Lidar-based unmanned aerial vehicle control method, apparatus, device, and storage medium

Abstract

The application belongs to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle control method, device and equipment based on a laser radar and a storage medium. The method comprises the following steps: acquiring the relative distance between the unmanned aerial vehicle and an obstacle through the laser radar; acquiring target position information of the obstacle when the relative distance is less than a preset first distance threshold; generating an unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction. According to the application, the target position information of the obstacle is acquired when the relative distance between the unmanned aerial vehicle and the obstacle is less than a preset first distance threshold, the unmanned aerial vehicle control instruction is generated according to the target position and the current position of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to fly over the obstacle according to the unmanned aerial vehicle control instruction. Compared with the existing mode in which the user controls the unmanned aerial vehicle to fly through image transmission data of the unmanned aerial vehicle, the above mode can ensure the flight safety of the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle control method and device based on a laser radar, an unmanned aerial vehicle control equipment and a storage medium. BACKGROUND

[0002] Unmanned aerial vehicles have been rapidly developed in recent years due to their advantages of not requiring a pilot, autonomous flight remote control, air power bearing flight, and repeated recycling. When controlling the flight of an unmanned aerial vehicle, the unmanned aerial vehicle controller needs to determine whether there are obstacles around the unmanned aerial vehicle in real time according to the picture transmitted by the unmanned aerial vehicle, and then controls the flight of the unmanned aerial vehicle. However, in the existing unmanned aerial vehicle control process, the picture transmission signal of the unmanned aerial vehicle received by the controller is delayed due to the long flight distance of the unmanned aerial vehicle or poor network signal, which causes the unmanned aerial vehicle to not avoid obstacles in time and easily collide with the obstacles.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide an unmanned aerial vehicle control method and device based on a laser radar, and an unmanned aerial vehicle control equipment and a storage medium, which aims to solve the technical problem that the existing technology causes the unmanned aerial vehicle to collide with obstacles and explode due to the delay of the picture transmission data of the unmanned aerial vehicle or the poor network state.

[0005] To achieve the above purpose, the present application provides an unmanned aerial vehicle control method based on a laser radar, which comprises the following steps:

[0006] acquiring the relative distance between the unmanned aerial vehicle and the obstacle by the laser radar;

[0007] acquiring the target position information of the obstacle when the relative distance is less than a preset first distance threshold;

[0008] generating an unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle;

[0009] controlling the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction.

[0010] Optionally, the step of generating an unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle comprises:

[0011] determining the running state of the obstacle according to the target position information;

[0012] determining the edge position of the obstacle according to the target position information when the running state is a static state;

[0013] determine a first distance according to the edge position and a current position of the UAV;

[0014] determine a flight direction for avoiding the obstacle according to the edge position, the first distance and the relative distance;

[0015] generate a UAV control instruction according to the flight direction.

[0016] Optionally, after the step of determining the operation state of the obstacle according to the target position information, the method further comprises:

[0017] when the operation state is dynamic, predict a movement trajectory of the obstacle according to the target position information;

[0018] determine a movement range of the obstacle according to the movement trajectory;

[0019] generate a UAV control instruction according to the movement range and a current position of the UAV.

[0020] Optionally, the target position information comprises position information of the obstacle collected at least two intervals of a preset time length.

[0021] The step of determining the operation state of the obstacle according to the target position information comprises:

[0022] compare position information collected at different times in the target position information to obtain a comparison result;

[0023] when the comparison result is that the position information is consistent, determine that the operation state of the obstacle is static.

[0024] Optionally, before the step of obtaining the position information of the obstacle when the relative distance is less than a preset first distance threshold, the method further comprises:

[0025] when the relative distance is less than a preset second distance threshold, obtain a target flight speed of the UAV;

[0026] adjust an actual flight speed of the UAV according to the relative distance and the target flight speed.

[0027] Optionally, after the step of controlling the UAV to fly over the obstacle according to the UAV control instruction, the method further comprises:

[0028] when a UAV landing instruction is received, control the UAV to land to a preset height;

[0029] adjust a transmission angle of a laser radar transmitter to obtain planar information of an obstacle below the UAV;

[0030] When the plane information meets a preset descending condition, controlling the UAV to land.

[0031] Optionally, after the step of adjusting the emission angle of the laser radar emitter to obtain the plane information of the obstacle below the UAV, the method further comprises:

[0032] When the plane information does not meet the preset descending condition, detecting whether there is an obstacle within a preset range around the UAV;

[0033] If not, controlling the UAV to translate around by a preset distance, and performing the step of adjusting the emission angle of the laser radar emitter to obtain the plane information of the obstacle below the UAV.

[0034] In addition, to achieve the above object, the present application also provides a UAV control device based on laser radar, which comprises:

[0035] A distance calculation module for obtaining the relative distance between the UAV and the obstacle through the laser radar;

[0036] An acquisition module for acquiring target position information of the obstacle when the relative distance is less than a preset first distance threshold;

[0037] A control instruction generation module for generating a UAV control instruction according to the target position information and the current position of the UAV;

[0038] A control module for controlling the UAV to fly over the obstacle according to the UAV control instruction.

[0039] In addition, to achieve the above object, the present application also provides a UAV control device based on laser radar, which comprises a memory, a processor and a UAV control program based on laser radar stored in the memory and executable on the processor, and the UAV control program based on laser radar is configured to implement the steps of the UAV control method based on laser radar as described above.

[0040] In addition, to achieve the above object, the present application also provides a storage medium, which stores a UAV control program based on laser radar, and the UAV control program based on laser radar implements the steps of the UAV control method based on laser radar as described above when executed by a processor.

[0041] The application obtains the relative distance between the unmanned aerial vehicle and the obstacle through the laser radar; when the relative distance is less than a preset first distance threshold, target position information of the obstacle is obtained; unmanned aerial vehicle control instructions are generated according to the target position information and the current position of the unmanned aerial vehicle; and the unmanned aerial vehicle is controlled to fly over the obstacle according to the unmanned aerial vehicle control instructions. Since the application obtains the target position information of the obstacle when the relative distance between the unmanned aerial vehicle and the obstacle is less than a preset first distance threshold, generates unmanned aerial vehicle control instructions according to the target position and the current position of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instructions, the flight safety of the unmanned aerial vehicle can be ensured compared with the existing method of controlling the unmanned aerial vehicle to fly by the user through the image transmission data of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 is a structural schematic diagram of a laser radar-based unmanned aerial vehicle control device related to the hardware running environment of the embodiment scheme of the application.

[0043] Figure 2 is a flow schematic diagram of a first embodiment of the laser radar-based unmanned aerial vehicle control method of the application.

[0044] Figure 3 is a distance schematic diagram of an unmanned aerial vehicle and an obstacle of an embodiment of the laser radar-based unmanned aerial vehicle control method of the application.

[0045] Figure 4 is a flow schematic diagram of a second embodiment of the laser radar-based unmanned aerial vehicle control method of the application.

[0046] Figure 5 is a flow schematic diagram of a third embodiment of the laser radar-based unmanned aerial vehicle control method of the application.

[0047] Figure 6 is a structural block diagram of a first embodiment of the laser radar-based unmanned aerial vehicle control device of the application.

[0048] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the application and not to limit the application.

[0050] Reference Figure 1 , Figure 1 is a structural schematic diagram of a laser radar-based unmanned aerial vehicle control device related to the hardware running environment of the embodiment scheme of the application.

[0051] As Figure 1As shown, the laser radar-based unmanned aerial vehicle control device can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection communication between the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 can be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art can understand that Figure 1 The structure shown in the figure does not constitute a limitation on the laser radar-based unmanned aerial vehicle control device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0053] As Figure 1 As shown, the memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and a laser radar-based unmanned aerial vehicle control program.

[0054] In Figure 1 The laser radar-based unmanned aerial vehicle control device shown in the figure, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the laser radar-based unmanned aerial vehicle control device of the application can be arranged in the laser radar-based unmanned aerial vehicle control device, and the laser radar-based unmanned aerial vehicle control device calls the laser radar-based unmanned aerial vehicle control program stored in the memory 1005 through the processor 1001, and executes the laser radar-based unmanned aerial vehicle control method provided by the embodiment of the application.

[0055] Based on the above laser radar-based unmanned aerial vehicle control device, the embodiment of the application provides a laser radar-based unmanned aerial vehicle control method, which refers to Figure 2 , Figure 2 The flowchart of the first embodiment of the laser radar-based unmanned aerial vehicle control method of the application.

[0056] In the embodiment, the UAV control method based on the laser radar comprises the following steps:

[0057] Step S10: obtaining the relative distance between the UAV and the obstacle by the laser radar.

[0058] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a mobile phone, a tablet computer, a personal computer, etc., or an electronic device or a UAV capable of realizing the above functions. The UAV is taken as an example to describe the embodiment and the following embodiments.

[0059] It should be noted that the relative distance can be the straight-line distance or the horizontal distance between the UAV and the obstacle in the moving direction of the UAV. For example, there are obstacles A and B within 10 meters around the UAV, the obstacle A is in front of the UAV and is spaced 3 meters away from the UAV, and the obstacle B is on the left of the UAV and is spaced 8 meters away from the UAV. If the driving direction of the UAV is to fly straight ahead, the relative distance is 3 meters. If the driving direction of the UAV is to fly left, the relative distance is 8 meters. The step of obtaining the relative distance between the UAV and the obstacle by the laser radar can be adjusting the angle of the laser radar transmitter installed on the UAV, synchronizing the emission direction of the laser radar with the flight direction of the UAV, and receiving the reflected laser signal by the laser radar receiver installed on the UAV, and calculating the relative distance between the obstacle and the UAV according to the reflected laser signal.

[0060] Step S20: obtaining the target position information of the obstacle when the relative distance is less than a preset first distance threshold.

[0061] It should be noted that the preset first distance threshold can be a preset distance, which is used to control the UAV to hover when the relative distance is less than the preset first distance threshold, so as to avoid the UAV colliding with the obstacle. The target position information can be the position of the obstacle collected according to a preset collection frequency and a collection number. For example, when the relative distance is less than the preset first distance threshold, the UAV is controlled to hover, the position information of the obstacle collected by the laser radar according to the preset collection frequency and the collection number is used to generate the target position information. The collection frequency and the collection number can be preset values, which are not limited in the embodiment.

[0062] Further, in order to improve the experience of the user, the user is prompted to operate to avoid the obstacle when there is an obstacle, and before the step S20, the method further comprises: obtaining the target flight speed of the UAV when the relative distance is less than a preset second distance threshold; and adjusting the actual flight speed of the UAV according to the relative distance and the target flight speed.

[0063] It should be noted that the preset second distance threshold can be a preset distance, and the user is prompted to have an obstacle when the relative distance is less than the preset second distance threshold, so that the user controls the unmanned aerial vehicle to avoid collision. The preset second distance threshold is greater than the preset first distance threshold. The target flight speed can be the desired flight speed when the user controls the unmanned aerial vehicle. The actual flight speed of the unmanned aerial vehicle can be adjusted according to the target flight speed according to the size of the relative distance to avoid unmanned aerial vehicle collision. Specifically, when the target flight speed is greater than the preset speed threshold, the smaller the relative distance, the smaller the actual flight speed of the unmanned aerial vehicle is adjusted, so that when the relative distance is equal to the preset first distance threshold, the actual flight speed is 0, and if the target flight speed is less than or equal to the preset speed threshold, the flight is performed according to the target flight speed. For example, when the target flight speed is greater than the preset speed threshold, the target deceleration of the flight speed is reduced to 0 according to the target flight speed and the current relative distance when the relative distance is equal to the preset first distance threshold. The actual flight speed of the unmanned aerial vehicle is adjusted according to the target deceleration and the target flight speed, so that when the relative distance is equal to the preset first distance threshold, the flight speed of the unmanned aerial vehicle is 0.

[0064] Step S30: generating an unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle.

[0065] It should be noted that the unmanned aerial vehicle control instruction generated according to the target position information and the current position of the unmanned aerial vehicle can be the flight direction of the unmanned aerial vehicle flying over the obstacle according to the target position information and the current position of the unmanned aerial vehicle, and the unmanned aerial vehicle control instruction is generated according to the flight direction. For example, when the position of the obstacle is in front of the running direction of the unmanned aerial vehicle, the unmanned aerial vehicle control instruction can be to control the unmanned aerial vehicle to rise 5 meters first, and then continue to fly according to the flight direction before hovering.

[0066] Step S40: controlling the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction.

[0067] It should be noted that the unmanned aerial vehicle flying over the obstacle according to the unmanned aerial vehicle control instruction can be controlled according to the flight direction in the unmanned aerial vehicle control instruction and the flight speed corresponding to each flight direction.

[0068] The embodiment acquires the relative distance between the unmanned aerial vehicle and the obstacle by laser radar; acquires target position information of the obstacle when the relative distance is less than a preset first distance threshold; generates an unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle; and controls the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction. Since the embodiment acquires the target position information of the obstacle when the relative distance between the unmanned aerial vehicle and the obstacle is less than a preset first distance threshold, generates an unmanned aerial vehicle control instruction according to the target position and the current position of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction, the above-mentioned manner can ensure the flight safety of the unmanned aerial vehicle, compared with the existing manner in which the user controls the unmanned aerial vehicle to fly through image transmission data of the unmanned aerial vehicle.

[0069] Reference Figure 4 , Figure 4 The flowchart of the second embodiment of the unmanned aerial vehicle control method based on laser radar of the present application is shown.

[0070] Based on the first embodiment, in the present embodiment, the step S30 comprises:

[0071] Step S301: determining the running state of the obstacle according to the target position information.

[0072] It should be noted that the determination of the running state of the obstacle according to the target position information can be to determine whether the obstacle is in a static or dynamic state according to the position information corresponding to different times in the target position information, which can specifically be to compare the plurality of position information in the target position information, if the plurality of position information in the target position information is consistent, it is determined that the running state of the obstacle is static, and if it is not consistent, it is determined that the running state of the obstacle is dynamic.

[0073] Further, in some cases, the obstacle is moving, and if the unmanned aerial vehicle control instruction is generated only according to the position information of the obstacle collected at a certain time, it is easy to cause the unmanned aerial vehicle to collide with the moving obstacle, therefore, in order to ensure the flight safety of the unmanned aerial vehicle, after the step S301, it further comprises: when the running state is dynamic, predicting the motion trajectory of the obstacle according to the target position information; determining the motion range of the obstacle according to the motion trajectory; and generating an unmanned aerial vehicle control instruction according to the motion range and the current position of the unmanned aerial vehicle.

[0074] It should be noted that the prediction of the motion trajectory of the obstacle according to the target position information can be the prediction of the activity trajectory of the obstacle according to the positions of the obstacle at different times in the target position information. For example, according to the position information at different times in the target position information, the position of the obstacle at time 1 is A, the position of the obstacle at time 2 is B, and the position of the obstacle at time 3 is A, it can be known that the motion trajectory of the obstacle is A-B. The determination of the motion range of the obstacle according to the motion trajectory can be that the activity region corresponding to the motion trajectory is taken as the motion range. The generation of the unmanned aerial vehicle control instruction according to the motion range and the current position of the unmanned aerial vehicle can be that the edge position of the motion range is taken as the edge position of the obstacle, a first distance is determined according to the edge position and the current position of the unmanned aerial vehicle, a relative distance is determined according to the motion range and the current position of the unmanned aerial vehicle, the relative distance can be the distance between the unmanned aerial vehicle and the center position of the motion range, and a flight direction for avoiding the obstacle is determined according to the edge position, the first distance and the relative distance. For details, refer to the steps when the obstacle is static, which will not be repeated here.

[0075] Step S302: When the running state is a static state, the edge position of the obstacle is determined according to the target position information.

[0076] It should be noted that the first distance can be the distance between the unmanned aerial vehicle and the edge position of the obstacle. Figure 3 , Figure 3 The figure is a schematic view of the distance between the unmanned aerial vehicle and the obstacle in an embodiment of the laser radar-based unmanned aerial vehicle control method of the present application. Referring to Figure 3 It can be known that Figure 3 The circular ring 02 in the figure is used to represent the obstacle, and the edge position of the obstacle can be the position around the circular ring in the figure. Figure 3 The circular ring in the figure.

[0077] Step S303: A first distance is determined according to the edge position and the current position of the unmanned aerial vehicle.

[0078] It should be noted that the first distance can be the distance between the unmanned aerial vehicle and the edge position of the obstacle. Figure 3 , the first distance can be the distance between the unmanned aerial vehicle and the edge position of the obstacle. Figure 3 The line segment 03 in the figure represents the distance between the unmanned aerial vehicle and the edge of the obstacle.

[0079] Step S304: A flight direction for avoiding the obstacle is determined according to the edge position, the first distance and the relative distance.

[0080] It should be noted that the relative distance can be the distance between the unmanned aerial vehicle and the center position of the motion range. Figure 3 , the relative distance can be the distance between the unmanned aerial vehicle and the center position of the motion range. Figure 3The horizontal distance of the UAV from the obstacle is represented by the line segment 04 in the figure. The flight direction can include the direction of the edge position corresponding to the first distance and a flight angle. The flight angle can refer to Figure 5 01 in the figure.

[0081] Step S305: generating a UAV control instruction according to the flight direction.

[0082] It should be noted that the UAV control instruction generated according to the flight direction can be generated according to the direction of the edge position in the flight direction and the flight angle. For example, the direction of the edge position is the front of the UAV, and the flight angle is 50 degrees. The UAV control instruction can be to control the UAV to fly upward by 50 degrees.

[0083] In this embodiment, the running state of the obstacle is determined according to the target position information; when the running state is a static state, the edge position of the obstacle is determined according to the target position information; the first distance is determined according to the edge position and the current position of the UAV; the flight direction for avoiding the obstacle is determined according to the edge position, the first distance, and the relative distance; and the UAV control instruction is generated according to the flight direction. In this embodiment, when the relative distance between the UAV and the obstacle is less than a preset first distance threshold, the UAV is controlled to fly over the obstacle, avoiding the UAV crashing into the obstacle due to the delay of the image transmission data or the poor network state, thereby protecting the flight safety of the UAV.

[0084] Reference Figure 5 , Figure 6 is a flowchart of a third embodiment of the laser radar-based UAV control method of the present application.

[0085] Based on the above embodiments, in this embodiment, after step S40, the method further includes:

[0086] Step S50: when receiving a UAV landing instruction, controlling the UAV to land to a preset height.

[0087] It should be noted that the preset height can be a landing preparation height preset when the UAV is about to contact the ground, for example, when the UAV lands, the UAV is first controlled to descend to a position 3 meters away from the ground.

[0088] Step S60: adjusting the emission angle of the laser radar emitter to obtain the plane information of the obstacle below the UAV.

[0089] It should be noted that the adjustment of the emission angle of the laser radar transmitter can be to make the laser radar transmitter emit laser signals downward of the unmanned aerial vehicle, for detecting the planar information of the obstacles below the unmanned aerial vehicle. The planar information can be the obstacle information within a preset range, which is greater than a safe landing area required when the unmanned aerial vehicle lands, and the safe landing area can be the footprint when the unmanned aerial vehicle is unfolded.

[0090] Further, in order to make the unmanned aerial vehicle land safely, after the step S60, the method further comprises: if the planar information does not satisfy the preset landing condition, detecting whether there are obstacles within a preset range around the unmanned aerial vehicle; if not, controlling the unmanned aerial vehicle to translate by a preset distance around, and performing the step of adjusting the emission angle of the laser radar transmitter to obtain the planar information of the obstacles below the unmanned aerial vehicle.

[0091] It should be noted that the preset range can be a range set in advance, which can be a range with the unmanned aerial vehicle as the center and a radius of 2 meters or 5 meters, or a range in a certain direction of the unmanned aerial vehicle, for example, a range of 1 meter in front of the unmanned aerial vehicle. When there are no obstacles within the preset range, the unmanned aerial vehicle is controlled to translate to a region where there are no obstacles, and the preset distance can be a distance set in advance, which can be slightly greater than the length of the unmanned aerial vehicle, or the distance between the position where there are no obstacles and the current position of the unmanned aerial vehicle.

[0092] Step S70: controlling the unmanned aerial vehicle to land when the planar information satisfies the preset landing condition.

[0093] It should be noted that the planar information satisfying the preset landing condition can be that the flatness of the planar information is greater than a preset flatness threshold. The preset flatness threshold can be a lower limit value of the flatness of the ground on which the unmanned aerial vehicle can land safely.

[0094] When receiving the unmanned aerial vehicle landing instruction, the embodiment controls the unmanned aerial vehicle to land to a preset height, adjusts the emission angle of the laser radar transmitter to obtain the planar information of the obstacles below the unmanned aerial vehicle, and controls the unmanned aerial vehicle to land when the planar information satisfies the preset landing condition. The embodiment controls the unmanned aerial vehicle to land to a preset height when receiving the unmanned aerial vehicle landing instruction, adjusts the emission angle of the laser radar transmitter to obtain the planar information of the obstacles below the unmanned aerial vehicle, and controls the unmanned aerial vehicle to land when the planar information satisfies the preset landing condition. It is ensured that the unmanned aerial vehicle can land safely on a plane that satisfies the preset landing condition.

[0095] Reference Figure 6 , Figure 6 is a structural block diagram of a first embodiment of the unmanned aerial vehicle control device based on the laser radar of the application.

[0096] As ​ shown, the unmanned aerial vehicle control device based on laser radar provided by the embodiment of the application comprises:

[0097] a distance calculation module 10, configured to acquire a relative distance between the unmanned aerial vehicle and an obstacle by laser radar;

[0098] an acquisition module 20, configured to acquire target position information of the obstacle when the relative distance is less than a preset first distance threshold;

[0099] a control instruction generation module 30, configured to generate an unmanned aerial vehicle control instruction according to the target position information and a current position of the unmanned aerial vehicle;

[0100] a control module 40, configured to control the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction.

[0101] The embodiment acquires the relative distance between the unmanned aerial vehicle and the obstacle by laser radar, acquires the target position information of the obstacle when the relative distance is less than a preset first distance threshold, generates the unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction. Since the embodiment acquires the target position information of the obstacle when the relative distance between the unmanned aerial vehicle and the obstacle is less than a preset first distance threshold, generates the unmanned aerial vehicle control instruction according to the target position and the current position of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction, the above-mentioned manner can ensure the flight safety of the unmanned aerial vehicle, compared with the existing manner in which the user controls the unmanned aerial vehicle to fly by the image transmission data of the unmanned aerial vehicle.

[0102] It should be noted that the above-described workflow is merely illustrative and does not limit the protection scope of the application. In actual application, a person skilled in the art can select part or all of the above-described workflow to achieve the purpose of the embodiment, which is not limited herein.

[0103] In addition, technical details not described in the embodiment can be referred to the unmanned aerial vehicle control method based on laser radar provided by any embodiment of the application, which will not be described herein.

[0104] Based on the first embodiment of the unmanned aerial vehicle control device based on laser radar described above, the second embodiment of the unmanned aerial vehicle control device based on laser radar is provided.

[0105] In the embodiment, the control instruction generation module 30 is further configured to determine a running state of the obstacle according to the target position information;

[0106] In the running state is static state, according to the target position information determines the edge position of the obstacle;

[0107] According to the edge position and the current position of the unmanned aerial vehicle determines the first distance;

[0108] According to the edge position, the first distance and the relative distance determines the flight direction of avoiding obstacles;

[0109] According to the flight direction generates unmanned aerial vehicle control instruction.

[0110] Further, the control instruction generation module 30, is also used for in the running state is dynamic, according to the target position information predicts the motion trajectory of the obstacle;

[0111] According to the motion trajectory determines the motion range of the obstacle;

[0112] According to the motion range and the current position of the unmanned aerial vehicle generates unmanned aerial vehicle control instruction.

[0113] Further, the control instruction generation module 30, is also used for comparing the position information of different acquisition time in the target position information, obtains comparison result;

[0114] In the comparison result is position information consistent, determines the running state of the obstacle is static.

[0115] Further, the acquisition module 20, is also used for in the relative distance is less than the preset second distance threshold, obtains the target flight speed of the unmanned aerial vehicle;

[0116] According to the relative distance and the target flight speed adjusts the actual flight speed of the unmanned aerial vehicle.

[0117] Further, the control module 40, is also used for when receiving unmanned aerial vehicle landing instruction, controls the unmanned aerial vehicle to land to the preset height;

[0118] Adjusts the emission angle of laser radar emitter, to obtain the plane information of the obstacle below the unmanned aerial vehicle;

[0119] In the plane information satisfies the preset descent condition, controls the unmanned aerial vehicle to land.

[0120] Further, the control module 40, is also used for in the plane information does not satisfy the preset descent condition, detects whether there is an obstacle in the preset range around the unmanned aerial vehicle;

[0121] If not, then controls the unmanned aerial vehicle to pan around the preset distance, adjusts the emission angle of laser radar emitter, to obtain the plane information of the obstacle below the unmanned aerial vehicle.

[0122] The other embodiments or specific implementations of the unmanned aerial vehicle control device based on laser radar can refer to the above-mentioned method embodiments, and details are not described herein.

[0123] In addition, the embodiment of the present application also proposes a storage medium, and the storage medium stores the unmanned aerial vehicle control program based on laser radar. The unmanned aerial vehicle control program based on laser radar is executed by the processor to realize the steps of the unmanned aerial vehicle control method based on laser radar as described above.

[0124] It should be noted that in this paper, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or system. Without more limitations, the element defined by the sentence "includes a" does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0125] The above-mentioned embodiment numbers of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0126] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by software and necessary general hardware platform, of course, also can be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the part of the prior art can be embodied in the form of software product, which is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk), including a plurality of instructions to make a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the method described in each embodiment of the present application.

[0127] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent flow transformation made by using the content of the present application specification and drawings, or directly or indirectly applied to other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A method for controlling a drone based on a laser radar, characterized by, The unmanned aerial vehicle control method based on the laser radar comprises the following steps: acquiring the relative distance between the unmanned aerial vehicle and the obstacle by the laser radar; acquiring the target position information of the obstacle when the relative distance is less than a preset first distance threshold; generating the unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction; before the step of acquiring the position information of the obstacle when the relative distance is less than a preset first distance threshold, the method further comprises the following steps: acquiring the target flight speed of the unmanned aerial vehicle when the relative distance is less than a preset second distance threshold; adjusting the actual flight speed of the unmanned aerial vehicle according to the relative distance and the target flight speed, so that the actual flight speed of the unmanned aerial vehicle is 0 when the relative distance is equal to the preset first distance threshold; the step of generating the unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle comprises the following steps: determining the running state of the obstacle according to the target position information; when the running state is dynamic, predicting the motion trajectory of the obstacle according to the target position information; determining the motion range of the obstacle according to the motion trajectory; generating the unmanned aerial vehicle control instruction according to the motion range and the current position of the unmanned aerial vehicle. 2.The lidar-based drone control method of claim 1, wherein, the step of generating the unmanned aerial vehicle control instruction according to the target position information and the current position of the unmanned aerial vehicle comprises the following steps: determining the running state of the obstacle according to the target position information; when the running state is static, determining the edge position of the obstacle according to the target position information; determining the first distance according to the edge position and the current position of the unmanned aerial vehicle; determining the flight direction for avoiding the obstacle according to the edge position, the first distance and the relative distance; generating the unmanned aerial vehicle control instruction according to the flight direction. 3.The lidar-based drone control method of claim 2, wherein, the target position information comprises position information of the obstacle collected at least two intervals with a preset time length; the step of determining the running state of the obstacle according to the target position information comprises the following steps: comparing the position information collected at different times in the target position information to obtain a comparison result; when the comparison result is that the position information is consistent, determining that the running state of the obstacle is static.

4. The lidar-based drone control method of any one of claims 1-3, wherein, after the step of controlling the unmanned aerial vehicle to fly over the obstacle according to the unmanned aerial vehicle control instruction, the method further comprises the following steps: when receiving the unmanned aerial vehicle landing instruction, controlling the unmanned aerial vehicle to land to a preset height; adjusting the emission angle of the laser radar emitter to acquire the planar information of the obstacle below the unmanned aerial vehicle; when the planar information meets a preset landing condition, controlling the unmanned aerial vehicle to land. 5.The lidar-based drone control method of claim 4, wherein, after the step of adjusting the emission angle of the laser radar emitter to acquire the planar information of the obstacle below the unmanned aerial vehicle, the method further comprises the following steps: when the planar information does not meet the preset landing condition, detecting whether there is an obstacle within a preset range around the unmanned aerial vehicle; If not, the UAV is controlled to translate a preset distance around and the step of adjusting the emission angle of the laser radar emitter to obtain the plane information of the obstacle below the UAV is performed. 6.A laser radar-based unmanned aerial vehicle control device characterized by comprising: The laser radar-based UAV control device comprises: a distance calculation module configured to obtain the relative distance between the UAV and the obstacle by the laser radar; an acquisition module configured to acquire target position information of the obstacle when the relative distance is less than a preset first distance threshold; a control instruction generation module configured to generate a UAV control instruction according to the target position information and the current position of the UAV; a control module configured to control the UAV to fly over the obstacle according to the UAV control instruction; before the step of acquiring the position information of the obstacle when the relative distance is less than the preset first distance threshold, the method further comprises: acquiring a target flight speed of the UAV when the relative distance is less than a preset second distance threshold; adjusting the actual flight speed of the UAV according to the relative distance and the target flight speed, so that the actual flight speed of the UAV is 0 when the relative distance is equal to the preset first distance threshold. the step of generating a UAV control instruction according to the target position information and the current position of the UAV comprises: determining the running state of the obstacle according to the target position information; when the running state is dynamic, predicting the motion trajectory of the obstacle according to the target position information; determining the motion range of the obstacle according to the motion trajectory; generating a UAV control instruction according to the motion range and the current position of the UAV. 7.A laser radar-based unmanned aerial vehicle control device characterized by comprising: The device comprises a memory, a processor, and a laser radar-based UAV control program stored on the memory and executable on the processor, and the laser radar-based UAV control program is configured to implement the steps of the laser radar-based UAV control method according to any one of claims 1 to 5.

8. A storage medium, characterized by The storage medium stores a laser radar-based UAV control program, and the laser radar-based UAV control program is executed by the processor to implement the steps of the laser radar-based UAV control method according to any one of claims 1 to 5.

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