Obstacle avoidance method, unmanned aerial vehicle, and computer-readable storage medium

Abstract

The present application discloses an obstacle avoidance method, which is applied to a drone. The obstacle avoidance method includes: acquiring an image of a monitored target during flight according to a preset flight trajectory; analyzing the image of the monitored target to obtain the coordinates of each target point on the monitored target; judging whether the monitored target is at risk of colliding with the obstacle based on the coordinates of the target point and the three-dimensional coordinates of the obstacle; when the monitored target is at risk of colliding with the obstacle, sending a warning message to the VR device worn by the monitored target. The application of this obstacle avoidance method can effectively improve the safety of users when playing VR games. The present application also discloses a drone and a computer-readable storage medium, both of which have the above-mentioned technical effects.

Description

Technical Field

[0001] The present application relates to the field of obstacle avoidance technology, and in particular to an obstacle avoidance method; it also relates to an unmanned aerial vehicle and a computer-readable storage medium. Background Art

[0002] The basic implementation method of VR (Virtual Reality) technology is to use computers to simulate virtual environments to give people a sense of environmental immersion. With the continuous development of social productivity and science and technology, the demand for VR technology in all walks of life is growing, and VR technology has made great progress. With the development and popularization of VR technology, VR games have also developed explosively. During VR games, the user's field of view is limited, and it is easy for the user to collide with surrounding obstacles, causing injuries to the user. Therefore, how to improve the safety of users when playing VR games has become a technical problem that needs to be solved urgently by technicians in this field. Summary of the invention

[0003] The purpose of this application is to provide an obstacle avoidance method, which is applied to drones and can effectively improve the safety of users when playing VR games. Another purpose of this application is to provide a drone and a computer-readable storage medium, both of which have the above technical effects.

[0004] In order to solve the above technical problems, the present application provides an obstacle avoidance method, which is applied to a drone. The obstacle avoidance method includes:

[0005] Acquire images of the monitored target while flying along a preset flight trajectory;

[0006] Analyze the image of the monitored target to obtain the coordinates of each target point on the monitored target;

[0007] According to the coordinates of the target point and the three-dimensional coordinates of the obstacle, determining whether the monitored target has a risk of colliding with the obstacle;

[0008] When the monitored target is at risk of colliding with the obstacle, a warning message is sent to the VR device worn by the monitored target.

[0009] Optionally, flying according to a preset flight path includes:

[0010] The aircraft flies in a circular trajectory above the monitored target; the circular trajectory takes a position at a first preset distance directly above the monitored target as a center and a second preset distance as a radius.

[0011] Optionally, judging whether there is a risk of collision between the monitored target and the obstacle according to the coordinates of the target point and the three-dimensional coordinates of the obstacle includes:

[0012] Analyze the coordinates of the target point to obtain the moving direction and moving speed of the target point;

[0013] According to the moving direction and moving speed of the target point and the three-dimensional coordinates of the obstacle, the probability of collision between the monitored target and the obstacle is obtained;

[0014] Comparing the probability of the monitored target colliding with the obstacle with a preset probability threshold;

[0015] If the probability of the monitored object colliding with the obstacle is greater than the preset probability threshold, then there is a risk of the monitored object colliding with the obstacle.

[0016] Optionally, the sending warning information to the VR device worn by the monitored target includes:

[0017] An instruction is sent to the VR device worn by the monitored target, instructing the VR device to turn off the screen.

[0018] Optionally, the sending warning information to the VR device worn by the monitored target includes:

[0019] An instruction is sent to the VR device worn by the monitored target, instructing the VR device to broadcast the direction and position of the collision between the monitored target and the obstacle.

[0020] Optionally, also include:

[0021] The flight trajectory of the UAV is adjusted according to the position of the monitored target.

[0022] Optionally, also include:

[0023] Monitor whether there is any moving object entering the security area around the monitoring target;

[0024] When a moving object enters the safety area, a collision warning is issued.

[0025] In order to solve the above technical problems, the present application also provides a drone, including:

[0026] The camera is used to obtain images of the monitored target while the UAV is flying along a preset flight trajectory;

[0027] The flight control chip is used to analyze the image of the monitored target to obtain the coordinates of each target point on the monitored target; and determine whether the monitored target has a risk of colliding with the obstacle according to the coordinates of the target points and the three-dimensional coordinates of the obstacle;

[0028] The wireless communication module is used to send warning information to the VR device worn by the monitored target when the monitored target is at risk of colliding with the obstacle.

[0029] Optionally, the drone further includes:

[0030] The UWB positioning module is used to interact with the UWB positioning module on the VR device to determine the distance between the drone and the monitored target wearing the VR device.

[0031] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the obstacle avoidance method as described in any one of the above items are implemented.

[0032] The obstacle avoidance method provided in the present application includes: acquiring an image of a monitored target during flight according to a preset flight trajectory; analyzing the image of the monitored target to obtain the coordinates of each target point on the monitored target; judging whether the monitored target is at risk of colliding with the obstacle based on the coordinates of the target points and the three-dimensional coordinates of the obstacle; and sending a warning message to a VR device worn by the monitored target when the monitored target is at risk of colliding with the obstacle.

[0033] It can be seen that the obstacle avoidance method provided by the present application obtains the user's image through the drone during the user's use of the VR device to play VR games, and judges whether the user is at risk of colliding with an obstacle based on the image. When the user is at risk of colliding with an obstacle, a warning message is sent to the VR device worn by the user in a timely manner to avoid the user from colliding with the obstacle, thereby improving the safety of the user when playing VR games.

[0034] The drone and computer-readable storage medium provided in this application both have the above-mentioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the prior art and the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A flowchart of an obstacle avoidance method provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of a UAV flight trajectory provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a drone provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of a VR device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The core of this application is to provide an obstacle avoidance method, which is applied to drones and can effectively improve the safety of users when playing VR games. Another core of this application is to provide a drone and a computer-readable storage medium, both of which have the above technical effects.

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] Please refer to Figure 1 , Figure 1 A flowchart of an obstacle avoidance method provided in an embodiment of the present application is provided. Figure 1 As shown in FIG. 1 , the obstacle avoidance method is applied to UAVs and mainly includes:

[0043] S101: Acquire an image of a monitored target during flight according to a preset flight trajectory;

[0044] When the VR device worn by the user, which is the monitoring target, enters the game mode, the VR device sends a start command to the drone. After receiving the start command sent by the VR device, the drone starts the security monitoring function. First, the drone flies over a large area at the user's location and obtains location information through obstacle avoidance sensors and cameras. Location information mainly includes the spatial size of the location (including height, width, and length). In addition, during the drone's large-scale flight at the user's location, the camera captures images of obstacles in the location. Then, the drone's flight control chip uses an image recognition algorithm (such as OPenCV) for fitting to depict the spatial model of the user's location and the three-dimensional coordinates of the obstacles. Thereafter, the drone flies according to the preset flight trajectory, and during the flight, the drone captures images of the user through the camera on it.

[0045] In some embodiments, flying according to a preset flight trajectory includes: circling above the monitored target according to a circular trajectory; the circular trajectory has a position at a first preset distance directly above the monitored target as a center and a second preset distance as a radius.

[0046] refer to Figure 2 As shown, in this embodiment, the drone flies in a circular trajectory above the user without causing a collision. The center of the circular trajectory is a first preset distance (such as Figure 2 The radius of the circular trajectory is the second preset distance (as shown in Figure 2 R shown in ).

[0047] Among them, reference Figure 3 and Figure 4 As shown in the figure, in order to realize the UAV flying at a certain distance above the user, UWB positioning modules can be configured on the UAV and VR device respectively. The UWB positioning module on the UAV interacts with the UWB positioning module on the VR device to locate the position of the UAV above the user, so that the UAV can hover above the user with the user as the center.

[0048] When a drone is circling in a circular trajectory, it may happen that the distance between the user and the wall or window of the place where the user is located is not enough to support the drone to continue circling in a circular trajectory. Therefore, in some embodiments, it also includes: adjusting the flight trajectory of the drone according to the position of the monitored target.

[0049] For example, the flight trajectory of the drone can be adjusted to a semicircle, a sector with a preset circular angle, etc. It should be noted that no matter whether the flight trajectory of the drone is a semicircle, a sector or other shapes, it is necessary to ensure that the drone's camera can monitor all obstacles around the user. In addition, after the drone adjusts its flight trajectory, it is also necessary to ensure that the drone will not collide.

[0050] In addition to the above-mentioned situation where the user's location does not support the drone's circling flight in a circular trajectory and the drone's flight trajectory is adjusted, when the user's location supports the drone's circling flight in a circular trajectory, the drone can also be triggered to adjust its flight trajectory.

[0051] For example, a trajectory switching command is sent to the drone to switch the drone to a corresponding flight trajectory. Different flight trajectories correspond to different trajectory switching commands.

[0052] The flight altitude of the drone can also be adjusted as needed for the radius of a circular trajectory, the radius of a semicircular trajectory, the circumference angle of a fan-shaped trajectory, etc. The adjustment can be made by the drone actively or passively after receiving the adjustment command.

[0053] For example, the drone can appropriately reduce the radius of the circular trajectory according to the height, width and length of the room the user is currently in, thereby reducing the drone's power consumption while ensuring that the drone's camera can monitor all obstacles around the user.

[0054] S102: Analyze the image of the monitored target to obtain the coordinates of each target point on the monitored target;

[0055] S103: judging whether there is a risk of collision between the monitored object and the obstacle according to the coordinates of the target point and the three-dimensional coordinates of the obstacle;

[0056] Based on the image of the user obtained by the drone's camera, the drone further uses an image analysis algorithm to analyze the user's image to obtain the coordinates of certain feature points of the user's body, namely the target points, and then determines whether the user is at risk of colliding with the obstacle based on the coordinates of these feature points of the user's body and the three-dimensional coordinates of the obstacle.

[0057] The feature points of the user's body can be points that can better reflect whether the user has a collision risk, and can be determined in advance through experiments. For example, when a user is playing a VR game, the head, elbows, knees, and feet are more likely to collide with obstacles, so more attention can be paid to the head, elbows, knees, and feet during image analysis to obtain some feature points on the head, elbows, knees, and feet, which are used as target points for collision judgment.

[0058] In some embodiments, the method for judging whether the monitored target is at risk of colliding with the obstacle based on the coordinates of the target point and the three-dimensional coordinates of the obstacle can be: analyzing the coordinates of the target point to obtain the movement direction and movement speed of the target point; obtaining the probability of the monitored target colliding with the obstacle based on the movement direction and movement speed of the target point and the three-dimensional coordinates of the obstacle; comparing the probability of the monitored target colliding with the obstacle with a preset probability threshold; if the probability of the monitored target colliding with the obstacle is greater than the preset probability threshold, then the monitored target is at risk of colliding with the obstacle.

[0059] During the VR game, the coordinates of the target point of the user's body change with the user's movements. By analyzing the coordinates of the target point, the movement direction and movement speed of the target point can be obtained. Then, the movement direction and movement speed of the target point and the three-dimensional coordinates of the obstacle are analyzed, and the probability of the user colliding with the obstacle is calculated in real time. If the probability of the user colliding with the obstacle is greater than the preset probability threshold, the user is at risk of colliding with the obstacle. On the contrary, if the probability of the user colliding with the obstacle is not greater than the preset probability threshold, the user is not at risk of colliding with the obstacle.

[0060] For example, the preset probability threshold is 80%. If the probability of the user colliding with the obstacle is greater than 80%, the user is at risk of colliding with the obstacle. If the probability of the user colliding with the obstacle is not greater than 80%, the user is not at risk of colliding with the obstacle.

[0061] Alternatively, in some embodiments, the method for judging whether the monitored target is at risk of colliding with the obstacle based on the coordinates of the target point and the three-dimensional coordinates of the obstacle may be: obtaining the distance between the target point and the obstacle based on the coordinates of the target point and the three-dimensional coordinates of the obstacle; if the distance between any of the target points and the obstacle is less than a preset distance threshold, then the monitored target is at risk of colliding with the obstacle.

[0062] For example, the preset distance threshold is 30cm. When the distance between any target point on the user's body and the obstacle is less than 30cm, the user is considered to be at risk of colliding with the obstacle. On the contrary, if the distance between all target points and the obstacle is not less than 30cm, the user is considered to be at no risk of colliding with the obstacle.

[0063] S104: When the monitored target is at risk of colliding with the obstacle, a warning message is sent to the VR device worn by the monitored target.

[0064] When it is determined that the user is at risk of colliding with an obstacle, the drone triggers the warning mechanism and sends warning information to the VR device worn by the monitored target through wireless communication. The wireless communication method can be any one of WIFI, Zigbee, Bluetooth, infrared, etc.

[0065] In some embodiments, sending warning information to the VR device worn by the monitoring target includes: sending an instruction to the VR device worn by the monitoring target to instruct the VR device to turn off the screen.

[0066] Therefore, after receiving the instruction, the VR device pauses the game and turns off the screen of the VR device. At this time, the user can clearly see the user's current location and surrounding environment, allowing the user to stop the action in time to avoid collision with obstacles.

[0067] In some embodiments, sending warning information to the VR device worn by the monitored target includes: sending an instruction to the VR device worn by the monitored target to instruct the VR device to broadcast the direction and position of the collision between the monitored target and the obstacle.

[0068] Therefore, after receiving the instruction, the VR device reminds the user through the speaker on it of the direction and position where the device may collide with an obstacle, and prompts the user not to move in that direction and position to avoid collision with the obstacle.

[0069] In some embodiments, sending the warning information to the VR device worn by the monitoring target includes: sending an instruction to the VR device worn by the monitoring target to instruct the handle of the VR device to vibrate. Thus, when the VR device receives the instruction, the handle of the VR device is triggered to vibrate.

[0070] When it is determined that the user is at risk of colliding with an obstacle, the drone can not only send warning information to the VR device, but also directly provide voice reminders. The reminders may include the direction and location of the collision between the user and the obstacle, or just make a warning sound.

[0071] When it is determined that the user is at risk of colliding with an obstacle, the warning method described in any of the above embodiments may be used alone, or the above warning methods may be combined to adopt multiple warning methods at the same time.

[0072] For example, when it is determined that the user is at risk of colliding with an obstacle, the drone itself emits a warning sound, and on the other hand, the drone also sends a command to the VR device worn by the monitored target to instruct the VR device to turn off the screen, and sends a command to the VR device worn by the monitored target to instruct the VR device to broadcast the direction and position of the collision between the monitored target and the obstacle.

[0073] The above embodiments are aimed at fixed, immovable obstacles. When users play VR games, there may be a risk of collision with moving objects. Therefore, in order to better ensure the safety of users when playing VR games, in some embodiments, it also includes: monitoring whether there are moving objects entering the safe area around the monitored target; when a moving object enters the safe area, a collision warning is issued.

[0074] The size of the safety zone can be set in advance. The safety zone can be centered on the user. For example, the safety zone is a circular area with the user as the center. During the flight, the drone will also monitor whether there are moving objects entering the set safety zone. If there are, a collision warning will be issued. If not, no response will be made.

[0075] It is clear that the safe area surrounds the user, so as the user moves, the safe area will also move in real time. The safe area will be updated accordingly based on the user's real-time location.

[0076] The collision warning method may be similar to the warning method of the above embodiment. For example, a command is sent to the VR device worn by the monitoring target to instruct the VR device to turn off the screen, or a command is sent to the VR device worn by the monitoring target to instruct the VR device to broadcast that an object has entered a safe area, or a drone emits a warning sound, etc.

[0077] Furthermore, on the basis of adopting the voice reminder method, the volume of the voice can also be adjusted according to the distance of the moving object from the user. For example, when adopting the solution of using a drone to emit a reminder sound, the closer the moving object is to the user, the louder the volume.

[0078] In summary, the obstacle avoidance method provided by the present application obtains the user's image through the drone during the process of the user using the VR device to play VR games, and judges whether the user is at risk of colliding with an obstacle based on the image. When the user is at risk of colliding with an obstacle, a warning message is sent to the VR device worn by the user in a timely manner to avoid the user colliding with the obstacle, thereby improving the safety of the user when playing VR games.

[0079] The present application also provides a drone, and the drone described below can be referred to in correspondence with the obstacle avoidance method described above. The drone mainly includes:

[0080] The camera is used to obtain images of the monitored target while the UAV is flying along a preset flight trajectory;

[0081] The flight control chip is used to analyze the image of the monitored target to obtain the coordinates of each target point on the monitored target; and determine whether the monitored target has a risk of colliding with the obstacle according to the coordinates of the target points and the three-dimensional coordinates of the obstacle;

[0082] The wireless communication module is used to send warning information to the VR device worn by the monitored target when the monitored target is at risk of colliding with the obstacle.

[0083] In addition to cameras, flight control chips and wireless communication modules, drones also include necessary peripheral structures such as rotors, batteries, as well as gravity sensors and obstacle avoidance sensors.

[0084] When the drone is used in a home entertainment system, the VR device can send a start command to the drone when the VR device worn by the user enters the game mode. After the wireless communication module of the drone receives the start command sent by the VR device, it starts the security monitoring function. First, the drone flies over a large area at the user's location and obtains location information through obstacle avoidance sensors and cameras. Location information mainly includes the spatial size of the location (including height, width, and length). In addition, during the drone's large-scale flight at the user's location, the camera captures images of obstacles in the location. Then, the drone's flight control chip uses an image recognition algorithm (such as OPenCV) for fitting to depict the spatial model of the user's location and the three-dimensional coordinates of the obstacles. Thereafter, the drone flies according to the preset flight trajectory, and during the flight, the drone captures images of the user through the camera on it.

[0085] Based on the image of the user obtained by the drone's camera, the drone's flight control chip further uses an image analysis algorithm to analyze the user's image to obtain the coordinates of certain feature points of the user's body, namely the target points, and then determines whether the user is at risk of colliding with the obstacle based on the coordinates of these feature points of the user's body and the three-dimensional coordinates of the obstacle.

[0086] Once it is determined that the user is at risk of colliding with an obstacle, the drone immediately triggers the warning mechanism and sends warning information to the VR device worn by the user through the wireless communication module. The wireless communication module can be any one of WIFI, Zigbee, Bluetooth, infrared, etc.

[0087] On the basis of the above embodiment, as a specific implementation, the drone further includes: a UWB positioning module, which is used to interact with the UWB positioning module on the VR device to determine the distance between the drone and the monitoring target wearing the VR device. On this basis, in some implementations, the drone flies according to the preset flight trajectory: hovering above the monitoring target in a circular trajectory; the circular trajectory takes the position of the first preset distance directly above the monitoring target as the center of the circle and the second preset distance as the radius.

[0088] When a drone is circling in a circular trajectory, it may happen that the distance between the user and the wall or window of the place where the user is located is not enough to support the drone's circling flight in a circular trajectory. Therefore, in some embodiments, the flight control chip is also used to adjust the flight trajectory of the drone according to the position of the monitored target.

[0089] For example, the flight control chip can adjust the flight trajectory of the drone to a semicircle, a sector of a preset circular angle, etc. It should be noted that no matter whether the flight trajectory of the drone is a semicircle, a sector or other shapes, it is necessary to ensure that the drone's camera can monitor all obstacles around the user. In addition, after the drone adjusts its flight trajectory, it is also necessary to ensure that the drone will not collide.

[0090] In some embodiments, the flight control chip determines whether the monitored target is at risk of colliding with the obstacle based on the coordinates of the target point and the three-dimensional coordinates of the obstacle by: analyzing the coordinates of the target point to obtain the movement direction and movement speed of the target point; obtaining the probability of the monitored target colliding with the obstacle based on the movement direction and movement speed of the target point and the three-dimensional coordinates of the obstacle; comparing the probability of the monitored target colliding with the obstacle with a preset probability threshold; if the probability of the monitored target colliding with the obstacle is greater than the preset probability threshold, then the monitored target is at risk of colliding with the obstacle.

[0091] During the VR game, the coordinates of the target point on the user's body change with the user's movements. The flight control chip can obtain the movement direction and movement speed of the target point by analyzing the coordinates of the target point. Then, the movement direction and movement speed of the target point and the three-dimensional coordinates of the obstacle are analyzed, and the probability of the user colliding with the obstacle is calculated in real time. If the probability of the user colliding with the obstacle is greater than the preset probability threshold, the user is at risk of colliding with the obstacle. On the contrary, if the probability of the user colliding with the obstacle is not greater than the preset probability threshold, the user is not at risk of colliding with the obstacle.

[0092] For example, the preset probability threshold is 80%. If the probability of the user colliding with the obstacle is greater than 80%, the user is at risk of colliding with the obstacle. If the probability of the user colliding with the obstacle is not greater than 80%, the user is not at risk of colliding with the obstacle.

[0093] Alternatively, in some embodiments, the flight control chip determines whether the monitored target is at risk of colliding with the obstacle based on the coordinates of the target point and the three-dimensional coordinates of the obstacle by obtaining the distance between the target point and the obstacle based on the coordinates of the target point and the three-dimensional coordinates of the obstacle; if the distance between any of the target points and the obstacle is less than a preset distance threshold, then the monitored target is at risk of colliding with the obstacle.

[0094] For example, the preset distance threshold is 30cm. When the distance between any target point on the user's body and the obstacle is less than 30cm, the user is considered to be at risk of colliding with the obstacle. On the contrary, if the distance between all target points and the obstacle is not less than 30cm, the user is considered to be at no risk of colliding with the obstacle.

[0095] Further, in some embodiments, the flight control chip may send the warning information to the VR device worn by the monitored target by sending an instruction to the VR device worn by the monitored target to instruct the VR device to turn off the screen.

[0096] Therefore, after receiving the instruction, the VR device pauses the game and turns off the screen of the VR device. At this time, the user can clearly see the user's current location and surrounding environment, allowing the user to stop the action in time to avoid collision with obstacles.

[0097] In some embodiments, the flight control chip may send warning information to the VR device worn by the monitored target by sending an instruction to the VR device worn by the monitored target to instruct the VR device to broadcast the direction and position of the collision between the monitored target and the obstacle.

[0098] Therefore, after receiving the instruction, the VR device reminds the user through the speaker on it of the direction and position where the device may collide with an obstacle, and prompts the user not to move in that direction and position to avoid collision with the obstacle.

[0099] In some embodiments, the flight control chip sending the warning information to the VR device worn by the monitoring target may be: sending an instruction to instruct the handle of the VR device to vibrate to the VR device worn by the monitoring target. Thus, when the VR device receives the instruction, the handle of the VR device is triggered to vibrate.

[0100] In addition, when it is determined that the user is at risk of colliding with an obstacle, the drone can not only send warning information to the VR device, but also directly provide voice reminders. The reminders may include the direction and location of the collision between the user and the obstacle, or just make a reminder sound.

[0101] The above embodiments are aimed at fixed and immovable obstacles. When users play VR games, there may be a risk of collision with moving objects. Therefore, in order to better ensure the safety of users when playing VR games, in some embodiments, the flight control chip is also used to: monitor whether there are moving objects entering the safe area around the monitored target; when a moving object enters the safe area, a collision warning is issued.

[0102] The size of the safety zone can be set in advance. The safety zone can be centered on the user. For example, the safety zone is a circular area with the user as the center. During the flight, the drone uses the camera to capture images of the safety zone, and then the flight control chip analyzes the image to determine whether there are moving objects entering the set safety zone. If there are, a collision warning is issued. If not, no response is made.

[0103] It is clear that the safe area surrounds the user, so as the user moves, the safe area will also move in real time. The safe area will be updated accordingly based on the user's real-time location.

[0104] The collision warning method may be similar to the warning method of the above embodiment. For example, a command is sent to the VR device worn by the monitoring target to instruct the VR device to turn off the screen, or a command is sent to the VR device worn by the monitoring target to instruct the VR device to broadcast that an object has entered a safe area, or a drone emits a warning sound, etc.

[0105] The drone provided in this application can be used in a home entertainment system. When a user uses a VR device to play a VR game, the drone obtains the user's image and uses the drone to determine whether the user is at risk of colliding with an obstacle. When the user is at risk of colliding with an obstacle, the drone promptly sends a warning message to the VR device worn by the user to avoid the user colliding with the obstacle, thereby improving the safety of the user when playing VR games.

[0106] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps can be implemented:

[0107] During the flight along a preset flight trajectory, an image of the monitored target is acquired; the image of the monitored target is analyzed to obtain the coordinates of each target point on the monitored target; based on the coordinates of the target points and the three-dimensional coordinates of the obstacle, it is determined whether the monitored target has a risk of colliding with the obstacle; when the monitored target has a risk of colliding with the obstacle, an early warning message is sent to the VR device worn by the monitored target.

[0108] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0109] For an introduction to the computer-readable storage medium provided in this application, please refer to the above-mentioned obstacle avoidance method embodiment, and this application will not go into details here.

[0110] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices, equipment, and computer-readable storage media disclosed in the embodiments, since they correspond to the obstacle avoidance method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the obstacle avoidance method.

[0111] Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different obstacle avoidance methods for each specific application to implement the described functions, but such implementation should not be considered to be beyond the scope of this application.

[0112] The steps of the obstacle avoidance method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0113] The obstacle avoidance method, drone, and computer-readable storage medium provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the obstacle avoidance method of the present application and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An obstacle avoidance method, characterized in that: Applied to drones, the obstacle avoidance method includes: Acquire images of the monitored target while flying along a preset flight trajectory; Analyze the image of the monitored target to obtain the coordinates of each target point on the monitored target; According to the coordinates of the target point and the three-dimensional coordinates of the obstacle, determining whether the monitored target has a risk of colliding with the obstacle; When the monitored target is at risk of colliding with the obstacle, sending a warning message to the VR device worn by the monitored target; Adjusting the flight trajectory of the UAV according to the location of the monitored target; Monitor whether there is any moving object entering the security area around the monitoring target; When a moving object enters the safety area, a collision warning is issued; When the VR device worn by the monitored target enters the game mode, the VR device sends a start command to the drone; after receiving the start command sent by the VR device, the drone starts the security monitoring function; the drone flies at the user's location and obtains location information through obstacle avoidance sensors and cameras; the location information includes the size of the location; while the drone is flying at the user's location, it uses the camera to capture images of obstacles in the location; the drone's flight control chip uses an image recognition algorithm for fitting to depict the spatial model of the user's location and the three-dimensional coordinates of the obstacles.

2. The obstacle avoidance method according to claim 1, characterized in that: Flying along a preset flight path includes: The aircraft flies in a circular trajectory above the monitored target; the circular trajectory takes a position at a first preset distance directly above the monitored target as a center and a second preset distance as a radius.

3. The obstacle avoidance method according to claim 1, characterized in that: The determining, based on the coordinates of the target point and the three-dimensional coordinates of the obstacle, whether the monitored target has a risk of colliding with the obstacle includes: Analyze the coordinates of the target point to obtain the moving direction and moving speed of the target point; According to the moving direction and moving speed of the target point and the three-dimensional coordinates of the obstacle, the probability of collision between the monitored target and the obstacle is obtained; Comparing the probability of the monitored target colliding with the obstacle with a preset probability threshold; If the probability of the monitored object colliding with the obstacle is greater than the preset probability threshold, then there is a risk of the monitored object colliding with the obstacle.

4. The obstacle avoidance method according to claim 1, characterized in that: The sending of warning information to the VR device worn by the monitored target includes: An instruction is sent to the VR device worn by the monitored target, instructing the VR device to turn off the screen.

5. The obstacle avoidance method according to claim 1, characterized in that: The sending of warning information to the VR device worn by the monitored target includes: An instruction is sent to the VR device worn by the monitored target, instructing the VR device to broadcast the direction and position of the collision between the monitored target and the obstacle.

6. A drone, characterized in that: include: The camera is used to obtain images of the monitored target while the UAV is flying along a preset flight trajectory; The flight control chip is used to analyze the image of the monitored target to obtain the coordinates of each target point on the monitored target; and determine whether the monitored target has a risk of colliding with the obstacle according to the coordinates of the target points and the three-dimensional coordinates of the obstacle; A wireless communication module, used for sending warning information to the VR device worn by the monitored target when the monitored target is at risk of colliding with the obstacle; The flight control chip is also used to: adjust the flight trajectory of the drone according to the location of the monitored target; monitor whether there is a moving object entering the safety area around the monitored target; and issue a collision warning when a moving object enters the safety area; When the VR device worn by the monitored target enters the game mode, the VR device sends a start command to the drone; after receiving the start command sent by the VR device, the drone starts the security monitoring function; the drone flies at the user's location and obtains location information through obstacle avoidance sensors and cameras; the location information includes the size of the location; while the drone is flying at the user's location, it uses the camera to capture images of obstacles in the location; the drone's flight control chip uses an image recognition algorithm for fitting to depict the spatial model of the user's location and the three-dimensional coordinates of the obstacles.

7. The drone according to claim 6, characterized in that: The drone also includes: The UWB positioning module is used to interact with the UWB positioning module on the VR device to determine the distance between the drone and the monitored target wearing the VR device.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the obstacle avoidance method according to any one of claims 1 to 5 are implemented.

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