Obstacle identification method, device, apparatus and storage medium

Abstract

Embodiments of the application disclose an obstacle identification method, device and equipment and a storage medium, wherein the method comprises: controlling a dotting device to fly above a first obstacle, determining first longitude and latitude information of the first obstacle according to a position of the dotting device; determining second longitude and latitude information of a second obstacle associated with the first obstacle based on the first longitude and latitude information; determining second height information of the second obstacle through the dotting device; and generating an identification range of the second obstacle based on the second longitude and latitude information and the second height information. The method guarantees the operation safety of the unmanned device and improves the operation efficiency.

Description

Technical Field

[0001] This application relates to the field of unmanned operation technology, and in particular to an obstacle recognition method, apparatus, device and storage medium. Background Technology

[0002] In agriculture, unmanned equipment is often used to improve operational efficiency. However, obstacles within the work area can reduce efficiency and, in severe cases, damage the equipment itself.

[0003] In related technologies, when unmanned equipment is operating, it is usually manually controlled to avoid obstacles, or the radar or vision camera onboard the equipment is used to identify obstacles and then automatically fly around them. However, the accident rate is still relatively high when using manual control, and accidents can still occur due to improper human operation. While automatic identification by the unmanned equipment can still lead to accidents, the high flight speed of the equipment and the complex environmental and lighting conditions in the operating area make it difficult to guarantee accurate obstacle detection results. Summary of the Invention

[0004] This application provides an obstacle recognition method, apparatus, device, and storage medium, which solves the problem of low operation efficiency and easy safety accidents caused by obstacle recognition issues when unmanned equipment is operating in related technologies, thus ensuring the operation safety of unmanned equipment and improving operation efficiency.

[0005] In a first aspect, embodiments of this application provide an obstacle recognition method, the method comprising:

[0006] The marking device is controlled to fly above the first obstacle, and the first latitude and longitude information of the first obstacle is determined based on the position of the marking device.

[0007] Based on the first latitude and longitude information, determine the second latitude and longitude information of the second obstacle associated with the first obstacle;

[0008] The second height information of the second obstacle is determined by the marking device;

[0009] The identification range of the second obstacle is generated based on the second latitude and longitude information and the second altitude information.

[0010] Secondly, embodiments of this application also provide an obstacle recognition device, the device comprising:

[0011] The first latitude and longitude determination module is configured to control the marking device to fly above the first obstacle and determine the first latitude and longitude information of the first obstacle based on the position of the marking device;

[0012] The second latitude and longitude determination module is configured to determine the second latitude and longitude information of a second obstacle associated with the first obstacle based on the first latitude and longitude information;

[0013] The height determination module is configured to determine the second height information of the second obstacle through the marking device;

[0014] The range determination module is configured to generate the identification range of the second obstacle based on the second latitude and longitude information and the second altitude information.

[0015] Thirdly, embodiments of this application also provide an apparatus, which includes:

[0016] One or more processors;

[0017] Storage device for storing one or more programs.

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the obstacle recognition method described in the embodiments of this application.

[0019] Fourthly, embodiments of this application also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform the obstacle recognition method described in embodiments of this application.

[0020] In this embodiment, a marking device is controlled to fly above a first obstacle. The first latitude and longitude information of the first obstacle is determined based on the position of the marking device. Then, based on the first latitude and longitude information, the second latitude and longitude information of a second obstacle associated with the first obstacle is determined. After determining the second height information of the second obstacle using the marking device, the identification range of the second obstacle is generated based on the second latitude and longitude information and the second height information. This obstacle identification method solves the problem of low operational efficiency and potential safety accidents caused by obstacle identification issues during unmanned equipment operation in related technologies, ensuring the operational safety of unmanned equipment and improving operational efficiency. Attached Figure Description

[0021] Figure 1 A flowchart illustrating an obstacle recognition method provided in this application embodiment;

[0022] Figure 2 A schematic diagram of a plot of land containing obstacles, provided for an embodiment of this application;

[0023] Figure 3 A schematic diagram of another plot of land containing obstacles, provided for an embodiment of this application;

[0024] Figure 4 A schematic diagram of another plot of land containing obstacles, provided for an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of a module for an obstacle recognition device provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the structure of a device provided in an embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] The obstacle recognition method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0030] The obstacle identification method provided in this solution, for example, is applicable to identifying obstacles in a work area, such as pinpointing the specific location of the obstacle. This location can be the obstacle's longitude, latitude, and altitude. An example obstacle could be a utility pole or power line in the work area. Therefore, during route planning and work control, accidents caused by collisions between unmanned equipment and obstacles can be avoided.

[0031] Figure 1 The flowchart illustrates an obstacle recognition method provided in this application embodiment. This method can be executed by a terminal device, which may optionally be a smartphone, a remote control with a display screen, etc., and specifically includes the following steps:

[0032] Step S101: Control the marking device to fly above the first obstacle, and determine the first latitude and longitude information of the first obstacle based on the position of the marking device.

[0033] In one embodiment, obstacles in the work area are identified and marked in advance. Optionally, the marking device can be a small drone, aircraft, or other flying device, which can be controlled by a terminal device such as a smartphone or remote controller to mark obstacles. The first obstacle can be, for example, a utility pole in the work area. After controlling the marking device to fly above the first obstacle, the latitude and longitude of the marking device at that moment can be used as the first latitude and longitude information of the first obstacle. The marking device can determine its position in real time through an integrated positioning module, which includes the longitude, latitude, and altitude of the marking device. Here, the first latitude and longitude information refers to the longitude and latitude of the first obstacle. When there are multiple first obstacles in the work area, the first latitude and longitude information includes the longitude and latitude of each first obstacle, allowing the marking device to be controlled separately to fly above each first obstacle to determine its latitude and longitude.

[0034] Optionally, when controlling the marking device, the terminal device can display the video feed transmitted back from the ground camera of the marking device in real time, and determine whether the marking device is directly above the first obstacle based on the video feed. When the marking device is directly above the first obstacle, the marking of the first obstacle is recorded.

[0035] Step S102: Determine the second latitude and longitude information of the second obstacle associated with the first obstacle based on the first latitude and longitude information.

[0036] In one embodiment, the first obstacle may be a utility pole, and the second obstacle may be, for example, a power line. The second obstacle is associated with the first obstacle, that is, the second obstacle is connected to the first obstacle, such as the relationship between a utility pole and the power line mounted on the utility pole.

[0037] Optionally, after determining the first latitude and longitude information of the first obstacle, the second latitude and longitude information of the associated second obstacle is determined accordingly based on the first latitude and longitude information. The second latitude and longitude information represents the position of the second obstacle on the horizontal plane and is the longitude and latitude of the second obstacle.

[0038] Optionally, one way to determine the second latitude and longitude information of the second obstacle can be: when the first obstacle is a single obstacle, control the heading of the marking device to be consistent with the direction of the second obstacle, and determine the second latitude and longitude information of the second obstacle based on the first latitude and longitude information and the heading. For example, such as... Figure 2 As shown, Figure 2This is a schematic diagram of a plot of land containing obstacles provided in an embodiment of this application. Taking plot 01 as an example, the circular portion 02 represents the first obstacle, and the straight line 03 represents the second obstacle. After measuring the longitude and latitude of the first obstacle 02, the heading of the marking device is aligned with the direction of the second obstacle 03 to mark its longitude and latitude. For example, the longitude and latitude of the second obstacle 03, i.e., the second longitude and latitude information, can be the longitude and latitude range of the location of the second obstacle 03. This longitude and latitude range can be calculated based on the longitude and latitude of the first obstacle 02 and the direction of the second obstacle 03 according to a mathematical equation.

[0039] Optionally, another way to determine the second latitude and longitude information of the second obstacle can be: when there are multiple first obstacles, determine the second latitude and longitude information of the second obstacle between them based on the first latitude and longitude information corresponding to two matching first obstacles. For example, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of another plot of land containing obstacles provided in an embodiment of this application. It includes three plots: plot 01, plot 04, and plot 05. Plot 01 includes a first obstacle 02; plot 04 includes first obstacles 06 and 07; and plot 05 includes a first obstacle 08. In determining the second latitude and longitude information of the second obstacle, two matching first obstacles are first identified. This matching refers to two first obstacles being connected by a second obstacle, i.e., carrying a second obstacle. For example, first obstacles 02 and 06 are matching first obstacles; first obstacles 06 and 08 are matching first obstacles; and first obstacles 08 and 07 are matching first obstacles. Optionally, taking the second obstacle 03 between the matched first obstacle 02 and the first obstacle 06 as an example, the longitude and latitude of the second obstacle 03, i.e., the second longitude and latitude information, can be determined based on the longitude and latitude of the first obstacle 02 and the first obstacle 06, as well as the mathematical relationship equation.

[0040] Step S103: Determine the second height information of the second obstacle using the marking device.

[0041] In one embodiment, after determining the second latitude and longitude information of the second obstacle, the method further includes determining the height information of the second obstacle. Optionally, the height information of the second obstacle is determined using a marking device. It should be noted that the order in which the second latitude and longitude information and the second height information of the second obstacle are determined is not limited. For example, as shown... Figure 4 As shown, Figure 4This is a schematic diagram of another plot of land containing obstacles provided in an embodiment of this application. The dotted line portion represents the second obstacle, which may be a power line in the work area. In order to ensure the safety of unmanned equipment during operation, in addition to marking the latitude and longitude of the second obstacle, it is also necessary to determine its height in order to delineate a safe flight area to ensure the safe operation of the unmanned equipment.

[0042] Optionally, one way to determine the height of the second obstacle is to control the marking device to fly to the lowest position of the second obstacle to determine its second height information. Taking a power line as an example, the second obstacle will have some height inconsistency due to gravity; for example, the closer to the power pole, the higher the obstacle will be, and vice versa. To determine its height, the marking device is controlled to its lowest position, and the height of the marking device at this point is used to mark the height of the second obstacle.

[0043] Optionally, to further improve the accuracy of the determined second height information, the height information of the second obstacle can also be determined by: acquiring an image containing the first obstacle captured by a marking device, and identifying the image to determine the second height information of the second obstacle. The marking device is equipped with a camera to capture images, and the second height information of the second obstacle can be determined based on the captured image containing the first obstacle. Alternatively, the image can be identified to determine the type and specifications of the first obstacle, and the second height information of the second obstacle can be determined based on the type and specifications of the first obstacle. For example, the type of the first obstacle, such as a utility pole, can be wooden, concrete, or a power tower. After obtaining the type and specifications of the first obstacle through image recognition, the height of the second obstacle, such as a power line, is determined based on these types and specifications. Different types and specifications of utility poles correspond to different power line heights, and this pre-set power line height is used as the second height information of the power line under the identified utility pole type and specifications.

[0044] Optionally, to further improve the accuracy of the determined second height information, the height information of the second obstacle can also be determined by: controlling the marking device to fly around the second obstacle, and obtaining point cloud data of the second obstacle through the depth camera and / or radar equipment of the marking device, and determining the second height information of the second obstacle based on the point cloud data. In one embodiment, the second height information of the second obstacle is identified and determined by the obtained point cloud data of the second obstacle. This can be done by calculating the discrete point cloud of the second obstacle based on a set mathematical equation, such as the catenary equation. To improve the calculation speed, an approximate fitting method can be used to identify the three-dimensional region of the second obstacle. For example, using millimeter-wave radar, the point cloud data of the second obstacle can be the point cloud data collected by the marking device when flying above the second obstacle. The distance between the point cloud data and the marking device can be calculated using radar signal principles. Since the height of the marking device is known at this time, subtracting the distance between the point cloud data and the marking device from the height of the marking device yields the height of the point cloud data of the second obstacle above the ground, which is the second height information of the second obstacle.

[0045] Optionally, the height information of the second obstacle can also be determined by controlling the marking device to fly safely above and below the second obstacle, and determining the second height information of the second obstacle based on the safe flight area. Specifically, the marking device can first be controlled to fly to the second obstacle at the working flight altitude, then controlled to rise, then pass the second obstacle, and finally controlled to descend to the working altitude. During the rising and falling of the marking device, the lowest height point that can be passed over the second obstacle during the rise and the lowest height point during the fall can be obtained, and the height of the area between these two lowest height points can be determined as the second height information of the second obstacle.

[0046] Step S104: Generate the identification range of the second obstacle based on the second latitude and longitude information and the second altitude information.

[0047] In one embodiment, after determining the second latitude and longitude information and the second altitude information of the second obstacle, a corresponding identification range of the second obstacle is generated for the safety of subsequent unmanned equipment operations, so as to ensure that the unmanned equipment does not fly within the identification range and thus ensures the safety of the unmanned equipment.

[0048] Optionally, the identification range of the second obstacle can be generated based on the second latitude and longitude information, the second altitude information, and the size range of the second obstacle. In the case of multiple intersecting second obstacles, the identification range can be generated based on the expansion range of each second obstacle. Taking a power line as an example, the size range can be the diameter or width of the power line. For the case of multiple intersecting power lines, the area of ​​each obstacle can be delineated at the intersection point, and the area of ​​the obstacle can be expanded according to the set expansion range to serve as the identification range.

[0049] In one embodiment, for complex areas, aerial images obtained by drones can be used to create 3D models. Obstacles such as utility poles and wires can be marked using 3D modeling to identify obstacle areas, which facilitates subsequent operation planning.

[0050] As described above, by controlling the marking device to fly above the first obstacle, the first latitude and longitude information of the first obstacle is determined based on the position of the marking device. Then, based on the first latitude and longitude information, the second latitude and longitude information of the second obstacle associated with the first obstacle is determined. After determining the second height information of the second obstacle through the marking device, the identification range of the second obstacle is generated based on the second latitude and longitude information and the second height information. This obstacle identification method solves the problem of low operation efficiency and easy safety accidents caused by obstacle identification problems when unmanned equipment is operating in related technologies, ensuring the operation safety of unmanned equipment and improving operation efficiency.

[0051] The above technical solution mainly describes the method for determining the second height information of the second obstacle. Similarly, the first height information of the first obstacle can be determined based on image recognition, control of the marking device to fly horizontally, etc., and the identification range of the first obstacle can be marked accordingly to avoid the unmanned equipment flying into the identification range during operation and causing safety accidents.

[0052] Figure 5 This is a schematic diagram of a module for an obstacle recognition device provided in an embodiment of this application. The device is used to execute the obstacle recognition method described above and has corresponding functional modules and beneficial effects for executing the method. Figure 5 As shown, the device specifically includes: a first latitude and longitude determination module 101, a second latitude and longitude determination module 102, an altitude determination module 103, and a range determination module 104, wherein,

[0053] The first latitude and longitude determination module 101 is configured to control the marking device to fly above the first obstacle and determine the first latitude and longitude information of the first obstacle based on the position of the marking device;

[0054] The second latitude and longitude determination module 102 is configured to determine the second latitude and longitude information of a second obstacle associated with the first obstacle based on the first latitude and longitude information;

[0055] The height determination module 103 is configured to determine the second height information of the second obstacle through the marking device;

[0056] The range determination module 104 is configured to generate the identification range of the second obstacle based on the second latitude and longitude information and the second altitude information.

[0057] As described above, by controlling the marking device to fly above the first obstacle, the first latitude and longitude information of the first obstacle is determined based on the position of the marking device. Then, based on the first latitude and longitude information, the second latitude and longitude information of the second obstacle associated with the first obstacle is determined. After determining the second height information of the second obstacle through the marking device, the identification range of the second obstacle is generated based on the second latitude and longitude information and the second height information. This obstacle identification method solves the problem of low operation efficiency and easy safety accidents caused by obstacle identification problems in related technologies when unmanned equipment is operating, ensuring the operation safety of unmanned equipment and improving operation efficiency.

[0058] In one possible embodiment, the first obstacle includes a utility pole, the second obstacle includes a power line, and the second latitude and longitude determination module 102 is configured to:

[0059] When the first obstacle is a single obstacle, the heading of the marking device is controlled to be consistent with the direction of the second obstacle;

[0060] The second latitude and longitude information of the second obstacle is determined based on the first latitude and longitude information and the heading.

[0061] In one possible embodiment, the first obstacle includes a utility pole, the second obstacle includes a power line, and the second latitude and longitude determination module 102 is configured to:

[0062] When there are multiple first obstacles, the second latitude and longitude information of the second obstacle between the two matched first obstacles is determined based on the first latitude and longitude information corresponding to the two matched first obstacles.

[0063] In one possible embodiment, the height determination module 103 is configured as follows:

[0064] The marking device is controlled to fly to the lowest position of the second obstacle in order to determine the second height information of the second obstacle.

[0065] In one possible embodiment, the height determination module 103 is configured to: acquire an image containing the first obstacle captured by the marking device;

[0066] The image is then identified to determine the second height information of the second obstacle.

[0067] In one possible embodiment, the height determination module 103 is configured to: identify the image to determine the type and size of the first obstacle;

[0068] The second height information of the second obstacle is determined based on the type and specifications of the first obstacle.

[0069] In one possible embodiment, the height determination module 103 is configured to: control the dotting device to fly around the second obstacle, and obtain point cloud data of the second obstacle through the depth camera and / or radar device of the dotting device;

[0070] The second height information of the second obstacle is determined based on the point cloud data.

[0071] In one possible embodiment, the height determination module 103 is configured to control the marking device to fly safely above and below the second obstacle;

[0072] The second altitude information of the second obstacle is determined based on the altitude during safe flight.

[0073] In one possible embodiment, the range determination module 104 is configured as follows:

[0074] The identification range of the second obstacle is generated based on the second latitude and longitude information, the second altitude information, and the set size range of the second obstacle;

[0075] In the case of multiple intersections of the second obstacle, the identification range of the second obstacle is generated according to the expansion range of each second obstacle.

[0076] In one possible embodiment, the range determination module 104 is further configured to:

[0077] After generating the identification range of the second obstacle based on the second latitude and longitude information and the second altitude information, the identification range of the second obstacle is displayed on the display interface of the terminal device;

[0078] In response to the adjustment operation of the recognition range, the recognition range is adjusted.

[0079] Figure 6This is a schematic diagram of the structure of a device provided in an embodiment of this application, such as... Figure 6 As shown, the device includes a processor 201 and a memory 202. The number of processors 201 in the device can be one or more. Figure 6 Taking a processor 201 as an example; the processor 201 and memory 202 in the device can be connected via a bus or other means. Figure 6 Taking a bus connection as an example, the memory 202, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the obstacle recognition method in this embodiment. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 202, thereby realizing the obstacle recognition method described above.

[0080] This application also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an obstacle recognition method, the method comprising:

[0081] The marking device is controlled to fly above the first obstacle, and the first latitude and longitude information of the first obstacle is determined based on the position of the marking device.

[0082] Based on the first latitude and longitude information, determine the second latitude and longitude information of the second obstacle associated with the first obstacle;

[0083] The second height information of the second obstacle is determined by the marking device;

[0084] The identification range of the second obstacle is generated based on the second latitude and longitude information and the second altitude information.

[0085] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0086] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile device, mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0087] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. An obstacle recognition method, characterized in that, include: The marking device is controlled to fly above the first obstacle, and the first latitude and longitude information of the first obstacle is determined based on the position of the marking device. Based on the first latitude and longitude information, the second latitude and longitude information of the second obstacle associated with the first obstacle is determined, wherein the first obstacle includes a utility pole and the second obstacle includes a power line. In the case of multiple first obstacles, the second latitude and longitude information of the second obstacle between them is determined according to the first latitude and longitude information corresponding to two matched first obstacles. Determining the second height information of the second obstacle through the marking device includes: controlling the marking device to fly around the second obstacle, obtaining discrete point cloud data of the second obstacle through the depth camera and / or radar device of the marking device, and performing curve fitting on the second obstacle based on the catenary equation for the discrete point cloud data to determine the three-dimensional spatial region and second height information of the second obstacle; The identification range of the second obstacle is generated based on the second latitude and longitude information and the second altitude information, including: generating the identification range of the second obstacle based on the second latitude and longitude information, the second altitude information, and the set size range of the second obstacle; and generating the identification range of the second obstacle based on the expansion range of each set second obstacle when multiple second obstacles intersect.

2. The obstacle recognition method according to claim 1, characterized in that, The first obstacle includes a utility pole, and the second obstacle includes a power line. The step of determining the second latitude and longitude information of the second obstacle associated with the first obstacle based on the first latitude and longitude information includes: When the first obstacle is a single obstacle, the heading of the marking device is controlled to be consistent with the direction of the second obstacle; The second latitude and longitude information of the second obstacle is determined based on the first latitude and longitude information and the heading.

3. The obstacle recognition method according to any one of claims 1-2, characterized in that, Determining the second height information of the second obstacle using the marking device includes: The marking device is controlled to fly to the lowest position of the second obstacle in order to determine the second height information of the second obstacle.

4. The obstacle recognition method according to any one of claims 1-2, characterized in that, Determining the second height information of the second obstacle using the marking device includes: Acquire an image containing the first obstacle captured by the marking device; The image is then identified to determine the second height information of the second obstacle.

5. The obstacle recognition method according to claim 4, characterized in that, The step of identifying the image to determine the second height information of the second obstacle includes: The image is used to identify the type and size of the first obstacle; The second height information of the second obstacle is determined based on the type and specifications of the first obstacle.

6. The obstacle recognition method according to any one of claims 1-2, characterized in that, Determining the second height information of the second obstacle using the marking device includes: Control the marking device to fly safely above and below the second obstacle; The second altitude information of the second obstacle is determined based on the altitude during safe flight.

7. The obstacle recognition method according to any one of claims 1-2, characterized in that, After generating the identification range of the second obstacle based on the second latitude and longitude information and the second altitude information, the method further includes: The recognition range of the second obstacle is displayed on the display interface of the terminal device; In response to the adjustment operation of the recognition range, the recognition range is adjusted.

8. An obstacle recognition device, characterized in that, include: The first latitude and longitude determination module is configured to control the marking device to fly above the first obstacle and determine the first latitude and longitude information of the first obstacle based on the position of the marking device; The second latitude and longitude determination module is configured to determine the second latitude and longitude information of a second obstacle associated with the first obstacle based on the first latitude and longitude information, wherein the first obstacle includes a utility pole and the second obstacle includes a power line. The second latitude and longitude determination module is specifically configured to: when there are multiple first obstacles, determine the second latitude and longitude information of the second obstacle between two matched first obstacles based on the first latitude and longitude information corresponding to the two matched first obstacles. The height determination module is configured to determine the second height information of the second obstacle through the marking device. Specifically, the height determination module is configured to: control the marking device to fly around the second obstacle, and obtain discrete point cloud data of the second obstacle through the depth camera and / or radar device of the marking device, and perform curve fitting on the second obstacle based on the catenary equation for the discrete point cloud data to determine the three-dimensional spatial region and the second height information of the second obstacle. The range determination module is configured to generate the identification range of the second obstacle based on the second latitude and longitude information and the second height information, wherein the module includes: generating the identification range of the second obstacle based on the second latitude and longitude information and the second height information, as well as the set size range of the second obstacle; and generating the identification range of the second obstacle according to the set expansion range of each second obstacle when multiple second obstacles intersect.

9. An obstacle recognition device, the obstacle recognition device comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the obstacle recognition method according to any one of claims 1-7.

10. A storage medium storing computer-executable instructions, which, when executed by a computer processor, are used to perform the obstacle recognition method according to any one of claims 1-7.

Images