Method and device for avoiding obstacles by unmanned aerial vehicle, equipment and storage medium

A technology for drones and obstacles, applied in the field of drones to avoid obstacles, can solve problems such as track jitter, and achieve the effect of autonomous obstacle avoidance

Pending Publication Date: 2019-03-01
XIAMEN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The artificial potential field method is easy to fall into local optimum, and there is track jitter in narrow channels

Method used

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  • Method and device for avoiding obstacles by unmanned aerial vehicle, equipment and storage medium
  • Method and device for avoiding obstacles by unmanned aerial vehicle, equipment and storage medium
  • Method and device for avoiding obstacles by unmanned aerial vehicle, equipment and storage medium

Examples

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Effect test

no. 1 example

[0048] see figure 1 with figure 2 , The embodiment of the present invention provides a method for a drone to avoid obstacles, the method comprising:

[0049] S10, reconstructing a three-dimensional map based on the image of the obstacle collected by the camera of the drone and the monocular Visual SLAM framework, so as to obtain the position of the drone and the axis distance between the drone and the obstacle.

[0050] In this embodiment, a monocular camera and a satellite positioning receiver are pre-installed on the drone. The images around the unmanned aerial vehicle photographed by the monocular camera include obstacle images, the satellite positioning receiver is anchored in the whole world, and the position in world coordinates is used to provide bit information for the ground coordination computer to realize wireless Human-machine path planning.

[0051] see image 3 , in this embodiment, the monocular Visual SLAM framework is sensor data, front-end, back-end, loop ...

no. 2 example

[0077] The second embodiment of the present invention provides a device for a drone to avoid obstacles, including:

[0078] The reconstruction module 100 is used to reconstruct a three-dimensional map based on the image of the obstacle collected by the camera of the drone and the monocular Visual SLAM framework, so as to obtain the position of the drone and the axial distance between the drone and the obstacle .

[0079] The judgment module 200 is configured to project the UAV according to the flight direction of the UAV, so as to judge whether the projection of the UAV in the flight direction intersects the plane where the obstacle is located.

[0080] The acquisition module 300 is configured to acquire an edge point on the obstacle that has the shortest distance from the center of the projection of the drone when it is judged that the projection of the drone intersects the obstacle.

[0081] The forming module 400 is configured to form a collision circle with a preset safet...

no. 4 example

[0096] A fourth embodiment of the present invention provides a computer-readable storage medium, and the computer-readable storage medium includes a stored computer program, such as a program of a method for avoiding obstacles by a drone. Wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the obstacle avoidance method for the drone described in any of the above embodiments.

[0097] Exemplarily, the computer program described in the third embodiment and the fourth embodiment of the present invention can be divided into one or more modules, the one or more modules are stored in the memory, and the The processor executes to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution of the computer program in the implementation of the UAV...

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Abstract

The invention discloses a method and device for avoiding obstacles by an unmanned aerial vehicle, equipment and a storage medium. The method comprises the following steps: reconstructing a three-dimensional map based on an acquired image of an obstacle and a monocular Visual SLAM framework to obtain the location of an unmanned aerial vehicle and an axis distance between the unmanned aerial vehicleand the obstacle; according to the flight direction of the unmanned aerial vehicle, projecting the unmanned aerial vehicle; determining whether the projection of the unmanned aerial vehicle in a flight direction is intersected with the plane where the obstacle is located; if so, acquiring an edge point at a shortest distance to the projection center of the unmanned aerial vehicle on the obstacle;forming a preset safety-radius collision circle by using the edge point as the center of the circle; according to the relative positions of the unmanned aerial vehicle and the obstacle as well as thedriving speed of the unmanned aerial vehicle, calculating a deflection angle of the unmanned aerial vehicle; and carrying out route planning based on the collision circle, the deflection angle, the axis distance, and the edge point, enabling the unmanned aerial vehicle to fly around the obstacle via the boundary of the collision circle. Therefore, detection of obstacles and planning of obstacle avoidance paths for unmanned aerial vehicles are realized.

Description

technical field [0001] The present invention relates to the field of UAV protection, in particular to a method, device, equipment and storage medium for UAV avoiding obstacles. Background technique [0002] With the continuous development of UAV technology, the application field of UAV is also expanding, but UAV will face the safety threats of mountains, buildings and danger areas during flight, among which the automatic obstacle avoidance system is The important safety guarantee for drones to successfully complete flight missions reflects the intelligence and safety of drones to a large extent. Therefore, it is of great significance to study the UAV obstacle avoidance system. [0003] The existing UAV obstacle avoidance technology includes infrared and laser ranging to realize UAV obstacle avoidance, but infrared and laser obstacle avoidance are easily affected and interfered by the external environment, resulting in inaccurate measured distances. There is a problem that ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 许华荣谢晓琦魏俊杰刘俊芃翁丽芬
Owner XIAMEN UNIV OF TECH
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