Man-machine moving obstacle monitoring method, readable storage medium and unmanned aerial vehicle

An obstacle and obstacle recognition technology, applied in the field of drones, can solve problems such as failure to realize unmanned and intelligent

Active Publication Date: 2019-12-13
CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC
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Problems solved by technology

[0003] At present, drones still need human intervention in the take-off

Method used

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  • Man-machine moving obstacle monitoring method, readable storage medium and unmanned aerial vehicle
  • Man-machine moving obstacle monitoring method, readable storage medium and unmanned aerial vehicle
  • Man-machine moving obstacle monitoring method, readable storage medium and unmanned aerial vehicle

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no. 1 example

[0045] The first embodiment of the present invention proposes a human-machine movement obstacle monitoring method, the method includes the following steps:

[0046] Obtaining obstacle features of obstacles through different sensors, and establishing frame models based on the obstacle features to identify obstacles;

[0047] An obstacle movement state model is constructed by fusing the obstacle recognition results of different sensors, and the obstacle is tracked based on the obstacle movement state model.

[0048] optional, such as figure 1 As shown, the acquisition of obstacle features of obstacles by different sensors includes: acquisition of obstacle features of obstacles by laser radar and binocular photoelectric sensors.

[0049] In the embodiment of the present invention, obstacles are identified by respectively establishing frame models based on the characteristics of the obstacles; the obstacle identification results of different sensors are fused to construct an obst...

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Abstract

The invention discloses a man-machine moving obstacle monitoring method, a readable storage medium and an unmanned aerial vehicle. The method comprises a step of obtaining obstacle features of an obstacle through different sensors and building frame models based on the obstacle features to recognize the obstacle, a step of fusing the obstacle recognition results of different sensors to construct an obstacle motion state model and tracking the obstacle based on the obstacle motion state model. According to the embodiment of the invention, the frame models are established based on the obstacle features to identify the obstacle, the obstacle recognition results of different sensors are fused to construct the obstacle motion state model, and the obstacle is tracked based on the obstacle motionstate model, so that the unmanned aerial vehicle can effectively recognize, track and monitor the moving obstacle in a flight process, and a three-dimensional obstacle avoidance path of the unmannedaerial vehicle is planned in real time.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for monitoring human-machine movement obstacles, a readable storage medium and an unmanned aerial vehicle. Background technique [0002] At present, drones still need human intervention in the take-off, landing and flight links, and they have not been able to achieve unmanned and intelligent. In order to improve the autonomy of UAV material transportation, by installing photoelectric, radar and other sensors on the UAV platform, the data obtained by multi-source sensors is deeply integrated and analyzed, so that the UAV can detect moving obstacles during flight. Effective identification, tracking, and monitoring. On this basis, the motion parameters of moving obstacles are extracted according to historical data to predict the trajectory of the obstacle, and the flight trajectory of the UAV is predicted according to the UAV flight control state parameters...

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Application Information

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IPC IPC(8): G05D1/10G05D1/12G01S7/48
CPCG05D1/101G05D1/12G01S7/4802
Inventor 张鑫龙樊锐马磊周荣坤杨婷吴琨徐永正田全才
Owner CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC
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