Unmanned aerial vehicle flight path planning method, device and storage medium

Abstract

The invention relates to an unmanned aerial vehicle flight path planning method, device, computer equipment and a storage medium. The method comprises the following steps that the current pose information of a current node of an unmanned aerial vehicle and the position information of a corresponding target node are obtained, a current three-dimensional environment map is acquired, a standby planning path is determined according to the current three-dimensional environment map, the current pose information and the position information of the target node, and whether the standby planning path meets the safe flight condition or not is judged; a corresponding flight command is generated according to the standby planning path when the condition is met, and the flight command is executed so asto enable the unmanned aerial vehicle to fly to the target node according to the flight command. The three-dimensional environment map is generated in real time through images shot by shooting equipment on the unmanned aerial vehicle, the environment information around the unmanned aerial vehicle is determined according to the three-dimensional environment map generated in real time, the flight path is planned in real time according to the environment information and the positioning information of the unmanned aerial vehicle, and safe flight of the unmanned aerial vehicle can be guaranteed according to the safe flight conditions, so that the unmanned aerial vehicle can fly safely in an unknown environment.

Description

technical field [0001] The present application relates to the field of computer vision, and in particular to a method, device and storage medium for planning flight paths of unmanned aerial vehicles. Background technique [0002] In recent years, with the rapid growth of the UAV market, its related technologies are undergoing rapid changes. In the past, technologies that were mostly used in special industries and even military products, such as flight control, image transmission, target recognition and tracking, etc., are becoming more and more It is increasingly used in consumer drones, bringing it closer and closer to the concept of automated and even intelligent flying robots. UAVs are widely used in many fields of national economy, national defense and military by virtue of their good flight performance and flexible control performance. When performing flight missions in complex and changeable unknown environments, in order to avoid collisions with obstacles, UAVs need ...

AI Technical Summary

Problems solved by technology

Because the existing drones are mainly difficult to quickly achieve obstacle avoidance in unknown environments

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