An obstacle avoidance method, system and storage medium for an unmanned aerial vehicle

Abstract

The present invention discloses an obstacle avoidance method, system and storage medium for an unmanned aerial vehicle, wherein the method includes: obtaining the position information of the unmanned aerial vehicle; sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display; determining whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, triggering an obstacle avoidance prompt; if not, not triggering an obstacle avoidance prompt; sending the obstacle avoidance prompt information to the corresponding unmanned aerial vehicle control terminal for display. The present invention provides obstacle avoidance prompts based on the distance between the unmanned aerial vehicles to ensure a safe distance between the unmanned aerial vehicles. In addition, the present invention determines the obstacle avoidance route and obstacle avoidance method based on the surrounding environment of the unmanned aerial vehicle and the flight mission information, thereby ensuring the safety of the unmanned aerial vehicle flying in the air.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle flight technology, and more particularly to an obstacle avoidance method, system and storage medium for an unmanned aerial vehicle. Background Art

[0002] As the application of unmanned aerial vehicles (UAVs) expands, airspace order becomes an inevitable issue. Currently, my country's airspace control is not very strict, especially in areas not subject to no-fly restrictions, where flights are permitted with a simple declaration. However, when there are flight route disputes between UAVs, there are issues with avoidance.

[0003] Therefore, the existing technology has defects and needs to be improved urgently. Summary of the Invention

[0004] In view of the above problems, an object of the present invention is to provide an obstacle avoidance method, system and storage medium for an unmanned aerial vehicle, which can better ensure the safety of the unmanned aerial vehicle in flight.

[0005] A first aspect of the present invention provides an obstacle avoidance method for an unmanned aerial vehicle, comprising:

[0006] Obtaining the location information of unmanned aerial vehicles;

[0007] Sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display;

[0008] Determine whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, trigger an obstacle avoidance prompt; if not, do not trigger the obstacle avoidance prompt;

[0009] The obstacle avoidance prompt information is sent to the corresponding unmanned aerial vehicle control terminal for display.

[0010] This program also includes:

[0011] Set other aircraft outside the preset first distance range of the UAV to green;

[0012] Set the color of other aircraft within the preset first distance range of the UAV to flash yellow;

[0013] Other aircraft within a preset second distance range of the UAV are colored red and trigger an alert.

[0014] This program also includes:

[0015] Obtaining unmanned aerial vehicle flight information;

[0016] Obtaining unmanned aircraft flight mission information based on unmanned aircraft flight information;

[0017] Classifying the unmanned aerial vehicle flight missions according to preset importance levels to obtain unmanned aerial vehicle flight mission level information;

[0018] The unmanned aerial vehicles are ordered to actively avoid obstacles according to the flight mission levels from low to high.

[0019] This program also includes:

[0020] Obtaining information about the surrounding environment of the unmanned aerial vehicle for active obstacle avoidance;

[0021] Obtaining obstacle avoidance route information corresponding to the unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0022] The obstacle avoidance route information of the corresponding unmanned aerial vehicle is sent to the corresponding control terminal for display.

[0023] This program also includes:

[0024] Obtaining information about a non-obstacle avoidance route for the corresponding unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0025] Sending information that no obstacle avoidance route exists for the corresponding unmanned aerial vehicle to the non-obstacle-avoiding unmanned aerial vehicle;

[0026] The non-obstacle-avoiding unmanned aerial vehicle is set as the second active obstacle-avoiding unmanned aerial vehicle.

[0027] This program also includes:

[0028] Obtaining speed information of an unmanned aerial vehicle that actively avoids obstacles during obstacle avoidance;

[0029] Determine whether the speed of the unmanned aerial vehicle actively avoiding obstacles is greater than a preset speed threshold during obstacle avoidance. If so, a speed warning is triggered; if not, no speed warning is triggered.

[0030] The speed warning information is sent to the control terminal of the corresponding unmanned aerial vehicle for display.

[0031] A second aspect of the present invention provides an obstacle avoidance system for an unmanned aerial vehicle, comprising a memory and a processor. The memory stores an obstacle avoidance method program for an unmanned aerial vehicle, and when the obstacle avoidance method program for an unmanned aerial vehicle is executed by the processor, the following steps are implemented:

[0032] Obtaining the location information of unmanned aerial vehicles;

[0033] Sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display;

[0034] Determine whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, trigger an obstacle avoidance prompt; if not, do not trigger the obstacle avoidance prompt;

[0035] The obstacle avoidance prompt information is sent to the corresponding unmanned aerial vehicle control terminal for display.

[0036] This program also includes:

[0037] Set other aircraft outside the preset first distance range of the UAV to green;

[0038] Set the color of other aircraft within the preset first distance range of the UAV to flash yellow;

[0039] Other aircraft within a preset second distance range of the UAV are colored red and trigger an alert.

[0040] This program also includes:

[0041] Obtaining unmanned aerial vehicle flight information;

[0042] Obtaining unmanned aircraft flight mission information based on unmanned aircraft flight information;

[0043] Classifying the unmanned aerial vehicle flight missions according to preset importance levels to obtain unmanned aerial vehicle flight mission level information;

[0044] The unmanned aerial vehicles are ordered to actively avoid obstacles according to the flight mission levels from low to high.

[0045] This program also includes:

[0046] Obtaining information about the surrounding environment of the unmanned aerial vehicle for active obstacle avoidance;

[0047] Obtaining obstacle avoidance route information corresponding to the unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0048] The obstacle avoidance route information of the corresponding unmanned aerial vehicle is sent to the corresponding control terminal for display.

[0049] This program also includes:

[0050] Obtaining information about a non-obstacle avoidance route for the corresponding unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0051] Sending information that no obstacle avoidance route exists for the corresponding unmanned aerial vehicle to the non-obstacle-avoiding unmanned aerial vehicle;

[0052] The non-obstacle-avoiding unmanned aerial vehicle is set as the second active obstacle-avoiding unmanned aerial vehicle.

[0053] This program also includes:

[0054] Obtaining speed information of an unmanned aerial vehicle that actively avoids obstacles during obstacle avoidance;

[0055] Determine whether the speed of the unmanned aerial vehicle actively avoiding obstacles is greater than a preset speed threshold during obstacle avoidance. If so, a speed warning is triggered; if not, no speed warning is triggered.

[0056] The speed warning information is sent to the control terminal of the corresponding unmanned aerial vehicle for display.

[0057] A third aspect of the present invention provides a computer storage medium, which stores an obstacle avoidance method program for an unmanned aerial vehicle. When the obstacle avoidance method program for an unmanned aerial vehicle is executed by a processor, the steps of the obstacle avoidance method for an unmanned aerial vehicle as described in any one of the above items are implemented.

[0058] The present invention discloses an obstacle avoidance method, system, and storage medium for unmanned aerial vehicles (UAVs). These methods provide obstacle avoidance prompts based on the distance between UAVs, ensuring a safe distance between them. Furthermore, the present invention determines obstacle avoidance routes and methods based on the UAV's surroundings and flight mission information, ensuring the safety of UAVs in flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A flow chart showing an obstacle avoidance method for an unmanned aerial vehicle according to the present invention is shown;

[0060] Figure 2 A flow chart of obstacle avoidance distance for unmanned aerial vehicles is shown;

[0061] Figure 3 A block diagram of an obstacle avoidance system for an unmanned aerial vehicle according to the present invention is shown. DETAILED DESCRIPTION

[0062] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0064] Figure 1 A flow chart of an obstacle avoidance method for an unmanned aerial vehicle according to the present invention is shown.

[0065] like Figure 1 As shown, the present invention discloses an obstacle avoidance method for an unmanned aerial vehicle, comprising:

[0066] S102, obtaining the location information of the unmanned aerial vehicle;

[0067] S104, sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display;

[0068] S106, determining whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, triggering an obstacle avoidance prompt; if not, not triggering an obstacle avoidance prompt;

[0069] S108: Send the obstacle avoidance prompt information to the corresponding unmanned aerial vehicle control terminal for display.

[0070] It should be noted that the UAV's position information is acquired in real time through a preset positioning device and transmitted to a preset three-dimensional coordinate system for display. The UAV controller can monitor the position information of the corresponding UAV and surrounding UAVs in real time via a preset screen. When another aircraft appears within a preset first distance range of the UAV, an obstacle avoidance prompt is triggered. For example, if the preset first distance range is 50 meters, then when another aircraft appears within 50 meters of the UAV, an obstacle avoidance prompt is triggered and sent to the UAV actively avoiding the obstacle. The obstacle avoidance principle is right first, then left, and down first, then up. That is, the UAV actively avoiding the obstacle prioritizes horizontal avoidance and avoids to the right first. If there are no avoidance conditions on the right, such as the presence of other UAVs or a no-fly zone, it avoids to the left. Similarly, if the left is also impossible to avoid, it considers avoiding downward and finally upward.

[0071] According to an embodiment of the present invention, the further embodiment includes:

[0072] Set other aircraft outside the preset first distance range of the UAV to green;

[0073] Set the color of other aircraft within the preset first distance range of the UAV to flash yellow;

[0074] Other aircraft within a preset second distance range of the UAV are colored red and trigger an alert.

[0075] It should be noted that if the preset first distance range is 50m and the preset second distance range is 20 meters, then the unmanned aerial vehicle is used as a radius of 50 meters and the location of the unmanned aerial vehicle is used as the center of the sphere. Other unmanned aerial vehicles outside the 50-meter radius of the unmanned aerial vehicle are marked green, indicating that the distance is safe; other unmanned aerial vehicles within the 50-meter radius of the unmanned aerial vehicle and outside the 20-meter radius of the unmanned aerial vehicle are marked yellow, indicating that the unmanned aerial vehicle that is actively avoiding obstacles needs to make active obstacle avoidance adjustments; other unmanned aerial vehicles within the 20-meter radius of the unmanned aerial vehicle are marked red, indicating that the unmanned aerial vehicle that is actively avoiding obstacles must make adjustments, and the active obstacle avoidance is adjusted to automatic obstacle avoidance.

[0076] According to an embodiment of the present invention, the further embodiment includes:

[0077] Obtaining unmanned aerial vehicle flight information;

[0078] Obtaining unmanned aircraft flight mission information based on unmanned aircraft flight information;

[0079] Classifying the unmanned aerial vehicle flight missions according to preset importance levels to obtain unmanned aerial vehicle flight mission level information;

[0080] The unmanned aerial vehicles are ordered to actively avoid obstacles according to the flight mission levels from low to high.

[0081] It should be noted that UAV flight missions are categorized into general missions, common missions, important missions, and emergency missions based on their pre-set importance. General missions include, for example, free flight of private UAVs; common missions include, for example, aerial photography and aerial surveying by UAVs; important missions include, for example, public safety management missions such as public administration missions by UAVs; and important missions include, for example, emergency projects such as first aid by UAVs. When the flights of UAVs performing general missions and common missions intersect or overlap, the UAV performing general missions will perform active obstacle avoidance. If UAVs are performing the same mission, both will perform active obstacle avoidance.

[0082] According to an embodiment of the present invention, the further embodiment includes:

[0083] Obtaining information about the surrounding environment of the unmanned aerial vehicle for active obstacle avoidance;

[0084] Obtaining obstacle avoidance route information corresponding to the unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0085] The obstacle avoidance route information of the corresponding unmanned aerial vehicle is sent to the corresponding control terminal for display.

[0086] It should be noted that the optimal obstacle avoidance route for the UAV is extracted and displayed specifically, such as by darkening the color. The optimal obstacle avoidance route is the shortest route that meets the obstacle avoidance rules. The UAV actively avoiding obstacles avoids obstacles according to the optimal route among the obstacle avoidance routes.

[0087] According to an embodiment of the present invention, the further embodiment includes:

[0088] Obtaining information about a non-obstacle avoidance route for the corresponding unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0089] Sending information that no obstacle avoidance route exists for the corresponding unmanned aerial vehicle to the non-obstacle-avoiding unmanned aerial vehicle;

[0090] The non-obstacle-avoiding unmanned aerial vehicle is set as the second active obstacle-avoiding unmanned aerial vehicle.

[0091] It should be noted that when the unmanned aerial vehicle (UAV) actively avoiding obstacles is surrounded by other UAVs or a no-fly zone, indicating that the corresponding UAV does not have an obstacle avoidance route, this information is fed back to the unmanned aerial vehicle (UAV) not actively avoiding obstacles, and the corresponding unmanned aerial vehicle (UAV) is switched to a second unmanned aerial vehicle (UAV) actively avoiding obstacles. The second unmanned aerial vehicle actively avoiding obstacles implements active obstacle avoidance measures, and the control terminal of the second unmanned aerial vehicle actively avoiding obstacles simultaneously receives an obstacle avoidance prompt. The flight mission level of the unmanned aerial vehicle (UAV) not actively avoiding obstacles is higher than that of the unmanned aerial vehicle actively avoiding obstacles.

[0092] According to an embodiment of the present invention, the further embodiment includes:

[0093] Obtaining speed information of an unmanned aerial vehicle that actively avoids obstacles during obstacle avoidance;

[0094] Determine whether the speed of the unmanned aerial vehicle actively avoiding obstacles is greater than a preset speed threshold during obstacle avoidance. If so, a speed warning is triggered; if not, no speed warning is triggered.

[0095] The speed warning information is sent to the control terminal of the corresponding unmanned aerial vehicle for display.

[0096] It should be noted that for a given obstacle avoidance reaction time, the faster the speed of an unmanned aerial vehicle (UAV) operating with active obstacle avoidance, the longer the reaction distance. For example, if the preset speed threshold is 4 meters per second, then when the speed of an UAV operating with active obstacle avoidance exceeds 4 meters per second, a speed warning is triggered, prompting the UAV controller to slow down.

[0097] According to an embodiment of the present invention, the further embodiment includes:

[0098] Obtaining information that an unmanned aerial vehicle capable of active obstacle avoidance fails to implement active obstacle avoidance within a preset second distance range;

[0099] Convert the active obstacle avoidance of the corresponding unmanned aerial vehicle to automatic obstacle avoidance;

[0100] The corresponding unmanned aerial vehicle will automatically avoid obstacles according to the best obstacle avoidance route.

[0101] It should be noted that when the distance between an unmanned aerial vehicle that is actively avoiding obstacles and other unmanned aerial vehicles is within a preset second distance range and no active obstacle avoidance is performed, the active obstacle avoidance will be converted to automatic obstacle avoidance. The unmanned aerial vehicle that is actively avoiding obstacles will temporarily separate from the corresponding control end and implement a self-safety avoidance mode. The unmanned aerial vehicle that is actively avoiding obstacles will automatically avoid obstacles according to the best obstacle avoidance route. The best obstacle avoidance route is the shortest route among the obstacle avoidance routes that complies with the obstacle avoidance rules.

[0102] According to an embodiment of the present invention, the further embodiment includes:

[0103] Unmanned aerial vehicles that do not actively avoid obstacles will be marked and points will be deducted;

[0104] Send the deduction information to the corresponding control terminal for display;

[0105] Send the corresponding control terminal information to the preset air management terminal for display.

[0106] It should be noted that if an unmanned aerial vehicle (UAV) that is actively avoiding obstacles fails to follow the prescribed route, resulting in an unavoidable situation, the pre-set air traffic control terminal will impose corresponding penalties on the corresponding UAV's controller. UAVs that fail to actively avoid obstacles will be marked and deducted points. The controller of the UAV that fails to actively avoid obstacles will need to contact the pre-set air traffic control terminal for processing, such as learning air traffic avoidance rules and imposing fines.

[0107] Figure 2 A flow chart of obstacle avoidance distance for unmanned aerial vehicles is shown.

[0108] like Figure 2 As shown, obstacle avoidance prompts are given based on the distance value between the unmanned aerial vehicle and other aircraft. When the distance value is greater than a first distance range, the unmanned aerial vehicle continues to fly; when the distance value is within the first distance range and outside the second distance range, an active obstacle avoidance prompt is triggered, and the unmanned aerial vehicle actively avoiding obstacles needs to actively avoid other aircraft; when the distance value is within the second distance range, the unmanned aerial vehicle actively avoiding obstacles switches from active obstacle avoidance to automatic obstacle avoidance, and a warning reminder is triggered.

[0109] Figure 3 A block diagram of an obstacle avoidance system for an unmanned aerial vehicle according to the present invention is shown.

[0110] A second aspect of the present invention provides an obstacle avoidance system 3 for an unmanned aerial vehicle, comprising a memory 31 and a processor 32. The memory stores an obstacle avoidance method program for an unmanned aerial vehicle, and when the obstacle avoidance method program for an unmanned aerial vehicle is executed by the processor, the following steps are implemented:

[0111] Obtaining the location information of unmanned aerial vehicles;

[0112] Sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display;

[0113] Determine whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, trigger an obstacle avoidance prompt; if not, do not trigger the obstacle avoidance prompt;

[0114] The obstacle avoidance prompt information is sent to the corresponding unmanned aerial vehicle control terminal for display.

[0115] It should be noted that the UAV's position information is acquired in real time through a preset positioning device and transmitted to a preset three-dimensional coordinate system for display. The UAV controller can monitor the position information of the corresponding UAV and surrounding UAVs in real time via a preset screen. When another aircraft appears within a preset first distance range of the UAV, an obstacle avoidance prompt is triggered. For example, if the preset first distance range is 50 meters, then when another aircraft appears within 50 meters of the UAV, an obstacle avoidance prompt is triggered and sent to the UAV actively avoiding the obstacle. The obstacle avoidance principle is right first, then left, and down first, then up. That is, the UAV actively avoiding the obstacle prioritizes horizontal avoidance and avoids to the right first. If there are no avoidance conditions on the right, such as the presence of other UAVs or a no-fly zone, it avoids to the left. Similarly, if the left is also impossible to avoid, it considers avoiding downward and finally upward.

[0116] According to an embodiment of the present invention, the further embodiment includes:

[0117] Set other aircraft outside the preset first distance range of the UAV to green;

[0118] Set the color of other aircraft within the preset first distance range of the UAV to flash yellow;

[0119] Other aircraft within a preset second distance range of the UAV are colored red and trigger an alert.

[0120] It should be noted that if the preset first distance range is 50m and the preset second distance range is 20 meters, then the unmanned aerial vehicle is used as a radius of 50 meters and the location of the unmanned aerial vehicle is used as the center of the sphere. Other unmanned aerial vehicles outside the 50-meter radius of the unmanned aerial vehicle are marked green, indicating that the distance is safe; other unmanned aerial vehicles within the 50-meter radius of the unmanned aerial vehicle and outside the 20-meter radius of the unmanned aerial vehicle are marked yellow, indicating that the unmanned aerial vehicle that is actively avoiding obstacles needs to make active obstacle avoidance adjustments; other unmanned aerial vehicles within the 20-meter radius of the unmanned aerial vehicle are marked red, indicating that the unmanned aerial vehicle that is actively avoiding obstacles must make adjustments, and the active obstacle avoidance is adjusted to automatic obstacle avoidance.

[0121] According to an embodiment of the present invention, the further embodiment includes:

[0122] Obtaining unmanned aerial vehicle flight information;

[0123] Obtaining unmanned aircraft flight mission information based on unmanned aircraft flight information;

[0124] Classifying the unmanned aerial vehicle flight missions according to preset importance levels to obtain unmanned aerial vehicle flight mission level information;

[0125] The unmanned aerial vehicles are ordered to actively avoid obstacles according to the flight mission levels from low to high.

[0126] It should be noted that UAV flight missions are categorized into general missions, common missions, important missions, and emergency missions based on their pre-set importance. General missions include, for example, free flight of private UAVs; common missions include, for example, aerial photography and aerial surveying by UAVs; important missions include, for example, public safety management missions such as public administration missions by UAVs; and important missions include, for example, emergency projects such as first aid by UAVs. When the flights of UAVs performing general missions and common missions intersect or overlap, the UAV performing general missions will perform active obstacle avoidance. If UAVs are performing the same mission, both will perform active obstacle avoidance.

[0127] According to an embodiment of the present invention, the further embodiment includes:

[0128] Obtaining information about the surrounding environment of the unmanned aerial vehicle for active obstacle avoidance;

[0129] Obtaining obstacle avoidance route information corresponding to the unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0130] The obstacle avoidance route information of the corresponding unmanned aerial vehicle is sent to the corresponding control terminal for display.

[0131] It should be noted that the optimal obstacle avoidance route for the UAV is extracted and displayed specifically, such as by darkening the color. The optimal obstacle avoidance route is the shortest route that meets the obstacle avoidance rules. The UAV actively avoiding obstacles avoids obstacles according to the optimal route among the obstacle avoidance routes.

[0132] According to an embodiment of the present invention, the further embodiment includes:

[0133] Obtaining information about a non-obstacle avoidance route for the corresponding unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles;

[0134] Sending information that no obstacle avoidance route exists for the corresponding unmanned aerial vehicle to the non-obstacle-avoiding unmanned aerial vehicle;

[0135] The non-obstacle-avoiding unmanned aerial vehicle is set as the second active obstacle-avoiding unmanned aerial vehicle.

[0136] It should be noted that when the unmanned aerial vehicle (UAV) actively avoiding obstacles is surrounded by other UAVs or a no-fly zone, indicating that the corresponding UAV does not have an obstacle avoidance route, this information is fed back to the unmanned aerial vehicle (UAV) not actively avoiding obstacles, and the corresponding unmanned aerial vehicle (UAV) is switched to a second unmanned aerial vehicle (UAV) actively avoiding obstacles. The second unmanned aerial vehicle actively avoiding obstacles implements active obstacle avoidance measures, and the control terminal of the second unmanned aerial vehicle actively avoiding obstacles simultaneously receives an obstacle avoidance prompt. The flight mission level of the unmanned aerial vehicle (UAV) not actively avoiding obstacles is higher than that of the unmanned aerial vehicle actively avoiding obstacles.

[0137] According to an embodiment of the present invention, the further embodiment includes:

[0138] Obtaining speed information of an unmanned aerial vehicle that actively avoids obstacles during obstacle avoidance;

[0139] Determine whether the speed of the unmanned aerial vehicle actively avoiding obstacles is greater than a preset speed threshold during obstacle avoidance. If so, a speed warning is triggered; if not, no speed warning is triggered.

[0140] The speed warning information is sent to the control terminal of the corresponding unmanned aerial vehicle for display.

[0141] It should be noted that for a given obstacle avoidance reaction time, the faster the speed of an unmanned aerial vehicle (UAV) operating with active obstacle avoidance, the longer the reaction distance. For example, if the preset speed threshold is 4 meters per second, then when the speed of an UAV operating with active obstacle avoidance exceeds 4 meters per second, a speed warning is triggered, prompting the UAV controller to slow down.

[0142] According to an embodiment of the present invention, the further embodiment includes:

[0143] Obtaining information that an unmanned aerial vehicle capable of active obstacle avoidance fails to implement active obstacle avoidance within a preset second distance range;

[0144] Convert the active obstacle avoidance of the corresponding unmanned aerial vehicle to automatic obstacle avoidance;

[0145] The corresponding unmanned aerial vehicle will automatically avoid obstacles according to the best obstacle avoidance route.

[0146] It should be noted that when the distance between an unmanned aerial vehicle that is actively avoiding obstacles and other unmanned aerial vehicles is within a preset second distance range and no active obstacle avoidance is performed, the active obstacle avoidance will be converted to automatic obstacle avoidance. The unmanned aerial vehicle that is actively avoiding obstacles will temporarily separate from the corresponding control end and implement a self-safety avoidance mode. The unmanned aerial vehicle that is actively avoiding obstacles will automatically avoid obstacles according to the best obstacle avoidance route. The best obstacle avoidance route is the shortest route among the obstacle avoidance routes that complies with the obstacle avoidance rules.

[0147] According to an embodiment of the present invention, the further embodiment includes:

[0148] Unmanned aerial vehicles that do not actively avoid obstacles will be marked and points will be deducted;

[0149] Send the deduction information to the corresponding control terminal for display;

[0150] Send the corresponding control terminal information to the preset air management terminal for display.

[0151] It should be noted that if an unmanned aerial vehicle (UAV) that is actively avoiding obstacles fails to follow the prescribed route, resulting in an unavoidable situation, the pre-set air traffic control terminal will impose corresponding penalties on the corresponding UAV's controller. UAVs that fail to actively avoid obstacles will be marked and deducted points. The controller of the UAV that fails to actively avoid obstacles will need to contact the pre-set air traffic control terminal for processing, such as learning air traffic avoidance rules and imposing fines.

[0152] A third aspect of the present invention provides a computer storage medium, which stores an obstacle avoidance method program for an unmanned aerial vehicle. When the obstacle avoidance method program for an unmanned aerial vehicle is executed by a processor, the steps of the obstacle avoidance method for an unmanned aerial vehicle as described in any one of the above items are implemented.

[0153] The present invention discloses an obstacle avoidance method, system and storage medium for an unmanned aerial vehicle, wherein the method includes: obtaining the position information of the unmanned aerial vehicle; sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display; determining whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, triggering an obstacle avoidance prompt; if not, not triggering an obstacle avoidance prompt; sending the obstacle avoidance prompt information to the corresponding unmanned aerial vehicle control terminal for display. The present invention provides obstacle avoidance prompts based on the distance between the unmanned aerial vehicles to ensure a safe distance between the unmanned aerial vehicles. In addition, the present invention determines the obstacle avoidance route and obstacle avoidance method based on the surrounding environment of the unmanned aerial vehicle and the flight mission information, thereby ensuring the safety of the unmanned aerial vehicle flying in the air.

[0154] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, 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, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0155] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0156] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0157] Those skilled in the art will appreciate that all or part of the steps of the above-mentioned method embodiments may be implemented by hardware associated with program instructions, and the aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the above-mentioned method embodiments. The aforementioned storage medium includes various media that can store program codes, such as mobile storage devices, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0158] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

1. An obstacle avoidance method for an unmanned aerial vehicle, characterized in that: include: Obtaining the location information of unmanned aerial vehicles; Sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display; Determine whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, trigger an obstacle avoidance prompt; if not, do not trigger the obstacle avoidance prompt; Sending obstacle avoidance prompt information to the corresponding unmanned aerial vehicle control terminal for display; Obtaining information about the surrounding environment of the unmanned aerial vehicle for active obstacle avoidance; Obtaining information about a non-obstacle avoidance route for the corresponding unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles; Sending information that no obstacle avoidance route exists for the corresponding unmanned aerial vehicle to the non-obstacle-avoiding unmanned aerial vehicle; The non-obstacle-avoiding unmanned aerial vehicle is set as the second active obstacle-avoiding unmanned aerial vehicle.

2. The obstacle avoidance method for an unmanned aerial vehicle according to claim 1, characterized in that: Also includes: Set other aircraft outside the preset first distance range of the UAV to green; Set the color of other aircraft within the preset first distance range of the UAV to flash yellow; Other aircraft within a preset second distance range of the UAV are colored red and trigger an alert.

3. The obstacle avoidance method for an unmanned aerial vehicle according to claim 1, characterized in that: Also includes: Obtaining unmanned aerial vehicle flight information; Obtaining unmanned aircraft flight mission information based on unmanned aircraft flight information; Classifying the unmanned aerial vehicle flight missions according to preset importance levels to obtain unmanned aerial vehicle flight mission level information; The unmanned aerial vehicles are ordered to actively avoid obstacles according to the flight mission levels from low to high.

4. The obstacle avoidance method for an unmanned aerial vehicle according to claim 1, characterized in that: Also includes: Obtaining information about the surrounding environment of the unmanned aerial vehicle for active obstacle avoidance; Obtaining obstacle avoidance route information corresponding to the unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles; The obstacle avoidance route information of the corresponding unmanned aerial vehicle is sent to the corresponding control terminal for display.

5. The obstacle avoidance method for an unmanned aerial vehicle according to claim 1, characterized in that: Also includes: Obtaining speed information of an unmanned aerial vehicle that actively avoids obstacles during obstacle avoidance; Determine whether the speed of the unmanned aerial vehicle actively avoiding obstacles is greater than a preset speed threshold during obstacle avoidance. If so, a speed warning is triggered; if not, no speed warning is triggered. The speed warning information is sent to the control terminal of the corresponding unmanned aerial vehicle for display.

6. An obstacle avoidance system for an unmanned aerial vehicle, characterized in that: The system includes a memory and a processor, wherein the memory stores an obstacle avoidance method program for an unmanned aerial vehicle, and when the obstacle avoidance method program for the unmanned aerial vehicle is executed by the processor, the following steps are implemented: Obtaining the location information of unmanned aerial vehicles; Sending the position information of the unmanned aerial vehicle to a preset three-dimensional coordinate system for display; Determine whether there are other aircraft within a preset first distance range of the unmanned aerial vehicle, and if so, trigger an obstacle avoidance prompt; if not, do not trigger the obstacle avoidance prompt; Sending obstacle avoidance prompt information to the corresponding unmanned aerial vehicle control terminal for display; Obtaining information about the surrounding environment of the unmanned aerial vehicle for active obstacle avoidance; Obtaining information about a non-obstacle avoidance route for the corresponding unmanned aerial vehicle based on the surrounding environment of the unmanned aerial vehicle actively avoiding obstacles; Sending information that no obstacle avoidance route exists for the corresponding unmanned aerial vehicle to the non-obstacle-avoiding unmanned aerial vehicle; The non-obstacle-avoiding unmanned aerial vehicle is set as the second active obstacle-avoiding unmanned aerial vehicle.

7. The obstacle avoidance system for an unmanned aerial vehicle according to claim 6, characterized in that: Also includes: Set other aircraft outside the preset first distance range of the UAV to green; Set the color of other aircraft within the preset first distance range of the UAV to flash yellow; Other aircraft within a preset second distance range of the UAV are colored red and trigger an alert.

8. The obstacle avoidance system for an unmanned aerial vehicle according to claim 6, characterized in that: Also includes: Obtaining unmanned aerial vehicle flight information; Obtaining unmanned aircraft flight mission information based on unmanned aircraft flight information; Classifying the unmanned aerial vehicle flight missions according to preset importance levels to obtain unmanned aerial vehicle flight mission level information; The unmanned aerial vehicles are ordered to actively avoid obstacles according to the flight mission levels from low to high.

9. A computer storage medium, characterized in that The computer storage medium stores an unmanned aerial vehicle obstacle avoidance method program, and when the unmanned aerial vehicle obstacle avoidance method program is executed by the processor, the steps of the unmanned aerial vehicle obstacle avoidance method according to any one of claims 1 to 5 are implemented.

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