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

A drone and obstacle avoidance technology, applied in three-dimensional position/course control, vehicle position/route/height control, instruments, etc., can solve the problems of poor forward obstacle detection ability and low accuracy of safe flight, etc. To achieve the effect of solving poor detection ability, improving detection ability and ensuring operation safety

Pending Publication Date: 2022-05-03
GUANGDONG POWER GRID CO LTD +1
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] The embodiment of the present invention provides a UAV obstacle avoidance method, device, UAV and stora

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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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[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all structures related to the present invention.

[0033] figure 1 This is a flowchart of an obstacle avoidance method for a UAV provided by an embodiment of the present invention. This embodiment can be applied to a power line patrol work scenario. The method can be executed by a UAV obstacle avoidance device, and the device can have hardware and and / or software implementation and are usually deployed in drones. like figure 1 As shown, the method includes:

[0034] Step 110: Acquire forward image data, forward millimeter wave radar data, and forward lidar data collected along ...

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Abstract

The invention discloses an unmanned aerial vehicle obstacle avoidance method and device, an unmanned aerial vehicle and a storage medium. The method comprises the following steps: acquiring forward image data, forward millimeter wave radar data and forward laser radar data collected along the flight direction of the unmanned aerial vehicle; according to the forward image data, the forward millimeter wave radar data and the forward laser radar data, determining the contour of a forward obstacle and distance information between the unmanned aerial vehicle and the forward obstacle; and according to the forward obstacle contour, the unmanned aerial vehicle contour, the distance information and the forward flight speed, determining a moving direction and a moving speed for avoiding the forward obstacle, and according to the moving direction and the moving speed, controlling the unmanned aerial vehicle to avoid the forward obstacle. According to the scheme, the problem that the existing scheme is poor in forward obstacle detection capability, low in safe flight accuracy and incapable of adapting to diversified obstacles in an electric power line patrol working environment is solved, and the operation safety of the electric power line patrol unmanned aerial vehicle is effectively guaranteed in the electric power line patrol operation process.

Description

technical field [0001] Embodiments of the present invention relate to collision avoidance system technology, and in particular to a method and device for avoiding obstacles of a drone, a drone and a storage medium. Background technique [0002] With the maturity of drone technology and the continuous development of artificial intelligence technology, the power industry has begun to use drones to inspect power lines in large areas. Drones have become a better tool for inspectors to complete inspection operations efficiently and safely. [0003] The power line inspection drone collects and processes the laser point cloud along the power line through the laser radar system line inspection, which can realize the real three-dimensional reconstruction of the power line and restore the surface shape, surface attachments (buildings, trees, etc.), line towers along the power line 3D positions and models, etc. Therefore, it can provide data basis for transmission line monitoring pers...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 张力苏超林英杰潘立丰古乐张名捷
Owner GUANGDONG POWER GRID CO LTD
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