisition devices.

[0053] Step S102, combining multiple received images into a panoramic image around the aircraft.

[0054] Specifically, step S102 can be implemented by the fo...

Embodiment 2

[0063] This embodiment provides another aircraft assisted obstacle avoidance method, and this method is also applied to an aircraft provided with multiple image acquisition devices and multiple distance sensors at various orientations of the fuselage. Such as figure 2 As shown, the method includes:

[0064] Step S201, receiving images simultaneously captured by multiple image capture devices.

[0065] Step S202, combining multiple received images into a panoramic image around the aircraft.

[0066] Considering that the images collected by the image acquisition device, especially the wide-angle camera, may be distorted, therefore, in this embodiment, the geometric distortion correction is performed on the received images before stitching the images to obtain a corrected image.

[0067] For example, for Figure 7 As shown in the aircraft provided with four image acquisition devices, the four image acquisition devices are respectively arranged at intervals of 90°, and the cor...

Embodiment 3

[0077] This embodiment provides an auxiliary obstacle avoidance device for an aircraft corresponding to the above-mentioned method embodiment, which is applied to an aircraft provided with multiple image acquisition devices and multiple distance sensors in various directions of the fuselage. image 3 A structural block diagram of the auxiliary obstacle avoidance device of the aircraft is shown, as image 3 As shown, the device includes:

[0078] An image synthesis unit 31, configured to receive images captured simultaneously by multiple image acquisition devices, and synthesize the received multiple images into a panoramic image around the aircraft;

[0079] The distance data receiving unit 32 is used to receive the obstacle distance data around the aircraft acquired by a plurality of distance sensors simultaneously;

[0080] The distance image fusion unit 33 is used to fuse a plurality of obstacle distance data into the panoramic image, and output it to the display device fo...

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Abstract

The invention provides an auxiliary obstacle avoidance method, apparatus and system for an aircraft, and belongs to the technical field of aircraft obstacle avoidance. According to the auxiliary obstacle avoidance method, apparatus and system for the aircraft, provided by embodiments of the invention, through image collection apparatuses mounted in all directions of the aircraft, a 360-degree panoramic image around the aircraft can be obtained; and meanwhile, through distance sensors mounted in all the directions of the aircraft, multi-directional obstacle distance information is provided andfused in the panoramic image, so that intuitive and comprehensive obstacle avoidance reference information can be provided for operators, and the aircraft can be prevented from hitting against an obstacle in a flight process to ensure safety flight of the aircraft.

Description

technical field [0001] The present invention relates to the technical field of aircraft obstacle avoidance, in particular to an aircraft auxiliary obstacle avoidance method, device and auxiliary obstacle avoidance system. Background technique [0002] Existing drones are usually only equipped with cameras on the front side of the fuselage, which can only detect whether there are obstacles in front of the drone, but cannot know the obstacles in other directions around the fuselage. Moreover, to realize UAV obstacle avoidance based on a single camera, it is necessary to use the detection and registration of obstacle feature points on multi-frame video data, calculate their spatial coordinates based on the intersection method, and determine the distance between the aircraft and the obstacle based on the spatial positions of these feature points. distance between objects. In this scheme, the feature point related matching error of each frame will bring a large distance measurem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T3/40B60W40/02
CPCG06T3/4038B60W40/02G06T2200/32G06V20/58
Inventor 郑卫锋其他发明人请求不公开姓名
Owner POWERVISION TECH
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