Aircraft obstacle avoidance method, device, readable storage medium and aircraft
An aircraft and obstacle avoidance technology, applied in the field of aircraft, can solve the problems of short range, weak reflected light, and low ranging accuracy.
Active Publication Date: 2022-07-05
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology
[0003] The information processing using ultrasonic sensors is simple, fast and easy to control in real time. However, in the application of aircraft obstacle avoidance, ultrasonic waves have disadvantages such as strong interference, short action distance and low ranging accuracy. Compared with ultrasonic sensors, infrared sensors Strong directionality, small size and fast response speed, but it is easily affected by light. When the color of the target object is close to transparent, the reflected light will be weaker; the obstacle detection method based on radar ranging can accurately obtain the position information of the object , has the advantages of high precision and high resolution, but for micro aircraft, the cost of radar is high and the weight is heavy, which is not conducive to the miniaturization of equipment
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[0037] The technical solutions of the present application will be described in further detail below through the accompanying drawings and embodiments.
[0038] The flowchart of an embodiment of the obstacle avoidance method for an aircraft of the present application is as follows: figure 1 shown.
[0039] In step 101, an image is acquired using a camera located in a single direction of the aircraft. In one embodiment, the camera is arranged only on the plane of the aircraft in the intended forward direction (eg, the nose or the front of the aircraft), and the camera captures an image of the front view of the aircraft. Cameras do not need to be deployed on other sides of the aircraft. In one embodiment, since the frontal direction of the aircraft is toward the direction of its moving path, the image acquired by the camera is an image of the moving direction of the aircraft.
[0040] In step 102, the position of the obstacle is determined according to the image. In one embod...
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The present application proposes an obstacle avoidance method, device and aircraft for an aircraft, which belongs to the technical field of aircraft. An obstacle avoidance method for an aircraft of the present application includes: using a camera located in a single direction on the aircraft to obtain an image of the forward direction; determining the position of the obstacle according to the image; A potential field is generated according to the predetermined linear path direction of the device; an obstacle avoidance route is planned according to the potential field, wherein the traveling direction of the obstacle avoidance route is within the viewing angle range of the camera. Through this method, obstacles can be determined according to the images obtained by the camera deployed in a single direction of the aircraft, and obstacle avoidance routes with the travel direction within the camera's view range can be planned, thereby avoiding obstacle avoidance actions such as backing and sideshifting. The visual image of the direction, and ensure the forward direction of the aircraft, avoid detours and deceleration, and improve the efficiency of aircraft cargo distribution.
Description
technical field [0001] The present application relates to the field of aircraft technology, and in particular, to an aircraft obstacle avoidance method, device, and aircraft. Background technique [0002] At present, there are various technologies in the field of aircraft obstacle avoidance, including the use of active sensors such as ultrasonic, infrared, and radar, and the use of passive sensors such as visual sensors. [0003] The information processing of ultrasonic sensors is simple, fast, and easy to control in real time. However, in the application of ultrasonics in aircraft obstacle avoidance, there are disadvantages such as strong interference, short range and low ranging accuracy; Strong directionality, small size and fast response speed, but easily affected by light, when the color of the target object is close to transparent, the reflected light will be weaker; the obstacle detection method based on radar ranging can accurately obtain the position information of ...
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IPC IPC(8): G05D1/12
Inventor 门春雷
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD