Method, system and readable storage medium for unmanned aerial vehicle flight obstacle avoidance

Abstract

The application discloses an unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium, wherein the method comprises the following steps: acquiring flight path information, analyzing obstacle data in a non-traveling section of the unmanned aerial vehicle based on the flight path information; controlling the unmanned aerial vehicle based on the obstacle data to avoid obstacles; acquiring panoramic image data in the flight process of the unmanned aerial vehicle; judging an avoidance angle of the unmanned aerial vehicle based on head-on data, and controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle. The application can track the established flight trajectory in real time, reasonably optimize the flight path to avoid obstacles, and timely discover and avoid aerial obstacles in the flight process, so that the flight safety of the unmanned aerial vehicle is protected, and the flight failure rate of the unmanned aerial vehicle is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and more particularly, to an unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium. BACKGROUND

[0002] With the continuous development of science and technology, the application of unmanned aerial vehicles has been unprecedentedly developed. Compared with manned aircraft, unmanned aerial vehicles are often more suitable for some repetitive mechanical tasks or high-risk tasks. In the civil aspect, unmanned aerial vehicle + industry application is the real demand for unmanned aerial vehicles. The application of unmanned aerial vehicles in aerial photography, agriculture, plant protection, micro-selfie, express delivery, disaster rescue, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reporting, power inspection, disaster relief, film shooting, manufacturing romance and other fields greatly expands the purpose of unmanned aerial vehicles themselves.

[0003] At the same time, with the increasingly wide application of unmanned aerial vehicles, the flight safety of unmanned aerial vehicles has been paid more and more attention. At present, there is a problem that the unmanned aerial vehicle flight avoids obstacles unsystematically and un-systematically when automatically cruising, which is easy to cause unnecessary aircraft explosion, or the problem that the unmanned aerial vehicle intrudes into the no-fly area by forcibly setting the route by human, so the above problems need to be solved. SUMMARY

[0004] The purpose of the present application is to provide an unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium, which can track the established flight trajectory in real time during the flight of the unmanned aerial vehicle, reasonably optimize the flight path for obstacle avoidance, and can discover and avoid obstacles in the air in time during the flight process, so as to protect the flight safety of the unmanned aerial vehicle and reduce the failure rate of the unmanned aerial vehicle flight.

[0005] The present application provides an unmanned aerial vehicle flight obstacle avoidance method in the first aspect, comprising the following steps:

[0006] Obtain the flight path information of the unmanned aerial vehicle preset, analyze the obstacle data in the non-traveling section of the unmanned aerial vehicle based on the flight path information;

[0007] Based on the obstacle data, the unmanned aerial vehicle is controlled at a fixed point and a fixed section to avoid obstacles;

[0008] Obtain the panoramic image data photographed in real time during the flight of the unmanned aerial vehicle, obtain the head-on data of the obstacles within the preset range of the unmanned aerial vehicle based on the panoramic image data;

[0009] Determine an avoidance angle of the unmanned aerial vehicle based on the head-on data, and control the unmanned aerial vehicle to avoid obstacles based on the avoidance angle.

[0010] In this scheme, the flight path information of the unmanned aerial vehicle is obtained, and obstacle data in a non-traveling section of the unmanned aerial vehicle is analyzed based on the flight path information, specifically including:

[0011] A communication connection with the unmanned aerial vehicle is established to obtain the flight path information, wherein the connection establishment mode includes wireless connection and / or wired connection;

[0012] A communication connection with a preset communication base station and / or a preset information transceiver device is established to obtain spatial data of a current airspace to which the unmanned aerial vehicle belongs;

[0013] The spatial data and the non-traveling section of the unmanned aerial vehicle are cross-matched based on the spatial data, and the obstacle data is obtained, wherein the obstacle data includes intersection points and / or intersection sections.

[0014] In this scheme, the unmanned aerial vehicle is controlled based on the obstacle data to avoid obstacles, specifically including:

[0015] The intersection points and / or the intersection sections are identified based on the obstacle data;

[0016] When the intersection points are identified, the unmanned aerial vehicle is controlled to avoid obstacles at the intersection points;

[0017] When the intersection sections are identified, the unmanned aerial vehicle is controlled to avoid obstacles at the intersection sections.

[0018] In this scheme, panoramic image data photographed in real time during the flight of the unmanned aerial vehicle is obtained, and head-on data of obstacles within a preset range of the unmanned aerial vehicle is obtained based on the panoramic image data, specifically including:

[0019] The panoramic image data is obtained based on a panoramic camera preset on the unmanned aerial vehicle;

[0020] Obstacles within the preset range of the unmanned aerial vehicle are identified based on the panoramic image data;

[0021] Head-on data in the direction of travel of the unmanned aerial vehicle is identified based on the obstacles, wherein the head-on data is surface spatial data of the obstacles opposite to the direction of travel of the unmanned aerial vehicle.

[0022] In the scheme, the head-on data is used to determine the avoidance angle of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle.

[0023] The collision surface of the obstacle is determined based on the surface space data.

[0024] The travel plane is obtained based on the travel direction of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle.

[0025] The avoidance angle is obtained by extending and intersecting the collision surface and the travel plane, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle.

[0026] In the scheme, the method further comprises obtaining avoidance data of other unmanned aerial vehicles in the target range, and identifying an avoidance interval based on the avoidance data to control the unmanned aerial vehicle to avoid obstacles.

[0027] The second aspect of the application also provides an unmanned aerial vehicle flight obstacle avoidance system, comprising a memory and a processor, wherein the memory comprises an unmanned aerial vehicle flight obstacle avoidance method program, and the unmanned aerial vehicle flight obstacle avoidance method program is executed by the processor to realize the following steps:

[0028] Obtain the flight path information of the unmanned aerial vehicle, and analyze the obstacle data in the non-traveling section of the unmanned aerial vehicle based on the flight path information.

[0029] The unmanned aerial vehicle is controlled to avoid obstacles based on the obstacle data.

[0030] Obtain panoramic image data taken in real time during the flight of the unmanned aerial vehicle, and obtain the head-on data of the obstacles within the preset range of the unmanned aerial vehicle based on the panoramic image data.

[0031] The head-on data is used to determine the avoidance angle of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle.

[0032] In the scheme, the flight path information of the unmanned aerial vehicle is obtained, and the obstacle data in the non-traveling section of the unmanned aerial vehicle is analyzed based on the flight path information, which specifically comprises:

[0033] The communication connection with the unmanned aerial vehicle is established to obtain the flight path information, wherein the connection establishment mode comprises wireless connection and / or wired connection.

[0034] establish a communication connection with a preset communication base station and / or a preset information transceiver to obtain spatial data of an airspace to which the unmanned aerial vehicle currently belongs;

[0035] cross-match the spatial data with a non-traveling section of the unmanned aerial vehicle to obtain the obstacle data, wherein the obstacle data comprises a cross point and / or a cross section.

[0036] In this scheme, the unmanned aerial vehicle is controlled based on the obstacle data to avoid obstacles, specifically including:

[0037] identifying the cross point and / or the cross section based on the obstacle data;

[0038] when the cross point is identified, controlling the unmanned aerial vehicle to avoid obstacles at the cross point;

[0039] when the cross section is identified, controlling the unmanned aerial vehicle to avoid obstacles at the cross section.

[0040] In this scheme, the panoramic image data photographed in real time during the flight of the unmanned aerial vehicle is obtained, and the head-on data of the obstacle within a preset range of the unmanned aerial vehicle is obtained based on the panoramic image data, specifically including:

[0041] the panoramic image data is obtained based on a panoramic camera preset on the unmanned aerial vehicle;

[0042] obstacles within the preset range of the unmanned aerial vehicle are identified based on the panoramic image data;

[0043] head-on data in the direction of travel of the unmanned aerial vehicle is identified based on the obstacles, wherein the head-on data is surface spatial data of the obstacles opposite to the direction of travel of the unmanned aerial vehicle.

[0044] In this scheme, the avoidance angle of the unmanned aerial vehicle is determined based on the head-on data, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle, specifically including:

[0045] the collision surface of the obstacle is determined based on the surface spatial data;

[0046] a travel plane is obtained based on the direction of travel of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle;

[0047] the avoidance angle is obtained by extending and crossing the collision surface and the travel plane, and then the unmanned aerial vehicle is controlled to move based on the avoidance angle to avoid obstacles.

[0048] In the scheme, the method further comprises acquiring obstacle avoidance data of other unmanned aerial vehicles in the target range, and identifying an obstacle avoidance interval based on the obstacle avoidance data, so as to control the unmanned aerial vehicle to avoid obstacles.

[0049] The third aspect of the present application provides a computer readable storage medium, wherein a program of an unmanned aerial vehicle flight obstacle avoidance method of a machine is included in the computer readable storage medium, and when the program of the unmanned aerial vehicle flight obstacle avoidance method is executed by a processor, the steps of the unmanned aerial vehicle flight obstacle avoidance method according to any one of the above aspects are implemented.

[0050] The unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium disclosed by the present application can track the established flight trajectory in real time during the flight of the unmanned aerial vehicle, reasonably optimize the flight path for obstacle avoidance, and can discover and avoid air obstacles in time during the flight, so as to protect the flight safety of the unmanned aerial vehicle and reduce the failure rate of the unmanned aerial vehicle flight. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 A flow chart of the unmanned aerial vehicle flight obstacle avoidance method of the present application is shown.

[0052] Fig. 2 shows an obstacle avoidance schematic diagram of the unmanned aerial vehicle flight obstacle avoidance method of the present application.

[0053] Fig. 3 shows an obstacle avoidance schematic diagram of the unmanned aerial vehicle flight obstacle avoidance method of the present application.

[0054] Figure 4 A block diagram of the unmanned aerial vehicle flight obstacle avoidance system of the present application is shown. DETAILED DESCRIPTION

[0055] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0056] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0057] Figure 1 A flow chart of the unmanned aerial vehicle flight obstacle avoidance method of the present application is shown.

[0058] As Figure 1As shown, the application discloses an unmanned aerial vehicle flight obstacle avoidance method, which comprises the following steps:

[0059] S102, acquiring flight path information of the unmanned aerial vehicle, and analyzing obstacle data in a non-traveled path section of the unmanned aerial vehicle based on the flight path information;

[0060] S104, performing point and section control on the unmanned aerial vehicle based on the obstacle data to avoid obstacles;

[0061] S106, acquiring panoramic image data photographed in real time during flight of the unmanned aerial vehicle, and acquiring head-on data of obstacles within a preset range of the unmanned aerial vehicle based on the panoramic image data;

[0062] S108, judging an avoidance angle of the unmanned aerial vehicle based on the head-on data, and controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle.

[0063] It should be noted that in the embodiment, when the unmanned aerial vehicle is automatically cruising, the flight path information previously set for the unmanned aerial vehicle is acquired, and then the obstacle data in the non-traveled path section of the unmanned aerial vehicle is identified based on the flight path information, so that the unmanned aerial vehicle can know the position and other data of obstacles in advance for planning obstacle avoidance in advance in the subsequent flight process, that is, the unmanned aerial vehicle is controlled to avoid obstacles at a point and in a section based on the obstacle data, wherein the obstacle data comprises an intersection point and / or an intersection section of the obstacles and the unmanned aerial vehicle, and further, the head-on data of the obstacles within a preset range of the unmanned aerial vehicle is acquired based on the panoramic image data photographed by a preset panoramic camera during flight of the unmanned aerial vehicle, wherein the head-on data is surface space data of the obstacles relative to the direction of travel of the unmanned aerial vehicle, and then the avoidance angle of the unmanned aerial vehicle can be judged based on the head-on data, so as to control the unmanned aerial vehicle to avoid obstacles based on the avoidance angle.

[0064] According to the embodiment of the application, the flight path information of the unmanned aerial vehicle is acquired, and the obstacle data in the non-traveled path section of the unmanned aerial vehicle is analyzed based on the flight path information, specifically comprising:

[0065] The communication connection with the unmanned aerial vehicle is established to acquire the flight path information, wherein the connection establishment mode comprises wireless connection and / or wired connection;

[0066] The communication connection with a preset communication base station and / or a preset information transceiver device is established to acquire space data of a current airspace to which the unmanned aerial vehicle belongs.

[0067] cross-matching the spatial data with the non-traveled path of the unmanned aerial vehicle, to obtain the obstacle data, wherein the obstacle data comprises intersection points and / or intersection paths.

[0068] It should be noted that in the embodiment, the flight path information is obtained by establishing a communication connection with the unmanned aerial vehicle, specifically, a wireless Bluetooth and / or WiFi connection, or a CAN bus connection, and the spatial data of the airspace currently traveled by the unmanned aerial vehicle is obtained by establishing a communication connection with a preset communication base station and / or information transceiver device, wherein the spatial data comprises other flight path information in the airspace or fixed object data in the airspace, the information transceiver device is, for example, a router, and the airspace is determined by the communication range of the communication base station and / or the information transceiver device, which can be adjusted as needed in actual operation; after obtaining the flight path information and the spatial data, the current non-traveled path of the unmanned aerial vehicle can be cross-judged, that is, cross-matching the spatial data with the non-traveled path of the unmanned aerial vehicle, wherein the intersection points and / or intersection paths are extracted as the obstacle data.

[0069] According to the embodiment of the present application, the unmanned aerial vehicle is controlled based on the obstacle data to avoid obstacles, specifically comprising:

[0070] identifying the intersection points and / or the intersection paths based on the obstacle data;

[0071] when the intersection points are identified, controlling the unmanned aerial vehicle to avoid obstacles at the intersection points;

[0072] when the intersection paths are identified, controlling the unmanned aerial vehicle to avoid obstacles at the intersection paths.

[0073] It should be noted that in the embodiment, the above embodiment explains that the obstacle data comprises the intersection points and / or the intersection paths, so that the specific obstacles in the non-traveled path of the current unmanned aerial vehicle can be identified based on the obstacle data, for example, when the intersection points are identified, the unmanned aerial vehicle is controlled to avoid obstacles at the intersection points, for example, by raising or lowering the height to avoid the obstacles at the current intersection points, and for example, when the intersection paths are identified, the unmanned aerial vehicle is controlled to avoid obstacles at the intersection paths, for example, by switching the flight route to avoid other unmanned aerial vehicles flying on the current intersection path, such as flying horizontally to the right (or left) to avoid other unmanned aerial vehicles flying on the current intersection path.

[0074] According to the embodiment of the present application, the panoramic image data photographed in real time during the flight of the unmanned aerial vehicle is acquired, the head-on data of the obstacle within the preset range of the unmanned aerial vehicle is acquired based on the panoramic image data, and specifically includes:

[0075] The panoramic image data is acquired based on the preset panoramic camera on the unmanned aerial vehicle;

[0076] The obstacle within the preset range of the unmanned aerial vehicle is identified based on the panoramic image data;

[0077] The head-on data in the direction of travel of the unmanned aerial vehicle is identified based on the obstacle, wherein the head-on data is the surface space data of the obstacle opposite to the direction of travel of the unmanned aerial vehicle.

[0078] It should be noted that in the embodiment, the panoramic image data of the unmanned aerial vehicle within the shooting range of the panoramic camera is acquired by the preset panoramic camera when the unmanned aerial vehicle is flying, and the obstacle within the preset range of the unmanned aerial vehicle can be identified based on the panoramic image data, wherein the obstacle is a sudden obstacle or a detected obstacle, and the preset range is an adjustable parameter, which can be set to 5 meters in actual operation. The surface space data opposite to the direction of travel of the unmanned aerial vehicle and the obstacle is identified based on the obstacle, so as to obtain the avoidance angle corresponding to the unmanned aerial vehicle.

[0079] According to the embodiment of the present application, the avoidance angle of the unmanned aerial vehicle is determined based on the head-on data, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle, and specifically includes:

[0080] The collision surface of the obstacle is determined based on the surface space data;

[0081] The travel plane is acquired based on the direction of travel of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle;

[0082] The avoidance angle is acquired by extending and intersecting the collision surface and the travel plane, and then the unmanned aerial vehicle is controlled to move based on the avoidance angle to avoid obstacles.

[0083] It should be noted that in the embodiment, if the obstacle is stationary in the flight path of the unmanned aerial vehicle, the collision surface of the obstacle can be determined based on the surface space data, the travel plane corresponding to the unmanned aerial vehicle is obtained based on the travel direction of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle, the avoidance angle is obtained by extending and intersecting the collision surface and the travel plane, and then the unmanned aerial vehicle is controlled to move to complete the obstacle avoidance operation based on the avoidance angle.

[0084] Specifically, as shown in Figures 2A-2B , Figure 2A , the avoidance angle corresponding to the unmanned aerial vehicle is α, Figure 2B , the avoidance angle corresponding to the unmanned aerial vehicle is β, and preferably, when the obstacle is in a non-stationary state, the relative speed between the obstacle and the unmanned aerial vehicle can be simulated to obtain the relative stationary state of the obstacle and the unmanned aerial vehicle to obtain the corresponding avoidance angle.

[0085] According to the embodiment of the present application, the method further comprises obtaining obstacle avoidance data of other unmanned aerial vehicles in a target range, and identifying an obstacle avoidance interval based on the obstacle avoidance data to control the unmanned aerial vehicle to avoid obstacles.

[0086] It should be noted that in the above embodiment, the corresponding space data is obtained by using a preset communication base station. Since the distribution of base stations cannot completely cover the unmanned aerial vehicle sometimes, the present embodiment proposes to obtain obstacle avoidance data of other unmanned aerial vehicles in a target range to obtain the obstacle avoidance interval in the current target range to control the unmanned aerial vehicle to avoid obstacles. Specifically, in actual operation, the target range can be selected as "100" meters.

[0087] It is worth mentioning that the method further comprises obtaining environment data to adjust the flight speed.

[0088] It should be noted that in the embodiment, the flight speed of the unmanned aerial vehicle is also one of the reference factors when the unmanned aerial vehicle avoids obstacles, so in the embodiment, the flight speed is adjusted by obtaining weather data from the environment data. Specifically, different weather conditions can correspond to different speeds, for example, the speed is set to "15 m / s" in rainy weather, and the speed can also be adaptively adjusted according to the amount of rain. In actual operation, it can be adjusted in real time as needed.

[0089] It is worth mentioning that the method further comprises adjusting the flight height based on historical flight data.

[0090] It should be noted that in the present embodiment, the historical flight data in the current flight airspace of the unmanned aerial vehicle is obtained, and the flight height is adjusted based on historical experience data, wherein the historical experience data is a statistical value of the flight height of a plurality of unmanned aerial vehicles in the airspace, so as to effectively avoid obstacles by adjusting the flight height.

[0091] It is worth mentioning that the method further comprises: obtaining flight area coordinate range for matching to avoid no-fly areas.

[0092] It should be noted that in the present embodiment, in order to avoid the unmanned aerial vehicle from entering the no-fly area and losing control signals, resulting in the loss of the unmanned aerial vehicle, the flight area coordinate range is obtained for matching to determine whether the flight area of the current unmanned aerial vehicle is close to the no-fly area, and a prohibited distance, for example, "1km", is set, and when the unmanned aerial vehicle approaches the prohibited distance "1km", the unmanned aerial vehicle is controlled to move away, so as to avoid the no-fly area.

[0093] It is worth mentioning that the method further comprises identifying the size of the avoidance angle and a preset angle to determine the avoidance posture, specifically comprising:

[0094] The absolute difference between the avoidance angle and 90° is calculated, and the absolute difference and the size of the preset angle are compared, wherein,

[0095] If the absolute difference is less than or equal to the preset angle, the unmanned aerial vehicle is controlled to adjust the posture based on the avoidance angle to complete obstacle avoidance;

[0096] If the absolute difference is greater than the preset angle, the flight height of the unmanned aerial vehicle is adjusted to complete obstacle avoidance.

[0097] It should be noted that in the present embodiment, the preset angle is taken as 75°, and when the absolute difference is less than or equal to 75°, for example, Figures 2A-2B the unmanned aerial vehicle is controlled to adjust the posture to complete obstacle avoidance, and when the absolute difference is greater than 75°, the flight height of the unmanned aerial vehicle is adjusted to complete obstacle avoidance, and the specific adjustment value of the flight height can be determined according to the volume of the obstacle, for example, Figure 3A the flight height is raised to complete obstacle avoidance, for example, Figure 3B the flight height is lowered to complete obstacle avoidance.

[0098] Figure 4 A block diagram of an unmanned aerial vehicle flight obstacle avoidance system of the present application is shown.

[0099] As shown in Figure 4As shown, the unmanned aerial vehicle flight obstacle avoidance system comprises a memory and a processor, the memory comprises an unmanned aerial vehicle flight obstacle avoidance method program, and the unmanned aerial vehicle flight obstacle avoidance method program is executed by the processor to realize the following steps:

[0100] Obtain the flight path information of the unmanned aerial vehicle, analyze the obstacle data in the non-traveling section of the unmanned aerial vehicle based on the flight path information;

[0101] Control the unmanned aerial vehicle based on the obstacle data to avoid obstacles;

[0102] Obtain panoramic image data taken in real time during the flight of the unmanned aerial vehicle, and obtain the head-on data of the obstacles within the preset range of the unmanned aerial vehicle based on the panoramic image data;

[0103] Determine the avoidance angle of the unmanned aerial vehicle based on the head-on data, and control the unmanned aerial vehicle to avoid obstacles based on the avoidance angle.

[0104] It should be noted that in the present embodiment, when the unmanned aerial vehicle is automatically cruising, the flight path information of the unmanned aerial vehicle is obtained in advance, and then the obstacle data in the non-traveling section of the unmanned aerial vehicle is identified based on the flight path information, so that the position and other data of the obstacles can be obtained in advance during the subsequent flight of the unmanned aerial vehicle to plan the obstacle avoidance in advance, that is, the unmanned aerial vehicle is controlled to avoid obstacles at a fixed point and section based on the obstacle data, wherein the obstacle data comprises the intersection point and / or intersection section of the obstacles and the unmanned aerial vehicle, and further, the head-on data of the obstacles within the preset range of the unmanned aerial vehicle is obtained based on the panoramic image data taken by the preset panoramic camera during the flight of the unmanned aerial vehicle, wherein the head-on data is the surface space data of the obstacles opposite to the traveling direction of the unmanned aerial vehicle, and then the avoidance angle of the unmanned aerial vehicle can be determined based on the head-on data to control the avoidance based on the avoidance angle.

[0105] According to the embodiment of the present application, the flight path information of the unmanned aerial vehicle is obtained, and the obstacle data in the non-traveling section of the unmanned aerial vehicle is analyzed based on the flight path information, specifically comprising:

[0106] Establish a communication connection with the unmanned aerial vehicle to obtain the flight path information, wherein the connection establishment mode comprises wireless connection and / or wired connection;

[0107] establish a communication connection with a preset communication base station and / or a preset information transceiver device to obtain spatial data of an airspace to which the unmanned aerial vehicle currently belongs;

[0108] cross-match the spatial data with a non-traveled path segment of the unmanned aerial vehicle to obtain the obstacle data, wherein the obstacle data comprises a cross point and / or a cross path segment.

[0109] It should be noted that in the embodiment, the flight path information is obtained by establishing a communication connection with the unmanned aerial vehicle. Specifically, a wireless Bluetooth and / or WiFi connection or a CAN bus connection can be used. The spatial data of the airspace to which the unmanned aerial vehicle currently belongs is obtained by establishing a communication connection with a preset communication base station and / or a preset information transceiver device. The spatial data comprises other flight path information in the airspace or fixed object data in the airspace. The information transceiver device is, for example, a router. The airspace is determined by the communication range of the communication base station and / or the information transceiver device, which can be adjusted as needed in actual operation. After obtaining the flight path information and the spatial data, a cross judgment can be performed on the non-traveled path segment of the unmanned aerial vehicle based on the spatial data and the non-traveled path segment of the unmanned aerial vehicle. The cross point and / or the cross path segment are extracted as the obstacle data.

[0110] According to the embodiment of the present application, the unmanned aerial vehicle is controlled based on the obstacle data to avoid obstacles, specifically comprising:

[0111] identifying the cross point and / or the cross path segment based on the obstacle data;

[0112] when the cross point is identified, controlling the unmanned aerial vehicle to perform point avoidance at the cross point;

[0113] when the cross path segment is identified, controlling the unmanned aerial vehicle to perform segment avoidance at the cross path segment.

[0114] It should be noted that in the embodiment, the above embodiment describes that the obstacle data includes the intersection and / or the intersection section, so that the specific obstacle in the section where the current unmanned aerial vehicle does not pass can be correspondingly identified based on the obstacle data, such as identifying the intersection, controlling the unmanned aerial vehicle to perform point obstacle avoidance at the intersection, for example, by raising or lowering the height to avoid the obstacle at the current intersection, and for example, identifying the intersection section, controlling the unmanned aerial vehicle to perform section obstacle avoidance in the intersection section, for example, by switching the flight path to avoid the current intersection section, such as horizontally right (or left) to avoid the flight path of other unmanned aerial vehicles on the current intersection section.

[0115] According to the embodiment of the present application, the panoramic image data photographed in real time during the flight of the unmanned aerial vehicle is obtained, the head-on data of the obstacle within the preset range of the current unmanned aerial vehicle is obtained based on the panoramic image data, and specifically includes:

[0116] The panoramic image data is obtained based on the preset panoramic camera on the unmanned aerial vehicle;

[0117] The obstacle within the preset range of the current unmanned aerial vehicle is identified based on the panoramic image data;

[0118] The head-on data in the direction of travel of the current unmanned aerial vehicle is identified based on the obstacle, wherein the head-on data is the surface space data of the obstacle opposite to the direction of travel of the unmanned aerial vehicle.

[0119] It should be noted that in the embodiment, the panoramic image data of the unmanned aerial vehicle within the shooting range of the preset panoramic camera is obtained by the panoramic camera when the unmanned aerial vehicle is flying, the obstacle within the preset range of the current unmanned aerial vehicle can be identified based on the panoramic image data, wherein the obstacle is a sudden obstacle or a detected obstacle, and the preset range is an adjustable parameter, which can be set to 5 meters in actual operation. The surface space data opposite to the direction of travel of the current unmanned aerial vehicle and the obstacle is identified based on the obstacle, so as to obtain the avoidance angle corresponding to the unmanned aerial vehicle.

[0120] According to the embodiment of the present application, the avoidance angle of the unmanned aerial vehicle is determined based on the head-on data, and the unmanned aerial vehicle is controlled to avoid obstacles based on the avoidance angle, and specifically includes:

[0121] The collision surface of the obstacle is determined based on the surface space data;

[0122] obtaining a moving plane based on the moving direction of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle;

[0123] extending intersection of the collision surface and the moving plane to obtain the avoidance angle, and then controlling the unmanned aerial vehicle to act based on the avoidance angle to avoid obstacles.

[0124] It should be noted that in the embodiment, if the obstacle is stationary in the flight path of the unmanned aerial vehicle, the collision surface of the obstacle can be determined based on the surface space data, the moving plane corresponding to the unmanned aerial vehicle is obtained based on the moving direction of the unmanned aerial vehicle and the fuselage of the unmanned aerial vehicle, the avoidance angle is obtained by extending intersection of the collision surface and the moving plane, and then the unmanned aerial vehicle is controlled to act based on the avoidance angle to complete the obstacle avoidance operation.

[0125] Specifically, as shown in Figures 2A-2B , Figure 2A the avoidance angle corresponding to the unmanned aerial vehicle is α, Figure 2B the avoidance angle corresponding to the unmanned aerial vehicle is β, and preferably, when the obstacle is in a non-stationary state, the relative stationary state of the obstacle and the unmanned aerial vehicle can be simulated by identifying the relative speed of the obstacle and the unmanned aerial vehicle to obtain the corresponding avoidance angle.

[0126] According to the embodiment of the present application, the method further comprises obtaining obstacle avoidance data of other unmanned aerial vehicles in a target range, and identifying an obstacle avoidance interval based on the obstacle avoidance data to control the unmanned aerial vehicle to avoid obstacles.

[0127] It should be noted that in the embodiment, the above-mentioned embodiment, the corresponding space data is obtained by using a preset communication base station. Since the distribution of base stations cannot completely cover the unmanned aerial vehicle sometimes, the embodiment proposes to obtain obstacle avoidance data of other unmanned aerial vehicles in a target range to obtain an obstacle avoidance interval in the current target range to control the unmanned aerial vehicle to avoid obstacles. Specifically, in actual operation, the target range can be selected as "100" meters.

[0128] It is worth mentioning that the method further comprises obtaining environmental data to adjust the flight speed.

[0129] It should be noted that in the present embodiment, when the unmanned aerial vehicle avoids obstacles, the flight speed of the unmanned aerial vehicle is also one of the reference factors, so in the present embodiment, the flight speed is adjusted by acquiring the environmental data to identify the weather data, and specifically, different weather can correspond to different speed, for example, the speed is set to "15 m / s" in rainy weather, and the speed can also be adaptively adjusted according to the amount of rain, in the specific operation process, the speed can be adjusted in real time as needed.

[0130] It is worth mentioning that the method further comprises adjusting the flight height based on historical flight data.

[0131] It should be noted that in the present embodiment, the historical flight data in the current flight airspace of the unmanned aerial vehicle is acquired, and the flight height is adjusted based on historical experience data, wherein the historical experience data is a statistical value of the flight height of a plurality of unmanned aerial vehicles in the airspace, so as to effectively avoid obstacles by adjusting the flight height.

[0132] It is worth mentioning that the method further comprises: acquiring flight region coordinate range for matching to avoid no-fly zones.

[0133] It should be noted that in the present embodiment, in order to avoid the unmanned aerial vehicle entering the no-fly zone and losing control signal, resulting in the loss of the unmanned aerial vehicle, the flight region coordinate range is acquired for matching to determine whether the flight region of the current unmanned aerial vehicle is close to the no-fly zone, and a prohibited distance is set, for example, "1 km", when the unmanned aerial vehicle approaches the prohibited distance "1 km", the unmanned aerial vehicle is controlled to move away, so as to avoid the no-fly zone.

[0134] It is worth mentioning that the method further comprises identifying the size of the avoidance angle and the preset angle to determine the avoidance posture, specifically comprising:

[0135] The absolute difference between the avoidance angle and 90° is calculated, and the absolute difference is compared with the size of the preset angle, wherein,

[0136] If the absolute difference is less than or equal to the preset angle, the unmanned aerial vehicle is controlled to adjust the posture based on the avoidance angle to complete obstacle avoidance;

[0137] If the absolute difference is greater than the preset angle, the flight height of the unmanned aerial vehicle is adjusted to complete obstacle avoidance.

[0138] It should be noted that in the present embodiment, the preset angle is taken as 75°, when the absolute difference is less than or equal to 75°, such as Figures 2A-2BWhen the absolute difference is greater than 75°, the flight height of the unmanned aerial vehicle is adjusted to complete the obstacle avoidance, and the specific flight height adjustment value can be determined according to the volume of the obstacle, for example, the flight height is increased to complete the obstacle avoidance, as shown in FIG. 4B. Figure 3A When the absolute difference is greater than 75°, the flight height of the unmanned aerial vehicle is adjusted to complete the obstacle avoidance, and the specific flight height adjustment value can be determined according to the volume of the obstacle, for example, the flight height is increased to complete the obstacle avoidance, as shown in FIG. 4B. Figure 3B When the absolute difference is greater than 75°, the flight height of the unmanned aerial vehicle is adjusted to complete the obstacle avoidance, and the specific flight height adjustment value can be determined according to the volume of the obstacle, for example, the flight height is increased to complete the obstacle avoidance, as shown in FIG. 4B.

[0139] The third aspect of the present application provides a computer readable storage medium, wherein the computer readable storage medium comprises an unmanned aerial vehicle flight obstacle avoidance method program, and when the unmanned aerial vehicle flight obstacle avoidance method program is executed by a processor, the steps of the unmanned aerial vehicle flight obstacle avoidance method according to any one of the preceding aspects are implemented.

[0140] The unmanned aerial vehicle flight obstacle avoidance method, system and readable storage medium disclosed by the present application can track the established flight trajectory in real time during the flight of the unmanned aerial vehicle, reasonably optimize the flight path to avoid obstacles, and can discover and avoid air obstacles in time during the flight, thereby protecting the flight safety of the unmanned aerial vehicle and reducing the failure rate of the unmanned aerial vehicle.

[0141] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and actual implementation can have another division manner, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components can be through some interfaces, indirect coupling or communication connection of the devices or units, which can be electrical, mechanical or other forms.

[0142] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units; they can be located in one place or distributed on multiple network units; and part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0143] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or hardware plus software functional unit.

[0144] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by relevant hardware of program instructions, and the foregoing program can be stored in a computer readable storage medium, and the program performs the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0145] Alternatively, the integrated unit of the present application can also be stored in a computer readable storage medium if it is realized in the form of a software function module and sold or used as an independent product. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes: a mobile storage device, a ROM, a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

Claims

1. An unmanned aerial vehicle flight obstacle avoidance method, characterized in that, The method comprises the following steps: obtaining flight path information of the unmanned aerial vehicle, analyzing obstacle data in a non-traveling path segment of the unmanned aerial vehicle based on the flight path information; controlling the unmanned aerial vehicle based on the obstacle data to avoid obstacles; obtaining panoramic image data of the unmanned aerial vehicle in real time during flight, obtaining head-on data of an obstacle within a preset range of the unmanned aerial vehicle based on the panoramic image data, the head-on data being surface space data of the obstacle in a direction opposite to the traveling direction of the unmanned aerial vehicle; judging an avoidance angle of the unmanned aerial vehicle based on the head-on data, calculating an absolute difference between the avoidance angle and 90°, and comparing the absolute difference with a preset angle; if the absolute difference is less than or equal to the preset angle, controlling the unmanned aerial vehicle to adjust the posture based on the avoidance angle to avoid obstacles; if the absolute difference is greater than the preset angle, adjusting the flight height of the unmanned aerial vehicle to avoid obstacles. 2.The unmanned aerial vehicle flight obstacle avoidance method of claim 1, wherein, The method of obtaining flight path information of the unmanned aerial vehicle and analyzing obstacle data in a non-traveling path segment of the unmanned aerial vehicle based on the flight path information comprises: establishing a communication connection with the unmanned aerial vehicle to obtain the flight path information, wherein the connection establishment mode comprises wireless connection and / or wired connection; establishing a communication connection with a preset communication base station and / or a preset information transceiver to obtain space data of a current airspace to which the unmanned aerial vehicle belongs; cross-matching the space data with the non-traveling path segment of the unmanned aerial vehicle to obtain the obstacle data, wherein the obstacle data comprises intersection points and / or intersection path segments.

3. The unmanned aerial vehicle flight obstacle avoidance method of claim 2, wherein, The method of controlling the unmanned aerial vehicle based on the obstacle data to avoid obstacles comprises: identifying the intersection points and / or the intersection path segments based on the obstacle data; when the intersection points are identified, controlling the unmanned aerial vehicle to avoid obstacles at the intersection points; when the intersection path segments are identified, controlling the unmanned aerial vehicle to avoid obstacles at the intersection path segments.

4. The unmanned aerial vehicle flight obstacle avoidance method of claim 1, wherein, The method of obtaining panoramic image data of the unmanned aerial vehicle in real time during flight and obtaining head-on data of an obstacle within a preset range of the unmanned aerial vehicle based on the panoramic image data comprises: obtaining the panoramic image data based on a panoramic camera preset on the unmanned aerial vehicle; identifying the obstacle within the preset range of the unmanned aerial vehicle based on the panoramic image data; identifying head-on data in the traveling direction of the unmanned aerial vehicle based on the obstacle, wherein the head-on data is surface space data of the obstacle in a direction opposite to the traveling direction of the unmanned aerial vehicle.

5. The unmanned aerial vehicle flight obstacle avoidance method of claim 4, wherein, The method of judging an avoidance angle of the unmanned aerial vehicle based on the head-on data and controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle comprises judging a collision surface of the obstacle based on the surface space data. obtaining a travel plane based on a travel direction of the unmanned aerial vehicle and a fuselage of the unmanned aerial vehicle; obtaining the avoidance angle by extending intersection of the collision surface and the travel plane, and then controlling the unmanned aerial vehicle to avoid obstacles based on the avoidance angle.

6. The unmanned aerial vehicle flight obstacle avoidance method of claim 1, wherein, The method further comprises obtaining avoidance data of other unmanned aerial vehicles in a target range, and identifying an avoidance interval based on the avoidance data to control the unmanned aerial vehicle to avoid obstacles.

7. An unmanned aerial vehicle flight obstacle avoidance system, comprising: The method comprises the following steps when executed by a processor: obtaining preset flight path information of the unmanned aerial vehicle, analyzing obstacle data in a non-travel section of the unmanned aerial vehicle based on the flight path information; controlling the unmanned aerial vehicle to avoid obstacles based on the obstacle data; obtaining panoramic image data photographed in real time during flight of the unmanned aerial vehicle, obtaining head-on data of an obstacle within a preset range of the unmanned aerial vehicle based on the panoramic image data, the head-on data being surface space data of the obstacle opposite to a travel direction of the unmanned aerial vehicle; judging an avoidance angle of the unmanned aerial vehicle based on the head-on data, calculating an absolute difference between the avoidance angle and 90°, and comparing the absolute difference with a preset angle; if the absolute difference is less than or equal to the preset angle, controlling the unmanned aerial vehicle to adjust a posture based on the avoidance angle to avoid obstacles; if the absolute difference is greater than the preset angle, adjusting a flight height of the unmanned aerial vehicle to avoid obstacles.

8. The unmanned aerial vehicle flight obstacle avoidance system of claim 7, wherein, The method of obtaining preset flight path information of the unmanned aerial vehicle and analyzing obstacle data in a non-travel section of the unmanned aerial vehicle based on the flight path information comprises the following steps: establishing a communication connection with the unmanned aerial vehicle to obtain the flight path information, wherein the connection establishment mode comprises wireless connection and / or wired connection; establishing a communication connection with a preset communication base station and / or a preset information transceiver to obtain space data of an airspace to which the unmanned aerial vehicle currently belongs; cross-matching the space data with the non-travel section of the unmanned aerial vehicle to obtain the obstacle data, wherein the obstacle data comprises intersection points and / or intersection sections.

9. The unmanned aerial vehicle flight obstacle avoidance system of claim 7, wherein, The method of obtaining panoramic image data photographed in real time during flight of the unmanned aerial vehicle and obtaining head-on data of an obstacle within a preset range of the unmanned aerial vehicle based on the panoramic image data comprises the following steps: obtaining the panoramic image data based on a preset panoramic camera on the unmanned aerial vehicle; identifying the obstacle within the preset range of the unmanned aerial vehicle based on the panoramic image data; identifying head-on data in a travel direction of the unmanned aerial vehicle based on the obstacle, wherein the head-on data is surface space data of the obstacle opposite to the travel direction of the unmanned aerial vehicle.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises an unmanned aerial vehicle flight obstacle avoidance method program, and the unmanned aerial vehicle flight obstacle avoidance method program is executed by the processor to realize the steps of the unmanned aerial vehicle flight obstacle avoidance method in any one of claims 1 to 6.

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