An unmanned aerial vehicle dynamic obstacle avoidance method, system, and medium

Abstract

The application discloses an unmanned aerial vehicle dynamic obstacle avoidance method, system and medium, wherein the method comprises the following steps: acquiring image set information in a preset range of an unmanned aerial vehicle; comparing and analyzing images in the image set in the preset range of the unmanned aerial vehicle to obtain dynamic obstacle information in the preset range of the unmanned aerial vehicle; obtaining a threat range of the corresponding dynamic obstacle according to the dynamic obstacle information in the preset range of the unmanned aerial vehicle; judging whether the threat range of the dynamic obstacle in the preset range of the unmanned aerial vehicle and a preset flight route range of the unmanned aerial vehicle intersect, if yes, triggering an obstacle avoidance prompt, and if not, normally driving according to the flight route. The application determines the threat range of the corresponding dynamic obstacle by monitoring the flight speed and direction of the dynamic obstacle in real time, and further effectively determines the obstacle avoidance flight route of the unmanned aerial vehicle, thereby improving the flight safety of the unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and more specifically, to a method, system, and medium for dynamic obstacle avoidance by unmanned aerial vehicles. Background Technology

[0002] With the development of technology, unmanned aerial vehicles (UAVs) have been widely used in modern military and civilian fields. Their low cost and high maneuverability bring convenience to both military and civilian endeavors, such as high-altitude photography and monitoring of fires and floods. However, when UAVs encounter dynamic obstacles, collisions can easily occur due to operational errors or failure to avoid them in time, leading to losses.

[0003] Therefore, existing technologies have shortcomings and urgently need improvement. Summary of the Invention

[0004] In view of the above problems, the purpose of this invention is to provide a method, system and medium for dynamic obstacle avoidance of unmanned aerial vehicles, which can more effectively improve the flight safety of unmanned aerial vehicles.

[0005] The first aspect of this invention provides a dynamic obstacle avoidance method for unmanned aerial vehicles, comprising:

[0006] Acquire image set information within a preset range of the unmanned aerial vehicle;

[0007] By comparing and analyzing images from a set of images within a preset range of the unmanned aerial vehicle (UAV), dynamic obstacle information within the preset range of the UAV can be obtained.

[0008] Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the threat range of the corresponding dynamic obstacle is obtained;

[0009] Determine whether there is an overlap between the threat range of dynamic obstacles within the preset range of the unmanned aerial vehicle (UAV) and the preset flight path range of the UAV. If there is, trigger an obstacle avoidance prompt; otherwise, proceed normally according to the flight path.

[0010] This plan includes:

[0011] Acquire the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range, as well as the corresponding time;

[0012] Based on the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range and the corresponding time, the distance change values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset time period are obtained.

[0013] Determine whether the distance change between the unmanned aerial vehicle and dynamic obstacles within a preset time period is less than a preset distance threshold. If so, mark the corresponding dynamic obstacle; otherwise, do not mark it.

[0014] Marked dynamic obstacles as key monitoring targets.

[0015] In this solution, obtaining the threat range of a corresponding dynamic obstacle based on dynamic obstacle information within a preset range of the unmanned aerial vehicle specifically includes:

[0016] Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the displacement and diameter of the corresponding dynamic obstacle are obtained;

[0017] Based on a comparative analysis of the displacement of dynamic obstacles and a preset influence range table, the threat radius of the corresponding dynamic obstacles is obtained.

[0018] The threat range of a dynamic obstacle is determined by its diameter and threat radius.

[0019] This plan includes:

[0020] Obtain flight path information for unmanned aerial vehicles;

[0021] The flight path of the unmanned aerial vehicle is divided into segments according to a preset distance, and each segment point is marked and set as a flight path point;

[0022] The flight path points of the unmanned aerial vehicle are sent to a pre-set management terminal for storage.

[0023] In this solution, triggering the obstacle avoidance prompt includes:

[0024] Obtain the intersection size of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle;

[0025] The obstacle avoidance angle of the corresponding unmanned aerial vehicle is obtained by the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle and the corresponding obstacle avoidance angle conversion coefficient.

[0026] In this solution, after triggering the obstacle avoidance prompt, the solution further includes:

[0027] Obtain the distance between the unmanned aerial vehicle and the nearest waypoint;

[0028] Determine whether the distance between the unmanned aerial vehicle and the nearest route point is less than a preset distance threshold; if so, set the next route point as the target route point.

[0029] Connect the current position of the unmanned aerial vehicle with the target route point to obtain the obstacle avoidance reference line;

[0030] Based on the intersection of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle (UAV) and the obstacle avoidance reference line, the obstacle avoidance direction of the corresponding UAV is obtained.

[0031] Based on the obstacle avoidance direction, obstacle avoidance angle, and next target flight path of the unmanned aerial vehicle (UAV), the obstacle avoidance route of the corresponding UAV is obtained.

[0032] A second aspect of the present invention provides a dynamic obstacle avoidance system for unmanned aerial vehicles (UAVs), comprising a memory and a processor. The memory stores a program for a dynamic obstacle avoidance method for UAVs. When the processor executes the dynamic obstacle avoidance method program for UAVs, it performs the following steps:

[0033] Acquire image set information within a preset range of the unmanned aerial vehicle;

[0034] By comparing and analyzing images from a set of images within a preset range of the unmanned aerial vehicle (UAV), dynamic obstacle information within the preset range of the UAV can be obtained.

[0035] Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the threat range of the corresponding dynamic obstacle is obtained;

[0036] Determine whether there is an overlap between the threat range of dynamic obstacles within the preset range of the unmanned aerial vehicle (UAV) and the preset flight path range of the UAV. If there is, trigger an obstacle avoidance prompt; otherwise, proceed normally according to the flight path.

[0037] This plan includes:

[0038] Acquire the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range, as well as the corresponding time;

[0039] Based on the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range and the corresponding time, the distance change values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset time period are obtained.

[0040] Determine whether the distance change between the unmanned aerial vehicle and dynamic obstacles within a preset time period is less than a preset distance threshold. If so, mark the corresponding dynamic obstacle; otherwise, do not mark it.

[0041] Marked dynamic obstacles as key monitoring targets.

[0042] In this solution, obtaining the threat range of a corresponding dynamic obstacle based on dynamic obstacle information within a preset range of the unmanned aerial vehicle specifically includes:

[0043] Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the displacement and diameter of the corresponding dynamic obstacle are obtained;

[0044] Based on a comparative analysis of the displacement of dynamic obstacles and a preset influence range table, the threat radius of the corresponding dynamic obstacles is obtained.

[0045] The threat range of a dynamic obstacle is determined by its diameter and threat radius.

[0046] This plan includes:

[0047] Obtain flight path information for unmanned aerial vehicles;

[0048] The flight path of the unmanned aerial vehicle is divided into segments according to a preset distance, and each segment point is marked and set as a flight path point;

[0049] The flight path points of the unmanned aerial vehicle are sent to a pre-set management terminal for storage.

[0050] In this solution, triggering the obstacle avoidance prompt includes:

[0051] Obtain the intersection size of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle;

[0052] The obstacle avoidance angle of the corresponding unmanned aerial vehicle is obtained by the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle and the corresponding obstacle avoidance angle conversion coefficient.

[0053] In this solution, after triggering the obstacle avoidance prompt, the solution further includes:

[0054] Obtain the distance between the unmanned aerial vehicle and the nearest waypoint;

[0055] Determine whether the distance between the unmanned aerial vehicle and the nearest route point is less than a preset distance threshold; if so, set the next route point as the target route point.

[0056] Connect the current position of the unmanned aerial vehicle with the target route point to obtain the obstacle avoidance reference line;

[0057] Based on the intersection of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle (UAV) and the obstacle avoidance reference line, the obstacle avoidance direction of the corresponding UAV is obtained.

[0058] Based on the obstacle avoidance direction, obstacle avoidance angle, and next target flight path of the unmanned aerial vehicle (UAV), the obstacle avoidance route of the corresponding UAV is obtained.

[0059] A third aspect of the present invention provides a computer medium storing a program for a dynamic obstacle avoidance method for an unmanned aerial vehicle (UAV), wherein when the program is executed by a processor, it implements the steps of the dynamic obstacle avoidance method for an UAV as described in any of the preceding claims.

[0060] This invention discloses a method, system, and medium for dynamic obstacle avoidance by unmanned aerial vehicles (UAVs). By monitoring the flight speed and direction of dynamic obstacles in real time, the threat range of the corresponding dynamic obstacles is determined, thereby effectively determining the obstacle avoidance route of the UAV and improving the flight safety of the UAV. Attached Figure Description

[0061] Figure 1 A flowchart of a dynamic obstacle avoidance method for unmanned aerial vehicles according to the present invention is shown;

[0062] Figure 2 A diagram illustrating the avoidance routes of the unmanned aerial vehicle according to the present invention is shown.

[0063] Figure 3 A block diagram of a dynamic obstacle avoidance system for unmanned aerial vehicles according to the present invention is shown. Detailed Implementation

[0064] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0065] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0066] Figure 1 A flowchart of a dynamic obstacle avoidance method for unmanned aerial vehicles according to the present invention is shown.

[0067] like Figure 1 As shown, this invention discloses a dynamic obstacle avoidance method for unmanned aerial vehicles, comprising:

[0068] S102, acquire image set information within a preset range of the unmanned aerial vehicle;

[0069] S104, compare and analyze the images in the image set within the preset range of the unmanned aerial vehicle to obtain dynamic obstacle information within the preset range of the unmanned aerial vehicle;

[0070] S106, based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, obtain the threat range of the corresponding dynamic obstacle;

[0071] S108 determines whether there is an overlap between the threat range of dynamic obstacles within the preset range of the unmanned aerial vehicle and the preset flight path range of the unmanned aerial vehicle. If so, an obstacle avoidance prompt is triggered; otherwise, the vehicle proceeds normally according to the flight path.

[0072] It should be noted that the image information surrounding the UAV is acquired through the UAV's imaging device, and this image information is compared and analyzed to determine whether there are moving objects. If so, the corresponding moving object is designated as a dynamic obstacle, and a certain distance around the dynamic obstacle is defined as a threat range. The threat range of the dynamic obstacle, the preset range of the UAV, and the flight path range of the UAV are all set by those skilled in the art according to actual needs. If the threat range of the dynamic obstacle and the flight path range of the UAV overlap, it indicates that the corresponding dynamic obstacle poses a threat to the UAV. Therefore, an obstacle avoidance prompt is triggered on the UAV, and the UAV automatically avoids obstacles according to the automatically generated obstacle avoidance route.

[0073] According to an embodiment of the present invention, it includes:

[0074] Acquire the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range, as well as the corresponding time;

[0075] Based on the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range and the corresponding time, the distance change values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset time period are obtained.

[0076] Determine whether the distance change between the unmanned aerial vehicle and dynamic obstacles within a preset time period is less than a preset distance threshold. If so, mark the corresponding dynamic obstacle; otherwise, do not mark it.

[0077] Marked dynamic obstacles as key monitoring targets.

[0078] It should be noted that by measuring the distance between dynamic obstacles and the UAV at different time points, it is determined whether the dynamic obstacle is moving away from or towards the UAV, and obstacles that are gradually approaching are given priority monitoring. The change in distance between the UAV and dynamic obstacles within a preset time period is equal to the difference between the distance between the UAV and dynamic obstacles within the preset range at later times and the distance between the UAV and dynamic obstacles within the preset range at earlier times. A positive change in distance indicates that the UAV and dynamic obstacle are moving away; a negative change indicates that the UAV and dynamic obstacle are moving closer. For example, if the preset distance threshold is -1 meter, then when the change in distance between the UAV and dynamic obstacles within the preset time period is -2 meters, the corresponding dynamic obstacle is marked and set as a key monitoring target.

[0079] According to an embodiment of the present invention, obtaining the threat range of a corresponding dynamic obstacle based on dynamic obstacle information within a preset range of the unmanned aerial vehicle specifically includes:

[0080] Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the displacement and diameter of the corresponding dynamic obstacle are obtained;

[0081] Based on a comparative analysis of the displacement of dynamic obstacles and a preset influence range table, the threat radius of the corresponding dynamic obstacles is obtained.

[0082] The threat range of a dynamic obstacle is determined by its diameter and threat radius.

[0083] It should be noted that the displacement of the dynamic obstacle includes the flight speed and flight direction of the dynamic obstacle. The faster the speed of the dynamic obstacle, the larger the threat radius of the corresponding dynamic obstacle. The preset influence range table stores a correlation table between the displacement of the dynamic obstacle and the threat radius of the corresponding dynamic obstacle. The preset influence range table is set by those skilled in the art.

[0084] According to an embodiment of the present invention, it includes:

[0085] Obtain flight path information for unmanned aerial vehicles;

[0086] The flight path of the unmanned aerial vehicle is divided into segments according to a preset distance, and each segment point is marked and set as a flight path point;

[0087] The flight path points of the unmanned aerial vehicle are sent to a pre-set management terminal for storage.

[0088] It should be noted that the flight path of the unmanned aerial vehicle is divided into segments according to a preset distance, and the endpoints of different segments are set as a route point. The location of the route point is sent to a preset management terminal for storage, so that the unmanned aerial vehicle can perform flight calibration.

[0089] Figure 2 A diagram illustrating the avoidance routes of the unmanned aerial vehicle according to the present invention is shown.

[0090] like Figure 2 As shown in the embodiment of the present invention, after triggering the obstacle avoidance prompt, the following is included:

[0091] Obtain the intersection size of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle;

[0092] The obstacle avoidance angle of the corresponding unmanned aerial vehicle is obtained by the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle and the corresponding obstacle avoidance angle conversion coefficient.

[0093] It should be noted that the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle is set as L, and the obstacle avoidance angle of the unmanned aerial vehicle is set as θ. The larger the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle, the larger the obstacle avoidance angle of the unmanned aerial vehicle. The formula is θ=L*k, where k represents the obstacle avoidance angle conversion coefficient.

[0094] like Figure 2 As shown in the embodiment of the present invention, after triggering the obstacle avoidance prompt, the method further includes:

[0095] Obtain the distance between the unmanned aerial vehicle and the nearest waypoint;

[0096] Determine whether the distance between the unmanned aerial vehicle and the nearest route point is less than a preset distance threshold; if so, set the next route point as the target route point.

[0097] Connect the current position of the unmanned aerial vehicle with the target route point to obtain the obstacle avoidance reference line;

[0098] Based on the intersection of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle (UAV) and the obstacle avoidance reference line, the obstacle avoidance direction of the corresponding UAV is obtained.

[0099] Based on the obstacle avoidance direction, obstacle avoidance angle, and next target flight path of the unmanned aerial vehicle (UAV), the obstacle avoidance route of the corresponding UAV is obtained.

[0100] It should be noted that if the threat range of a dynamic obstacle is on one side of the obstacle avoidance reference line, the obstacle avoidance route of the corresponding UAV will be on the other side of the obstacle avoidance reference line. When the threat range of a dynamic obstacle is above the obstacle avoidance reference line, the obstacle avoidance direction will be half the size of the threat range of the dynamic obstacle, with the obstacle avoidance reference line as the boundary. When the threat range of the dynamic obstacle is completely within the flight path of the UAV, the obstacle avoidance angle of the corresponding UAV reaches its maximum, which is the diameter of the threat range of the dynamic obstacle multiplied by the obstacle avoidance angle conversion coefficient.

[0101] According to an embodiment of the present invention, after triggering the obstacle avoidance prompt, the method further includes:

[0102] Obtain the scheduled time information for the unmanned aerial vehicle to the next route point;

[0103] Based on the obstacle avoidance route and the scheduled time for the unmanned aerial vehicle to reach the next route point, the average speed value of the corresponding unmanned aerial vehicle in the obstacle avoidance route is obtained.

[0104] The average speed of the unmanned aerial vehicle on the obstacle avoidance route is sent to the ground control terminal for display.

[0105] It should be noted that, based on the obstacle avoidance route of the unmanned aerial vehicle (UAV), the distance value of the corresponding obstacle avoidance route is obtained; based on the scheduled time information and current time information of the UAV to the next route point, the flight time value of the corresponding obstacle avoidance route is obtained; the distance value of the obstacle avoidance route is divided by the flight time value of the obstacle avoidance route to obtain the average speed value of the corresponding UAV on the obstacle avoidance route; and the flight speed of the UAV on the obstacle avoidance route is adjusted accordingly by accelerating or decelerating based on the average speed value of the UAV on the obstacle avoidance route.

[0106] According to an embodiment of the present invention, it further includes:

[0107] Determine whether the diameter of the dynamic obstacle is greater than a preset diameter threshold; if so, trigger an alert message.

[0108] The diameter of dynamic obstacles is sent to the ground control terminal for warning purposes.

[0109] It should be noted that the larger the diameter of a dynamic obstacle, the greater its destructive power and the greater its potential threat. If the preset diameter threshold is 3 meters, when the diameter of a dynamic obstacle is greater than 3 meters, the diameter of the dynamic obstacle will be sent to the ground control terminal for warning. If the diameter of a dynamic obstacle is less than or equal to 3 meters, the dynamic obstacle will be set as a general obstacle and no warning is required.

[0110] According to an embodiment of the present invention, it further includes:

[0111] Obtain the number of dynamic obstacles within a preset range of the unmanned aerial vehicle;

[0112] Determine whether the number of dynamic obstacles within the preset range of the unmanned aerial vehicle is greater than a preset threshold. If so, trigger a change of flight path prompt.

[0113] Determine whether the unmanned aerial vehicle (UAV) has a preparatory flight path. If so, start the preparatory flight path for the corresponding UAV. If not, do not change the flight path, and send the number of dynamic obstacles within the preset range of the UAV to the ground control terminal for display.

[0114] It should be noted that if the preset threshold is set to 5, then when the number of dynamic obstacles within the preset range of the unmanned aerial vehicle (UAV) is greater than 5, it indicates that there are too many potential hazards around the corresponding UAV. If the corresponding UAV has a backup flight path, the UAV will change its flight path. If the corresponding UAV does not have a backup flight path, the number of dynamic obstacles within the preset range of the corresponding UAV will be sent to the ground control terminal for display, so that the ground control terminal can focus on monitoring the UAV when it is flying within the corresponding flight path range.

[0115] Figure 3 A block diagram of a dynamic obstacle avoidance system for unmanned aerial vehicles according to the present invention is shown.

[0116] like Figure 3 As shown, a second aspect of the present invention provides a dynamic obstacle avoidance system 3 for unmanned aerial vehicles, including a memory 31 and a processor 32. The memory stores a dynamic obstacle avoidance method program for unmanned aerial vehicles. When the processor executes the dynamic obstacle avoidance method program for unmanned aerial vehicles, it performs the following steps:

[0117] Acquire image set information within a preset range of the unmanned aerial vehicle;

[0118] By comparing and analyzing images from a set of images within a preset range of the unmanned aerial vehicle (UAV), dynamic obstacle information within the preset range of the UAV can be obtained.

[0119] Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the threat range of the corresponding dynamic obstacle is obtained;

[0120] Determine whether there is an overlap between the threat range of dynamic obstacles within the preset range of the unmanned aerial vehicle (UAV) and the preset flight path range of the UAV. If there is, trigger an obstacle avoidance prompt; otherwise, proceed normally according to the flight path.

[0121] It should be noted that the image information surrounding the UAV is acquired through the UAV's imaging device, and this image information is compared and analyzed to determine whether there are moving objects. If so, the corresponding moving object is designated as a dynamic obstacle, and a certain distance around the dynamic obstacle is defined as a threat range. The threat range of the dynamic obstacle, the preset range of the UAV, and the flight path range of the UAV are all set by those skilled in the art according to actual needs. If the threat range of the dynamic obstacle and the flight path range of the UAV overlap, it indicates that the corresponding dynamic obstacle poses a threat to the UAV. Therefore, an obstacle avoidance prompt is triggered on the UAV, and the UAV automatically avoids obstacles according to the automatically generated obstacle avoidance route.

[0122] According to an embodiment of the present invention, it includes:

[0123] Acquire the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range, as well as the corresponding time;

[0124] Based on the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range and the corresponding time, the distance change values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset time period are obtained.

[0125] Determine whether the distance change between the unmanned aerial vehicle and dynamic obstacles within a preset time period is less than a preset distance threshold. If so, mark the corresponding dynamic obstacle; otherwise, do not mark it.

[0126] Marked dynamic obstacles as key monitoring targets.

[0127] It should be noted that by measuring the distance between dynamic obstacles and the UAV at different time points, it is determined whether the dynamic obstacle is moving away from or towards the UAV, and obstacles that are gradually approaching are given priority monitoring. The change in distance between the UAV and dynamic obstacles within a preset time period is equal to the difference between the distance between the UAV and dynamic obstacles within the preset range at later times and the distance between the UAV and dynamic obstacles within the preset range at earlier times. A positive change in distance indicates that the UAV and dynamic obstacle are moving away; a negative change indicates that the UAV and dynamic obstacle are moving closer. For example, if the preset distance threshold is -1 meter, then when the change in distance between the UAV and dynamic obstacles within the preset time period is -2 meters, the corresponding dynamic obstacle is marked and set as a key monitoring target.

[0128] According to an embodiment of the present invention, obtaining the threat range of a corresponding dynamic obstacle based on dynamic obstacle information within a preset range of the unmanned aerial vehicle specifically includes:

[0129] Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the displacement and diameter of the corresponding dynamic obstacle are obtained;

[0130] Based on a comparative analysis of the displacement of dynamic obstacles and a preset influence range table, the threat radius of the corresponding dynamic obstacles is obtained.

[0131] The threat range of a dynamic obstacle is determined by its diameter and threat radius.

[0132] It should be noted that the displacement of the dynamic obstacle includes the flight speed and flight direction of the dynamic obstacle. The faster the speed of the dynamic obstacle, the larger the threat radius of the corresponding dynamic obstacle. The preset influence range table stores a correlation table between the displacement of the dynamic obstacle and the threat radius of the corresponding dynamic obstacle. The preset influence range table is set by those skilled in the art.

[0133] According to an embodiment of the present invention, it includes:

[0134] Obtain flight path information for unmanned aerial vehicles;

[0135] The flight path of the unmanned aerial vehicle is divided into segments according to a preset distance, and each segment point is marked and set as a flight path point;

[0136] The flight path points of the unmanned aerial vehicle are sent to a pre-set management terminal for storage.

[0137] It should be noted that the flight path of the unmanned aerial vehicle is divided into segments according to a preset distance, and the endpoints of different segments are set as a route point. The location of the route point is sent to a preset management terminal for storage, so that the unmanned aerial vehicle can perform flight calibration.

[0138] According to an embodiment of the present invention, after triggering the obstacle avoidance prompt, the following is included:

[0139] Obtain the intersection size of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle;

[0140] The obstacle avoidance angle of the corresponding unmanned aerial vehicle is obtained by the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle and the corresponding obstacle avoidance angle conversion coefficient.

[0141] It should be noted that the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle is set as L, and the obstacle avoidance angle of the unmanned aerial vehicle is set as θ. The larger the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle, the larger the obstacle avoidance angle of the unmanned aerial vehicle. The formula is θ=L*k, where k represents the obstacle avoidance angle conversion coefficient.

[0142] According to an embodiment of the present invention, after triggering the obstacle avoidance prompt, the method further includes:

[0143] Obtain the distance between the unmanned aerial vehicle and the nearest waypoint;

[0144] Determine whether the distance between the unmanned aerial vehicle and the nearest route point is less than a preset distance threshold; if so, set the next route point as the target route point.

[0145] Connect the current position of the unmanned aerial vehicle with the target route point to obtain the obstacle avoidance reference line;

[0146] Based on the intersection of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle (UAV) and the obstacle avoidance reference line, the obstacle avoidance direction of the corresponding UAV is obtained.

[0147] Based on the obstacle avoidance direction, obstacle avoidance angle, and next target flight path of the unmanned aerial vehicle (UAV), the obstacle avoidance route of the corresponding UAV is obtained.

[0148] It should be noted that if the threat range of a dynamic obstacle is on one side of the obstacle avoidance reference line, the obstacle avoidance route of the corresponding UAV will be on the other side of the obstacle avoidance reference line. When the threat range of a dynamic obstacle is above the obstacle avoidance reference line, the obstacle avoidance direction will be half the size of the threat range of the dynamic obstacle, with the obstacle avoidance reference line as the boundary. When the threat range of the dynamic obstacle is completely within the flight path of the UAV, the obstacle avoidance angle of the corresponding UAV reaches its maximum, which is the diameter of the threat range of the dynamic obstacle multiplied by the obstacle avoidance angle conversion coefficient.

[0149] According to an embodiment of the present invention, after triggering the obstacle avoidance prompt, the method further includes:

[0150] Obtain the scheduled time information for the unmanned aerial vehicle to the next route point;

[0151] Based on the obstacle avoidance route and the scheduled time for the unmanned aerial vehicle to reach the next route point, the average speed value of the corresponding unmanned aerial vehicle in the obstacle avoidance route is obtained.

[0152] The average speed of the unmanned aerial vehicle on the obstacle avoidance route is sent to the ground control terminal for display.

[0153] It should be noted that, based on the obstacle avoidance route of the unmanned aerial vehicle (UAV), the distance value of the corresponding obstacle avoidance route is obtained; based on the scheduled time information and current time information of the UAV to the next route point, the flight time value of the corresponding obstacle avoidance route is obtained; the distance value of the obstacle avoidance route is divided by the flight time value of the obstacle avoidance route to obtain the average speed value of the corresponding UAV on the obstacle avoidance route; and the flight speed of the UAV on the obstacle avoidance route is adjusted accordingly by accelerating or decelerating based on the average speed value of the UAV on the obstacle avoidance route.

[0154] According to an embodiment of the present invention, it further includes:

[0155] Determine whether the diameter of the dynamic obstacle is greater than a preset diameter threshold; if so, trigger an alert message.

[0156] The diameter of dynamic obstacles is sent to the ground control terminal for warning purposes.

[0157] It should be noted that the larger the diameter of a dynamic obstacle, the greater its destructive power and the greater its potential threat. If the preset diameter threshold is 3 meters, when the diameter of a dynamic obstacle is greater than 3 meters, the diameter of the dynamic obstacle will be sent to the ground control terminal for warning. If the diameter of a dynamic obstacle is less than or equal to 3 meters, the dynamic obstacle will be set as a general obstacle and no warning is required.

[0158] According to an embodiment of the present invention, it further includes:

[0159] Obtain the number of dynamic obstacles within a preset range of the unmanned aerial vehicle;

[0160] Determine whether the number of dynamic obstacles within the preset range of the unmanned aerial vehicle is greater than a preset threshold. If so, trigger a change of flight path prompt.

[0161] Determine whether the unmanned aerial vehicle (UAV) has a preparatory flight path. If so, start the preparatory flight path for the corresponding UAV. If not, do not change the flight path, and send the number of dynamic obstacles within the preset range of the UAV to the ground control terminal for display.

[0162] It should be noted that if the preset threshold is set to 5, then when the number of dynamic obstacles within the preset range of the unmanned aerial vehicle (UAV) is greater than 5, it indicates that there are too many potential hazards around the corresponding UAV. If the corresponding UAV has a backup flight path, the UAV will change its flight path. If the corresponding UAV does not have a backup flight path, the number of dynamic obstacles within the preset range of the corresponding UAV will be sent to the ground control terminal for display, so that the ground control terminal can focus on monitoring the UAV when it is flying within the corresponding flight path range.

[0163] A third aspect of the present invention provides a computer medium storing a program for a dynamic obstacle avoidance method for an unmanned aerial vehicle (UAV), wherein when the program is executed by a processor, it implements the steps of the dynamic obstacle avoidance method for an UAV as described in any of the preceding claims.

[0164] This invention discloses a method, system, and medium for dynamic obstacle avoidance by unmanned aerial vehicles (UAVs). The method includes: acquiring image set information within a preset range of the UAV; comparing and analyzing the images in the image set within the preset range to obtain dynamic obstacle information within the preset range; determining the threat range of the corresponding dynamic obstacle based on the dynamic obstacle information within the preset range; and determining whether there is an overlap between the threat range of the dynamic obstacle within the preset range and the preset flight path of the UAV. If there is, an obstacle avoidance prompt is triggered; otherwise, the UAV continues to fly normally according to the flight path. This invention determines the threat range of the corresponding dynamic obstacle by real-time monitoring of its flight speed and direction, thereby effectively determining the obstacle avoidance flight path of the UAV and improving the flight safety of the UAV.

[0165] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0166] The units described above as separate components may or may not be physically separate. The components shown 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 to achieve the purpose of this embodiment according to actual needs.

[0167] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0168] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0169] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for dynamic obstacle avoidance by an unmanned aerial vehicle, characterized in that, include: Acquire image set information within a preset range of the unmanned aerial vehicle; By comparing and analyzing images from a set of images within a preset range of the unmanned aerial vehicle (UAV), dynamic obstacle information within the preset range of the UAV can be obtained. Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the threat range of the corresponding dynamic obstacle is obtained; Determine whether there is an overlap between the threat range of dynamic obstacles within the preset range of the unmanned aerial vehicle (UAV) and the preset flight path range of the UAV. If there is, trigger an obstacle avoidance prompt; otherwise, proceed normally according to the flight path. Obtain the number of dynamic obstacles within a preset range of the unmanned aerial vehicle; Determine whether the number of dynamic obstacles within the preset range of the unmanned aerial vehicle is greater than a preset threshold. If so, trigger a change of flight path prompt. Determine whether the unmanned aerial vehicle has a preparatory route; if so, initiate the preparatory route for the corresponding unmanned aerial vehicle. If not, the flight path will not be changed, and the number of dynamic obstacles within the preset range of the unmanned aerial vehicle will be sent to the ground control terminal for display. After the obstacle avoidance prompt is triggered, it also includes: Obtain the distance between the unmanned aerial vehicle and the nearest waypoint; Determine whether the distance between the unmanned aerial vehicle and the nearest route point is less than a preset distance threshold; if so, set the next route point as the target route point. Connect the current position of the unmanned aerial vehicle with the target route point to obtain the obstacle avoidance reference line; Based on the intersection of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle (UAV) and the obstacle avoidance reference line, the obstacle avoidance direction of the corresponding UAV is obtained. Based on the obstacle avoidance direction, obstacle avoidance angle, and next target route point of the unmanned aerial vehicle (UAV), the obstacle avoidance route of the corresponding UAV is obtained; Obtain the scheduled time information for the unmanned aerial vehicle to the next route point; Based on the obstacle avoidance route and the scheduled time for the unmanned aerial vehicle to reach the next route point, the average speed value of the corresponding unmanned aerial vehicle in the obstacle avoidance route is obtained. The average speed of the unmanned aerial vehicle on the obstacle avoidance route is sent to the ground control terminal for display.

2. The method for dynamic obstacle avoidance of an unmanned aerial vehicle according to claim 1, characterized in that, include: Acquire the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range, as well as the corresponding time; Based on the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range and the corresponding time, the distance change values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset time period are obtained. Determine whether the distance change between the unmanned aerial vehicle and dynamic obstacles within a preset time period is less than a preset distance threshold. If so, mark the corresponding dynamic obstacle. Otherwise, do not mark; Marked dynamic obstacles as key monitoring targets.

3. The method for dynamic obstacle avoidance of an unmanned aerial vehicle according to claim 1, characterized in that, The step of obtaining the threat range of a corresponding dynamic obstacle based on dynamic obstacle information within a preset range of the unmanned aerial vehicle specifically includes: Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the displacement and diameter of the corresponding dynamic obstacle are obtained; Based on a comparative analysis of the displacement of dynamic obstacles and a preset influence range table, the threat radius of the corresponding dynamic obstacles is obtained. The threat range of a dynamic obstacle is determined by its diameter and threat radius.

4. The method for dynamic obstacle avoidance of an unmanned aerial vehicle according to claim 1, characterized in that, include: Obtain flight path information for unmanned aerial vehicles; The flight path of the unmanned aerial vehicle is divided into segments according to a preset distance, and each segment point is marked and set as a flight path point; The flight path points of the unmanned aerial vehicle are sent to a pre-set management terminal for storage.

5. The method for dynamic obstacle avoidance of an unmanned aerial vehicle according to claim 1, characterized in that, After the obstacle avoidance prompt is triggered, the following is included: Obtain the intersection size of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle; The obstacle avoidance angle of the corresponding unmanned aerial vehicle is obtained by the intersection size of the threat range of the dynamic obstacle and the preset flight path range of the unmanned aerial vehicle and the corresponding obstacle avoidance angle conversion coefficient.

6. A dynamic obstacle avoidance system for unmanned aerial vehicles, characterized in that, The system includes a memory and a processor. The memory stores a program for a dynamic obstacle avoidance method for unmanned aerial vehicles (UAVs). When the processor executes the program for the dynamic obstacle avoidance method for UAVs, it performs the following steps: Acquire image set information within a preset range of the unmanned aerial vehicle; By comparing and analyzing images from a set of images within a preset range of the unmanned aerial vehicle (UAV), dynamic obstacle information within the preset range of the UAV can be obtained. Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the threat range of the corresponding dynamic obstacle is obtained; Determine whether there is an overlap between the threat range of dynamic obstacles within the preset range of the unmanned aerial vehicle (UAV) and the preset flight path range of the UAV. If there is, trigger an obstacle avoidance prompt; otherwise, proceed normally according to the flight path. Obtain the number of dynamic obstacles within a preset range of the unmanned aerial vehicle; Determine whether the number of dynamic obstacles within the preset range of the unmanned aerial vehicle is greater than a preset threshold. If so, trigger a change of flight path prompt. Determine whether the unmanned aerial vehicle has a preparatory route; if so, initiate the preparatory route for the corresponding unmanned aerial vehicle. If not, the flight path will not be changed, and the number of dynamic obstacles within the preset range of the unmanned aerial vehicle will be sent to the ground control terminal for display. After the obstacle avoidance prompt is triggered, it also includes: Obtain the distance between the unmanned aerial vehicle and the nearest waypoint; Determine whether the distance between the unmanned aerial vehicle and the nearest route point is less than a preset distance threshold; if so, set the next route point as the target route point. Connect the current position of the unmanned aerial vehicle with the target route point to obtain the obstacle avoidance reference line; Based on the intersection of the threat range of dynamic obstacles and the preset flight path range of the unmanned aerial vehicle (UAV) and the obstacle avoidance reference line, the obstacle avoidance direction of the corresponding UAV is obtained. Based on the obstacle avoidance direction, obstacle avoidance angle, and next target route point of the unmanned aerial vehicle (UAV), the obstacle avoidance route of the corresponding UAV is obtained; Obtain the scheduled time information for the unmanned aerial vehicle to the next route point; Based on the obstacle avoidance route and the scheduled time for the unmanned aerial vehicle to reach the next route point, the average speed value of the corresponding unmanned aerial vehicle in the obstacle avoidance route is obtained. The average speed of the unmanned aerial vehicle on the obstacle avoidance route is sent to the ground control terminal for display.

7. A dynamic obstacle avoidance system for unmanned aerial vehicles according to claim 6, characterized in that, include: Acquire the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range, as well as the corresponding time; Based on the distance values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset range and the corresponding time, the distance change values ​​between the unmanned aerial vehicle and dynamic obstacles within a preset time period are obtained. Determine whether the distance change between the unmanned aerial vehicle and dynamic obstacles within a preset time period is less than a preset distance threshold. If so, mark the corresponding dynamic obstacle. Otherwise, do not mark; Marked dynamic obstacles as key monitoring targets.

8. A dynamic obstacle avoidance system for unmanned aerial vehicles according to claim 6, characterized in that, The step of obtaining the threat range of a corresponding dynamic obstacle based on dynamic obstacle information within a preset range of the unmanned aerial vehicle specifically includes: Based on the dynamic obstacle information within the preset range of the unmanned aerial vehicle, the displacement and diameter of the corresponding dynamic obstacle are obtained; Based on a comparative analysis of the displacement of dynamic obstacles and a preset influence range table, the threat radius of the corresponding dynamic obstacles is obtained. The threat range of a dynamic obstacle is determined by its diameter and threat radius.

9. A computer medium, characterized in that, The computer medium stores a program for a dynamic obstacle avoidance method for unmanned aerial vehicles. When the program is executed by a processor, it implements the steps of the dynamic obstacle avoidance method for unmanned aerial vehicles as described in any one of claims 1 to 5.

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