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Unmanned aerial vehicle obstacle avoidance method and device, unmanned aerial vehicle and storage medium

A UAV, obstacle avoidance technology, applied in the field of UAV, can solve problems such as crossing the border

Pending Publication Date: 2021-03-16
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a UAV obstacle avoidance method, device, UAV and storage medium to solve the problem in the prior art that the planned obstacle avoidance path enters the no-fly zone or crosses the boundary

Method used

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  • Unmanned aerial vehicle obstacle avoidance method and device, unmanned aerial vehicle and storage medium
  • Unmanned aerial vehicle obstacle avoidance method and device, unmanned aerial vehicle and storage medium
  • Unmanned aerial vehicle obstacle avoidance method and device, unmanned aerial vehicle and storage medium

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Embodiment 1

[0036] figure 1 It is a flow chart of a UAV obstacle avoidance method provided by Embodiment 1 of the present invention. This embodiment of the present invention is applicable to the situation of UAV performing obstacle avoidance during operations. The method can be implemented by the UAV in the embodiment of the present invention obstacle avoidance device, which can be implemented in the form of software and / or hardware, and integrated in the drone of the present invention, such as figure 1 As shown, the UAV obstacle avoidance method specifically includes the following steps:

[0037] S101. Real-time detection of obstacles during the execution of the preset first route by the UAV to generate a local map.

[0038] In the embodiment of the present invention, before the UAV performs the operation, the user can retrieve the global map of the operation area at the ground station, and pre-set the boundary of the operation area, no-fly area, obstacles, etc. on the global map, and t...

Embodiment 2

[0056] figure 2 It is a flow chart of a UAV obstacle avoidance method provided by Embodiment 2 of the present invention. The embodiment of the present invention is optimized on the basis of the foregoing Embodiment 1. Specifically, as figure 2 As shown, the UAV obstacle avoidance method in the embodiment of the present invention may include the following steps:

[0057] S201. During the process of the UAV executing a preset first route, a sensor on the UAV detects a distance from an obstacle within a preset range to the UAV.

[0058] In the embodiment of the present invention, the sensor may be at least one of a millimeter-wave radar, a monocular camera, a double-sided camera, etc., and the preset first route may be a pre-generated operation route in the operation area, such as a plant protection area The plant protection route can also be a surveying and mapping route in the surveying and mapping area. Taking the millimeter-wave radar sensor as an example, when the UAV ex...

Embodiment 3

[0105] Figure 9 A schematic structural diagram of an unmanned aerial vehicle obstacle avoidance device provided in Embodiment 3 of the present invention, as shown in Figure 9 As shown, the UAV obstacle avoidance device of the embodiment of the present invention includes:

[0106] A local map generating module 301, configured to detect obstacles in real time to generate a local map during the execution of the preset first route by the drone;

[0107] The second route generating module 302 is configured to generate a second route that avoids the obstacle when an obstacle is detected on the first route;

[0108] A target obstacle determination module 303, configured to determine target obstacles at multiple track points on the second route according to the local map and the preset global map;

[0109] Obstacle information acquisition module 304, configured to acquire obstacle information of the target obstacle;

[0110] The second route adjustment module 305 is configured to...

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Abstract

The embodiment of the invention discloses an unmanned aerial vehicle obstacle avoidance method and device, an unmanned aerial vehicle and a storage medium. The unmanned aerial vehicle obstacle avoidance method comprises the steps that obstacles are detected in real time in the process that the unmanned aerial vehicle executes a preset first air route to generate a local map; when an obstacle exists on the first air route, a second air route avoiding the obstacle is generated; according to the local map and a preset global map, target obstacles of a plurality of track points on the second air route are determined; obstacle information of the target obstacles are obtained; a plurality of track points on the second air route are adjusted according to the obstacle information to obtain an adjusted second air route; and the unmanned aerial vehicle is controlled to execute the adjusted second air route. According to the embodiment of the invention, the problem that the obstacle avoidance path enters the no-fly zone or crosses the boundary due to the fact that the obstacle avoidance path is planned only according to the obstacle detected by the sensor can be solved, so that the unmanned aerial vehicle can effectively avoid the obstacle and execute the operation in the predetermined operation zone.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of drones, and in particular to a method and device for avoiding obstacles of drones, drones and storage media. Background technique [0002] With the development of drone technology, the application fields of drones are becoming more and more extensive. For example, drones are used in aerial photography, exploration, traffic command, power inspection and agricultural plant protection and other fields. [0003] In the existing technology, after the user marks obstacles, no-fly areas, boundaries, etc. on the global map of the work area to assist in generating the work path, the UAV operates according to the work path. However, the user may miss marking obstacles, which requires When the UAV works according to the generated operation path, it detects obstacles through the sensors set on the UAV, so as to generate an obstacle avoidance path to avoid obstacles when obstacles are detecte...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101Y02T10/40
Inventor 蔡国桢
Owner GUANGZHOU XAIRCRAFT TECH CO LTD
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