Unmanned aerial vehicle obstacle avoidance method, device and system, control equipment and storage medium

Abstract

The embodiment of the invention provides an unmanned aerial vehicle obstacle avoidance method, device and system, control equipment and a storage medium, and belongs to the field of radar detection. The method comprises the following steps: in a process that the unmanned aerial vehicle runs according to a preset flight path, monitoring whether a target object influencing the preset flight path of the unmanned aerial vehicle exists in an operation area in a current time period in real time based on a first radar mode, and if yes, switching to a second radar mode with higher scanning precision to obtain boundary information of the target object. And based on the boundary information of the target object, adjusting a preset flight path of the unmanned aerial vehicle to realize obstacle avoidance flight of the unmanned aerial vehicle. The target object motion state information in the flight environment is acquired in real time, the radar working mode in the current environment is adjusted, the boundary information of the target object is acquired in a more accurate radar working mode, the preset flight path of the unmanned aerial vehicle is adjusted based on the boundary information of the target object, and obstacle avoidance flight of the unmanned aerial vehicle is realized. And high-efficiency and high-precision environment perception and target detection of the unmanned aerial vehicle can be partially realized.

Description

Technical Field

[0001] The present invention relates to the field of radar detection, and in particular to an unmanned aerial vehicle obstacle avoidance method, device, system, control equipment and storage medium. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in various fields. However, drones often need to face complex environments when performing tasks and need to avoid obstacles accurately and efficiently. Traditional obstacle avoidance methods often cannot provide high-precision, real-time environmental perception and target detection capabilities. Summary of the invention

[0003] The present invention provides a drone obstacle avoidance method, device, system, control equipment and storage medium, the purpose of which is to at least partially achieve high-efficiency and high-precision environment perception and target detection of the drone.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for avoiding obstacles in a drone, the method comprising:

[0006] When the UAV is operating along the preset flight path, real-time monitoring is performed based on the first radar mode to determine whether there are any targets in the operation area that affect the preset flight path of the UAV during the current period;

[0007] If it exists, switch to the second radar mode to obtain the boundary information of the target object;

[0008] Adjusting a preset flight path of the drone based on boundary information of the target object;

[0009] The scanning accuracy of the first radar mode is less than the scanning accuracy of the second radar mode.

[0010] Preferably, the step of adjusting the preset flight path of the drone based on the boundary information of the target object comprises:

[0011] Construct a flight map centered on the drone during the current period based on the drone's preset flight path;

[0012] Determine a motion path of the target object relative to the drone based on boundary information of the target object; the motion path includes a path spacing in a preset direction;

[0013] Based on the flight map, adjust the drone's preset flight path with a preset safety range;

[0014] The preset safety range takes the target object as a circle and the preset adjustment distance as a radius; the radius is greater than the path distance of the target object relative to the drone in a preset direction.

[0015] Preferably, the step of switching the second radar mode to obtain boundary information of the target object includes:

[0016] Use 4D radar mode to obtain the target's motion signal frequency and motion signal phase in the current period;

[0017] Determine the distance, azimuth, speed and pitch angle of the target relative to the drone based on the target's motion signal frequency and motion signal phase;

[0018] The outline shape of the target is determined based on the target's distance, azimuth, speed and pitch angle relative to the drone.

[0019] Preferably, the step of real-time monitoring whether there is a target object in the operation area in the current period that affects the preset flight path of the drone based on the first radar mode includes:

[0020] Acquire the motion state information of the target object in the current time period based on the first radar mode; the motion state information includes the motion direction and the motion speed;

[0021] Based on the target's moving direction and moving speed, determine the target's flight path in the preset direction during the current period;

[0022] Based on the preset flight path of the UAV and the flight path of the target in the preset direction, determine the distance between the target and the UAV in the preset direction;

[0023] Determine whether the distance is less than a preset distance; if it is less than the preset distance, determine that there is a target object that affects the preset flight path of the drone.

[0024] Preferably, the flight path includes the pitch angle of each path point relative to the drone in the current time period, and the step of determining the flight path of the target object in the preset direction in the current time period based on the movement direction and movement speed of the target object includes:

[0025] Based on the preset flight path of the drone, a three-dimensional coordinate system is constructed for the current period with the coordinate information of the drone as the origin;

[0026] According to the three-dimensional coordinate system and the movement direction and speed of the target object, the pitch angle of the path point at each moment in the current period relative to the drone is determined.

[0027] Preferably, the flight path includes the horizontal straight-line distance of the target object at each path point relative to the drone in the current time period, and the step of determining the flight path of the target object in the preset direction in the current time period based on the movement direction and movement speed of the target object includes:

[0028] Based on the preset flight path of the drone and the movement direction and speed of the target object, determine the horizontal straight line of the target object relative to the drone at each path point in the current period.

[0029] Preferably, the preset direction includes a vertical direction and / or a horizontal direction, and the spacing includes: a pitch angle spacing and a horizontal straight line spacing; the step of determining whether the spacing is less than the preset spacing; if it is less than the preset spacing, determining that there is a target object affecting the preset flight path of the drone includes:

[0030] Determine whether the pitch angle of the target object relative to the drone is less than a preset pitch angle interval;

[0031] If it is less than, then determine whether the horizontal straight-line distance between the target object and the drone in the current period is less than the preset horizontal straight-line distance;

[0032] If it is less than, it is determined that there is a target object affecting the preset flight path of the drone.

[0033] Preferably, before the step of determining whether the horizontal straight-line distance of the target object relative to the drone in the current time period is less than a preset horizontal straight-line distance, the step further includes:

[0034] Adjusting the beam angle range based on the first radar mode to reacquire the motion state information of the target object in the current time period;

[0035] Based on the preset flight path of the drone and the motion state information of the target, the horizontal straight-line distance of the target relative to the drone in the current period is determined.

[0036] Preferably, the step of real-time monitoring whether there is a target object in the operation area in the current period that affects the preset flight path of the drone based on the first radar mode includes:

[0037] Based on the phased-control radar mode, real-time monitoring is performed to determine whether there are any targets in the operation area that affect the preset flight path of the drone during the current period;

[0038] The step of switching the second radar mode to obtain boundary information of the target object includes:

[0039] Switch to 4D radar mode to obtain the boundary information of the target object.

[0040] In a second aspect, a drone obstacle avoidance device includes: a data acquisition module and an obstacle avoidance module;

[0041] The data acquisition module is used to monitor in real time whether there is a target object in the operation area in the current period that affects the preset flight path of the drone based on the first radar mode when the drone is running according to the preset flight path; if there is, switch to the second radar mode to obtain the boundary information of the target object; wherein the scanning accuracy of the first radar mode is less than the scanning accuracy of the second radar mode;

[0042] The obstacle avoidance module is used to adjust the preset flight path of the drone based on the boundary information of the target object.

[0043] In a third aspect, a drone obstacle avoidance system includes a control device and a radar device;

[0044] The radar device includes a plurality of radar models, which are used to obtain the motion state information of the target object in the working area in the current period in real time according to the radar model, and send it to the control device;

[0045] The control device is used to implement the drone obstacle avoidance method as described in any one of the first aspects above.

[0046] In a fourth aspect, a control device comprises a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the drone obstacle avoidance method as described in any one of the first aspects above.

[0047] In a fifth aspect, a storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, the drone obstacle avoidance method as described in any one of the first aspects above is implemented.

[0048] The beneficial effects of the embodiments of the present invention include, for example:

[0049] A method, device, system, control device and storage medium for obstacle avoidance of unmanned aerial vehicles provided by any embodiment of the present invention can monitor in real time whether there are targets in the operation area in the current period that affect the preset flight path of the unmanned aerial vehicle based on the first radar mode during the operation of the unmanned aerial vehicle according to the preset flight path. If there are targets, the second radar mode with higher scanning accuracy is switched to obtain the boundary information of the target object. Based on the boundary information of the target object, the preset flight path of the unmanned aerial vehicle is adjusted to achieve obstacle avoidance flight of the unmanned aerial vehicle. This application document monitors in real time whether there are targets in the operation area in the current period that affect the preset flight path of the unmanned aerial vehicle, adjusts the radar working mode in the current environment, and uses a more accurate radar working mode to perceive the environment in real time, obtains the boundary information of the target object, and thus adjusts the preset flight path of the unmanned aerial vehicle based on the boundary information of the target object, realizes obstacle avoidance flight of the unmanned aerial vehicle, and partially realizes high-efficiency and high-precision environmental perception and target detection of the unmanned aerial vehicle. It has broad application prospects in the fields of smart agriculture, intelligent inspection and search and rescue.

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A block diagram of a drone obstacle avoidance system provided by an embodiment of the present invention is shown.

[0053] Figure 2 A schematic diagram of the steps of the unmanned aerial vehicle obstacle avoidance method provided by an embodiment of the present invention is shown.

[0054] Figure 3 A schematic flow chart of the sub-steps of step S103 in an embodiment of the present invention is shown.

[0055] Figure 4 A schematic flow chart of the sub-steps of step S102 in an embodiment of the present invention is shown.

[0056] Figure 5 One of the flowchart diagrams of the sub-steps of step S101 in the embodiment of the present invention is shown.

[0057] Figure 6 A schematic flow chart of the sub-steps of step A2 in an embodiment of the present invention is shown.

[0058] Figure 7 The second flowchart diagram of the sub-steps of step S101 in the embodiment of the present invention is shown.

[0059] Figure 8 The third flowchart diagram of the sub-steps of step S101 in the embodiment of the present invention is shown.

[0060] Fig. 9 FIG. 4 shows a fourth flowchart of the sub-steps of step S101 in an embodiment of the present invention.

[0061] Fig.10 A schematic flow chart of the sub-steps of step A42 in an embodiment of the present invention is shown.

[0062] Reference numerals: 100 - drone obstacle avoidance system; 110 - control device; 120 - radar device. DETAILED DESCRIPTION

[0063] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0064] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0065] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0066] With the rapid development of drone technology, drones are increasingly used in various fields. However, drones often need to face complex environments when performing tasks and need to avoid obstacles accurately and efficiently. According to the inventor's research, traditional obstacle avoidance methods often cannot provide high-precision, real-time environmental perception and target detection capabilities. Based on this, drones cannot achieve high-precision obstacle avoidance flight.

[0067] Taking the phased array radar in the prior art as an example, the phased array radar is composed of multiple transmitting antennas and multiple receiving antenna arrays, which can realize visual aiming and tracking of the target. However, the phased array radar is only suitable for rapid detection and tracking of weak targets or long-distance targets, and lacks the aggregated beam range to accurately detect the boundary information of obstacles, so that it cannot provide high-precision, real-time environmental perception and target detection capabilities for the obstacle avoidance method, reducing the accuracy of the traditional obstacle avoidance method.

[0068] Based on the above considerations, the embodiments of the present invention provide a method, device, system, control device and storage medium for obstacle avoidance of unmanned aerial vehicles, which can monitor in real time whether there are targets in the operation area in the current period that affect the preset flight path of the unmanned aerial vehicle, adjust the radar working mode in the current environment, and adopt a more accurate radar working mode to obtain the boundary information of the target object, thereby adjusting the preset flight path of the unmanned aerial vehicle based on the boundary information of the target object, realizing obstacle avoidance flight of the unmanned aerial vehicle, and partially realizing high-efficiency and high-precision environmental perception and target detection of the unmanned aerial vehicle. It has broad application prospects in the fields of smart agriculture, intelligent inspection and search and rescue.

[0069] In one embodiment, please refer to Figure 1 , an embodiment of the present application provides a drone obstacle avoidance system 100, including a control device 110 and a radar device 120; the control device 110 is communicatively connected with the radar device 120.

[0070] The radar device 120 includes a plurality of radar models, which are used to obtain the motion state information of the target object in the working area in the current period in real time according to the radar model, and send it to the control device 110;

[0071] The control device 110 is used to implement the drone obstacle avoidance method provided by the present invention.

[0072] In an achievable embodiment, the radar device 120 may include multiple radar models. For example, the radar device 120 may include a first radar mode and a second radar mode, wherein the scanning accuracy of the first radar mode is less than the scanning accuracy of the second radar mode.

[0073] It is understandable that in the embodiment of the present application, when the drone is running according to the preset flight path, the radar device 120 can first monitor in real time through the first radar mode whether there are targets in the operation area in the current period that affect the preset flight path of the drone, and then feed back the monitoring results to the control device 110, so that the control device 110 executes the drone obstacle avoidance method provided in the present application document. In this way, the drone can automatically switch the radar working mode adapted to the current environment according to the obstacle information in the flight environment obtained in real time and according to the state and needs of the drone, so as to perform real-time environmental perception, at least partially realize high-efficiency and high-precision environmental perception and target detection of the current environment, thereby improving the accuracy of the drone's obstacle avoidance flight.

[0074] In one embodiment, please refer to Figure 2 The embodiment of the present application also provides a drone obstacle avoidance method, which can be applied to the control device 110 of the drone obstacle avoidance system 100 provided in the above embodiment.

[0075] The drone obstacle avoidance method comprises the following steps:

[0076] S101. When the UAV is operating along a preset flight path, the operation area is monitored in real time based on the first radar mode to see whether there are any targets that affect the preset flight path of the UAV during the current period. If so, step S102 is executed; otherwise, step S104 is executed.

[0077] S102: Switch to the second radar mode to obtain boundary information of the target object.

[0078] S103: Adjust the preset flight path of the UAV based on the boundary information of the target object.

[0079] S104. The UAV continues to operate according to the preset flight path.

[0080] In an embodiment of the present application, when the UAV is operating according to a preset flight path, it is monitored in real time based on the first radar mode whether there are any target objects in the operating area during the current period that affect the preset flight path of the UAV. If so, step S102 is executed, otherwise step S104 is executed. Before the UAV operates, it will plan the flight path in advance. Taking the plant protection machine in agricultural technology as an example, the plant protection machine will preset a flight trajectory before the operation, and monitor the flight conditions of the operating area during the current period through the radar equipment 120 within the operating range. It is understandable that when the plant protection aircraft is operating according to the preset flight path, it will use the first radar mode to monitor in real time whether there are target objects in the working area in the current time period that affect the preset flight path of the UAV. The first radar mode can be preset. For example, when flying in a long straight section within the operating route of the plant protection aircraft, the plant protection aircraft can enter a high-speed flight stage under the current operating route. The high-speed flight stage can be set to use the phased array radar mode as the first radar mode to monitor in real time whether there are target objects in the working area in the current time period that affect the preset flight path of the UAV. If so, the preset phased array radar mode can be switched to a second radar mode with higher scanning accuracy. In the present application document, the specific mode types of the first radar mode and the second radar mode are not limited, as long as the scanning accuracy of the second radar mode is higher than that of the first radar mode.

[0081] Furthermore, in an embodiment of the present application, a flowchart of adjusting a preset flight path of a drone based on boundary information of a target object is provided, which can be referred to Figure 3 , step S103 may refer to the following sub-steps to adjust the preset flight path of the drone based on the boundary information of the target object:

[0082] S301, constructing a flight map centered on the drone in the current period according to a preset flight path of the drone;

[0083] S302, determining a motion path of the target object relative to the drone based on boundary information of the target object; the motion path includes a path spacing in a preset direction;

[0084] S303. Based on the flight map, adjust the preset flight path of the UAV with a preset safety range; wherein the preset safety range takes the target object as a circle and the preset adjustment distance as a radius; and the radius is greater than the path distance of the target object relative to the UAV in a preset direction.

[0085] In the embodiment of the present application, since a drone such as a plant protection drone will have a preset flight path before operating in the operating area, it can be understood in step S301 that when the plant protection drone is operating according to the preset flight path, a flight map centered on the drone can be constructed based on the flight speed and flight direction of the plant protection drone in the current period in the operating area; the flight map may include the flight route of the current plant protection drone, the geographic information of the current operating area, etc., to provide reference information for the drone to fly around obstacles.

[0086] In an embodiment of the present application, the motion path of the target object relative to the drone can be determined based on the boundary information of the target object obtained by the second radar mode. Furthermore, in step S302, the boundary information of the target object obtained based on the second radar mode may include information such as the position, speed, and contour shape of the target object, so that the control device 110 can determine the motion path of the target object relative to the drone through information such as the position, speed, and contour shape of the target object. The motion path of the target object relative to the drone can be understood as parameters such as the path spacing in a preset direction that can indicate the relative relationship between the target object and the drone.

[0087] Based on the parameters indicating the relative relationship between the target object and the drone and the constructed flight map, the control device 110 can adjust the preset flight path of the drone according to the preset safety range.

[0088] In an achievable embodiment, the preset safety range is: the target object is a circle point and the preset adjustment distance is a radius; the radius is greater than the path distance of the target object relative to the drone in the preset direction. It is understandable that since the boundary information of the target object may include information such as the position, speed, and contour shape of the target object, in this embodiment, the preset safety range can be: a circle formed by the contour shape of the target object as a circle point and the preset adjustment distance as a radius.

[0089] Further, in this feasible embodiment, step S303 may refer to the following sub-steps, so as to adjust the preset flight path of the drone with a preset safety range based on the flight map:

[0090] On the flight map, the preset flight path of the plant protection machine is modified in the horizontal dimension and / or the vertical dimension so that the adjusted flight path of the plant protection machine maintains a certain distance from the flight path of the target object such as an obstacle according to the preset safety range, so that when the drone in the embodiment of the present application approaches the target object that affects the preset flight path, it can obtain the boundary information of the target object by switching to the second radar mode, so that the control device 110 can construct a preset safety range based on the boundary information of the target object, so as to guide the drone to fly around the obstacle accurately according to the boundary information of the obstacle after the boundary of the target object such as an obstacle is clearly detected, which can partially realize the drone's high-efficiency and high-precision environmental perception and target detection, optimize the accuracy of the obstacle avoidance method, and improve the overall operation efficiency.

[0091] In an achievable embodiment, a 4D radar mode may be used as the second radar mode shown in this application document to obtain boundary information of the target object.

[0092] Based on this embodiment, the flowchart of obtaining the boundary information of the target object by using the 4D radar mode as the second radar mode shown in the present application document can be referred to as follows: Figure 4 Step S102 may refer to the following sub-steps to switch to the second radar mode to obtain the boundary information of the target object:

[0093] S201, using the 4D radar mode to obtain the motion signal frequency and motion signal phase of the target object in the current time period.

[0094] S202: Determine the distance, azimuth, speed and pitch angle of the target object relative to the drone based on the motion signal frequency and motion signal phase of the target object.

[0095] S203, determining the outline shape of the target object according to the distance, azimuth, speed and pitch angle of the target object relative to the drone.

[0096] In an embodiment of the present application, the 4D imaging radar mode obtains the motion signal frequency and motion signal phase of the target object in the current time period, and then determines the distance, azimuth, speed and pitch angle of the target object relative to the drone according to the motion signal frequency and motion signal phase of the target object according to the calculation formula corresponding to the 4D imaging radar mode.

[0097] In an achievable embodiment, if the scanning signal M corresponding to the 4D imaging radar mode is expressed as: in, is the initial phase of the scanning signal, d is the distance between the 4D imaging radar and the target, c is the speed of light, and f0 is the frequency of the scanning signal; then the distance s of the target is expressed as: The velocity v of the target is expressed as in, is the phase difference, T c is the observation time length, λ is the wavelength of the scanning signal; the calculation formula of the azimuth angle θ of the target object can be expressed as: Where l is the distance between antennas. The distance, azimuth, and speed of the target are determined respectively, and high-resolution environmental point cloud information is generated to determine the contour shape of the target.

[0098] In this embodiment, the present application document can perform fine detection of obstacles through the above steps to determine the boundary information of the target object, so that the preset flight path of the UAV can be adjusted based on the boundary information of the target object obtained based on step S102, and the UAV can partially achieve high-efficiency and high-precision environmental perception and target detection, optimize the accuracy of the obstacle avoidance method, and improve the overall operation efficiency.

[0099] In the embodiment of the present application, a schematic diagram of a process for real-time monitoring of whether there is a target object in the operation area in the current period that affects the preset flight path of the drone based on the first radar mode is provided, which can be referred to Figure 5 , step S101 may refer to the following sub-steps to determine the relative motion trajectory of the target object and the drone based on the motion state information:

[0100] A1. Obtaining the motion state information of the target object in the current time period based on the first radar mode; the motion state information includes the motion direction and the motion speed.

[0101] A2. Based on the moving direction and moving speed of the target object, determine the flight path of the target object in the preset direction in the current time period.

[0102] A3. Based on the preset flight path of the UAV and the flight path of the target in the preset direction, determine the distance between the target and the UAV in the preset direction.

[0103] A4. Determine whether the spacing is less than the preset spacing; if so, execute step S102; otherwise, execute step S104.

[0104] In this embodiment, if the first radar mode adopts a phased array radar, it can be understood that the acquisition method of the phased array radar can be used as the corresponding scanning rule to obtain in real time the movement speed and direction of the target objects and the drone in the working area during the current period, wherein the scanning rule of the phased array radar can scan the working area back and forth in the horizontal direction within a preset wave speed angle range.

[0105] In a feasible embodiment, the phased-control radar scans the working area in the current period back and forth within the range of positive and negative 30° in the horizontal direction to obtain the movement speed and direction of the target object and the UAV in real time.

[0106] The motion state information of the target object obtained based on the preset first radar mode may include the motion speed and motion direction of the target object. When the flight path includes each path point in the current time period, the step of determining the flight path of the target object in the preset direction in the current time period according to the acquired motion speed and motion direction of the target object, when the preset direction includes the vertical direction, can refer to Figure 6 , step A2 can refer to the following sub-steps to determine the flight path of the target object in the preset direction during the current period:

[0107] A21. Based on the preset flight path of the drone, a three-dimensional coordinate system is constructed for the current period with the coordinate information of the drone as the origin;

[0108] A22. Determine the pitch angle of the path point relative to the drone at each moment in the current time period based on the three-dimensional coordinate system and the target's movement direction and speed.

[0109] In an embodiment of the present application, after obtaining the respective movement speeds and directions of the target object and the drone in real time through the first radar mode, on this basis, since the flight path of the drone is preset before the drone operation, a three-dimensional rectangular coordinate system can be constructed based on the path points on the motion trajectory of the drone as the origin, and then based on the three-dimensional rectangular coordinate system, in a preset direction, such as the vertical direction, the relative position parameters of the target object relative to the drone, such as the pitch angle of the path points at each moment in the current time period relative to the drone, are determined, so as to determine the relative motion trajectory of the target object and the drone.

[0110] In an embodiment of the present application, the movement speed and direction of the target object and the drone can be obtained in real time through the phased radar mode. On this basis, a three-dimensional rectangular coordinate system is constructed with the path points on the motion trajectory of the drone as the origin. According to the three-dimensional rectangular coordinate system, the pitch angle of the path points at each moment in the current time period relative to the drone is determined in the vertical direction, so as to determine the relative motion trajectory of the target object and the drone.

[0111] Based on this embodiment, reference can be made to Figure 7 , step A4 can refer to the following sub-steps to determine the relative motion trajectory of the target object and the drone based on the motion state information:

[0112] A4. Determine whether the pitch angle meets a preset pitch angle threshold. If so, execute step S102; otherwise, execute step S104.

[0113] In a feasible embodiment, if the preset pitch angle threshold can be plus or minus 15°, the above steps can be understood as judging that in the vertical direction, the pitch angle of the target object relative to the drone at the current moment is less than the angle range of plus or minus 15°. If it is less than, it is considered that the current target object will affect the flight trajectory of the drone in the vertical direction.

[0114] In another achievable embodiment, the motion state information of the target object obtained based on the preset first radar mode may include the motion speed and motion direction of the target object, the flight path includes the horizontal straight-line distance of the target object at each path point relative to the drone in the current time period, and the step of determining the flight path of the target object in the preset direction in the current time period according to the acquired motion speed and motion direction of the target object. When the preset direction includes the horizontal direction, step A2 may refer to the following sub-steps to determine the flight path of the target object in the preset direction in the current time period:

[0115] Based on the preset flight path of the UAV and the movement direction and speed of the target object, the horizontal straight-line distance of the target object relative to the UAV at each path point in the current period is determined.

[0116] In the embodiment of the present application, after obtaining the movement speed and movement direction of the target and the drone in real time, the difference between the horizontal distance of the target and the drone at the current moment is determined. And based on the difference, it is determined whether the target meets the preset horizontal safety distance with respect to the drone at the current moment.

[0117] Based on this embodiment, reference can be made to Figure 8 , step A4 can refer to the following sub-steps to determine the relative motion trajectory of the target object and the drone based on the motion state information:

[0118] A4. Determine whether the horizontal straight line distance meets a preset distance threshold. If so, execute step S102; otherwise, execute step S104.

[0119] In a feasible embodiment, the preset horizontal safety distance may be 60m. It is understandable that in this embodiment, it is possible to determine whether the horizontal straight-line distance of the target object relative to the UAV at the current moment is less than 60m. If so, it is confirmed that the target object will affect the flight trajectory of the UAV in the horizontal direction.

[0120] In an achievable embodiment, after determining the distance between the target object and the drone in the preset direction based on the preset flight path of the drone and the flight path of the target object in the preset direction, when the preset direction includes the vertical direction and / or the horizontal direction; and the distance includes: the pitch angle distance and the horizontal straight line distance, the flight path of the target object in the preset direction in the current time period in step A2 can be determined based on the sub-steps in the above embodiment, and the sub-steps of step A4 can refer to Fig. 9 , in order to determine whether the target object affects the preset flight path of the drone:

[0121] A41, determining whether the pitch angle of the target object relative to the drone is less than a preset pitch angle interval, if so, executing step A42; otherwise, executing step S104;

[0122] A42, determining whether the horizontal straight-line distance between the target object and the drone in the current period is less than the preset horizontal straight-line distance, if so, executing step A43; otherwise, executing step S104;

[0123] A43. Determine whether there is a target object that affects the preset flight path of the UAV, and execute step S102.

[0124] In this embodiment, a phased-control radar can be used as the first preset radar model. It can be understood that in this embodiment, the phased-control radar scans the working area in the current period back and forth within the range of positive and negative 30° in the horizontal direction, obtains the movement speed and movement direction of the target object and the drone in real time, and then constructs a three-dimensional rectangular coordinate system with the drone as the origin, and determines the pitch angle of the target object relative to the drone at the current moment in the vertical direction based on the three-dimensional rectangular coordinate system. And judge whether the pitch angle meets the preset pitch angle threshold.

[0125] If the preset pitch angle threshold is plus or minus 15°, the pitch angle of the target object relative to the drone in the vertical direction can be judged based on the preset pitch angle threshold. If the pitch angle of the target object relative to the drone at the current moment is less than the angle range of plus or minus 15°, if it is less than, it is judged that the target object will affect the flight trajectory of the drone in the vertical direction.

[0126] Then, it is determined whether the target object will affect the flight trajectory of the UAV in the horizontal direction. If the preset horizontal safety distance is 60m, it can be understood that based on this preset horizontal safety distance, it is determined whether the horizontal straight-line distance of the target object relative to the UAV at the current moment is less than 60m. If it is less, it is considered that the target object will affect the flight trajectory of the UAV in the horizontal direction.

[0127] In another possible embodiment, reference may be made to Fig.10 , step A42 can refer to the following sub-steps to determine whether the horizontal straight-line distance of the target object relative to the drone in the current period is less than the preset horizontal straight-line distance:

[0128] A421. Adjust the beam angle range based on the first radar mode to reacquire the motion state information of the target object in the current time period;

[0129] A422. Based on the preset flight path of the UAV and the motion state information of the target object, determine the horizontal straight-line distance of the target object relative to the UAV in the current time period.

[0130] Based on the above-mentioned achievable embodiments, a phased-control radar can be used as a preset radar model. It can be understood that in this embodiment, the phased-control radar scans the working area in the current period back and forth within the range of positive and negative 30° in the horizontal direction, obtains the movement speed and movement direction of the target object and the drone in real time, and then constructs a three-dimensional rectangular coordinate system with the drone as the origin, and determines the pitch angle of the target object relative to the drone at the current moment in the vertical direction based on the three-dimensional rectangular coordinate system. And judge whether the pitch angle meets the preset pitch angle threshold.

[0131] If the preset pitch angle threshold is plus or minus 15°, the pitch angle of the target object relative to the drone in the vertical direction can be judged based on the preset pitch angle threshold. If the pitch angle of the target object relative to the drone at the current moment is less than the angle range of plus or minus 15°, if it is less than, it is judged that the target object will affect the flight trajectory of the drone in the vertical direction.

[0132] Based on this, the scanning range of the phased array radar is readjusted. In a feasible embodiment, the scanning range of the phased array radar can be narrowed to plus or minus 30° in the horizontal direction. For example, the scanning range can be set to plus or minus 10° in the horizontal direction. The phased array radar with adjusted scanning range can rescan the working area in the current period within this scanning range, and re-acquire the motion status information of the targets and drones in the working area.

[0133] The adjustment of the scanning range is understandable, that is, the center direction of the beam scanning is updated each time the target object is scanned, and the scanning range is plus or minus 10° in the horizontal direction.

[0134] Subsequently, the difference between the horizontal distances of the target object relative to the drone in the horizontal direction can be re-determined based on the re-acquired movement speeds and movement directions of the target object and the drone; and based on the difference between the horizontal distances, it is determined whether the target object meets the preset horizontal safety distance relative to the drone at the current moment.

[0135] In a feasible embodiment, the phased radar mode can be used as the first radar mode, and the 4D radar mode can be used as the second radar mode. Based on this, the second preset scanning rule corresponding to the 4D imaging radar can be used to obtain in real time the motion status information of the target object and the UAV in the next time period; so that the UAV can obtain obstacle information in the environment in real time, and determine the boundary information of the obstacle based on the data acquisition of the obstacle with higher precision, so as to realize the precise obstacle avoidance flight of the UAV based on the boundary contour, so as to partially realize the high-efficiency and high-precision environmental perception and target detection of the UAV.

[0136] In summary, the embodiment of the present application provides a method for avoiding obstacles in unmanned aerial vehicles. When the unmanned aerial vehicle is operating according to a preset flight path, the method can monitor in real time based on the first radar mode whether there is a target object in the operating area in the current period that affects the preset flight path of the unmanned aerial vehicle. If there is, the second radar mode with higher scanning accuracy is switched to obtain the boundary information of the target object. Based on the boundary information of the target object, the preset flight path of the unmanned aerial vehicle is adjusted to achieve obstacle avoidance flight of the unmanned aerial vehicle. This application document obtains the motion state information of the target object in the flight environment in real time, adjusts the radar working mode in the current environment, and adopts a more accurate radar working mode to perceive the environment in real time, and obtains the boundary information of the target object, thereby adjusting the preset flight path of the unmanned aerial vehicle based on the boundary information of the target object, achieving obstacle avoidance flight of the unmanned aerial vehicle, and partially realizing high-efficiency and high-precision environmental perception and target detection of the unmanned aerial vehicle. It has broad application prospects in the fields of smart agriculture, intelligent inspection, search and rescue, etc.

[0137] Based on the concept of the above-mentioned unmanned aerial vehicle obstacle avoidance method, in one embodiment, the present application document also provides a unmanned aerial vehicle obstacle avoidance device, which can be applied to Figure 1 The control device 110 in the apparatus comprises: a data acquisition module and an obstacle avoidance module;

[0138] The data acquisition module is used to monitor in real time whether there is a target object in the operation area in the current period that affects the preset flight path of the drone based on the first radar mode when the drone is running according to the preset flight path; if there is, switch to the second radar mode to obtain the boundary information of the target object; wherein the scanning accuracy of the first radar mode is less than the scanning accuracy of the second radar mode;

[0139] The obstacle avoidance module is used to adjust the preset flight path of the drone based on the boundary information of the target object.

[0140] In the above-mentioned obstacle avoidance device for unmanned aerial vehicles, the data acquisition module can obtain environmental information of the operation area in the current period through different radar modes when the unmanned aerial vehicle is running according to the preset flight path, and monitor in real time whether there is a target object in the operation area in the current period that affects the preset flight path of the unmanned aerial vehicle based on the acquired data. If there is, the second radar mode is switched to obtain the boundary information of the target object; wherein the scanning accuracy of the first radar mode is less than the scanning accuracy of the second radar mode. Then, the preset flight path of the unmanned aerial vehicle is adjusted based on the boundary information of the target object through the obstacle avoidance module to realize accurate obstacle avoidance flight of the unmanned aerial vehicle.

[0141] Among them, the specific definition of the drone obstacle avoidance device can refer to the definition of the drone obstacle avoidance method above, which will not be repeated here. Each module in the above-mentioned drone obstacle avoidance device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the control device 110 in hardware form, or can be stored in the memory in the control device 110 in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0142] In one embodiment, the present application document further provides a control device 110, including a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program: when the drone is running according to the preset flight path, it can monitor in real time based on the first radar mode whether there is a target in the operation area in the current period that affects the preset flight path of the drone, and if there is, switch to the second radar mode with higher scanning accuracy to obtain the boundary information of the target. Based on the boundary information of the target, adjust the preset flight path of the drone to achieve obstacle avoidance flight of the drone.

[0143] In one embodiment, the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: when the drone is running according to the preset flight path, it can monitor in real time based on the first radar mode whether there is a target in the operation area in the current period that affects the preset flight path of the drone. If there is, switch to the second radar mode with higher scanning accuracy to obtain the boundary information of the target. Based on the boundary information of the target, adjust the preset flight path of the drone to achieve obstacle avoidance flight of the drone.

[0144] In summary, the embodiment of the present application provides a method, device, system, control device and storage medium for obstacle avoidance of unmanned aerial vehicles. When the unmanned aerial vehicle is running according to a preset flight path, it can monitor in real time based on the first radar mode whether there is a target object in the operation area in the current period that affects the preset flight path of the unmanned aerial vehicle. If there is, the second radar mode with higher scanning accuracy is switched to obtain the boundary information of the target object. Based on the boundary information of the target object, the preset flight path of the unmanned aerial vehicle is adjusted to achieve obstacle avoidance flight of the unmanned aerial vehicle. This application document obtains the motion state information of the target object in the flight environment in real time, adjusts the radar working mode in the current environment, and adopts a more accurate radar working mode to perceive the environment in real time, and obtains the boundary information of the target object, thereby adjusting the preset flight path of the unmanned aerial vehicle based on the boundary information of the target object, achieving obstacle avoidance flight of the unmanned aerial vehicle, and partially realizing high-efficiency and high-precision environmental perception and target detection of the unmanned aerial vehicle. It has broad application prospects in the fields of smart agriculture, intelligent inspection and search and rescue.

[0145] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0146] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0147] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0148] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention. The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A method for avoiding obstacles in a drone, characterized in that: The method comprises: When the UAV is operating along the preset flight path, real-time monitoring is performed based on the first radar mode to determine whether there are any targets in the operation area that affect the preset flight path of the UAV during the current period; If it exists, switch to the second radar mode to obtain the boundary information of the target object; Adjusting a preset flight path of the drone based on boundary information of the target object; The scanning accuracy of the first radar mode is less than the scanning accuracy of the second radar mode.

2. The unmanned aerial vehicle obstacle avoidance method according to claim 1, characterized in that: The step of adjusting the preset flight path of the drone based on the boundary information of the target object includes: Construct a flight map centered on the drone during the current period based on the drone's preset flight path; Determine a motion path of the target object relative to the drone based on boundary information of the target object; the motion path includes a path spacing in a preset direction; Based on the flight map, adjust the drone's preset flight path with a preset safety range; The preset safety range takes the target object as a circle and the preset adjustment distance as a radius; the radius is greater than the path distance of the target object relative to the drone in a preset direction.

3. The unmanned aerial vehicle obstacle avoidance method according to claim 2, characterized in that: The step of switching the second radar mode to obtain boundary information of the target object includes: Use 4D radar mode to obtain the target's motion signal frequency and motion signal phase in the current period; Determine the distance, azimuth, speed and pitch angle of the target relative to the drone based on the target's motion signal frequency and motion signal phase; The outline shape of the target is determined based on the target's distance, azimuth, speed and pitch angle relative to the drone.

4. The unmanned aerial vehicle obstacle avoidance method according to claim 1, characterized in that: The step of monitoring in real time based on the first radar mode whether there is a target object in the operation area in the current period that affects the preset flight path of the drone includes: Acquire the motion state information of the target object in the current time period based on the first radar mode; the motion state information includes the motion direction and the motion speed; Based on the target's moving direction and moving speed, determine the target's flight path in the preset direction during the current period; Based on the preset flight path of the UAV and the flight path of the target in the preset direction, determine the distance between the target and the UAV in the preset direction; Determine whether the distance is less than a preset distance; if it is less than the preset distance, determine that there is a target object that affects the preset flight path of the drone.

5. The obstacle avoidance method for unmanned aerial vehicles according to claim 4, characterized in that: The flight path includes the pitch angle of each path point relative to the drone in the current time period. The step of determining the flight path of the target object in the preset direction in the current time period based on the movement direction and movement speed of the target object includes: Based on the preset flight path of the drone, a three-dimensional coordinate system is constructed for the current period with the coordinate information of the drone as the origin; According to the three-dimensional coordinate system and the movement direction and speed of the target object, the pitch angle of the path point at each moment in the current period relative to the drone is determined.

6. The unmanned aerial vehicle obstacle avoidance method according to claim 4, characterized in that: The flight path includes the horizontal straight-line distance of the target object at each path point relative to the drone in the current time period. The step of determining the flight path of the target object in the preset direction in the current time period based on the movement direction and movement speed of the target object includes: Based on the preset flight path of the drone and the movement direction and speed of the target object, determine the horizontal straight line of the target object relative to the drone at each path point in the current period.

7. The obstacle avoidance method for unmanned aerial vehicles according to claim 4, characterized in that: The preset direction includes a vertical direction and / or a horizontal direction, and the spacing includes: a pitch angle spacing and a horizontal straight line spacing; the step of determining whether the spacing is less than the preset spacing; if it is less than the preset spacing, determining that there is a target object affecting the preset flight path of the drone includes: Determine whether the pitch angle of the target object relative to the drone is less than a preset pitch angle interval; If it is less than, then determine whether the horizontal straight-line distance between the target object and the drone in the current period is less than the preset horizontal straight-line distance; If it is less than, it is determined that there is a target object affecting the preset flight path of the drone.

8. The unmanned aerial vehicle obstacle avoidance method according to claim 7, characterized in that: Before the step of determining whether the horizontal straight-line distance between the target object and the drone in the current period is less than the preset horizontal straight-line distance, the following step is further included: Adjusting the beam angle range based on the first radar mode to reacquire the motion state information of the target object in the current time period; Based on the preset flight path of the drone and the motion state information of the target, the horizontal straight-line distance of the target relative to the drone in the current period is determined.

9. The unmanned aerial vehicle obstacle avoidance method according to any one of claims 1 to 8, characterized in that: The step of monitoring in real time based on the first radar mode whether there is a target object in the operation area in the current period that affects the preset flight path of the drone includes: Based on the phased-control radar mode, real-time monitoring is performed to determine whether there are any targets in the operation area that affect the preset flight path of the drone during the current period; The step of switching the second radar mode to obtain boundary information of the target object includes: Switch to 4D radar mode to obtain the boundary information of the target object.

10. An obstacle avoidance device for a drone, characterized in that: include: Data acquisition module and obstacle avoidance module; The data acquisition module is used to monitor in real time whether there is a target object in the operation area in the current period that affects the preset flight path of the drone based on the first radar mode when the drone is running according to the preset flight path; If so, switching to the second radar mode to obtain boundary information of the target object; wherein the scanning accuracy of the first radar mode is less than the scanning accuracy of the second radar mode; The obstacle avoidance module is used to adjust the preset flight path of the drone based on the boundary information of the target object.

11. An unmanned aerial vehicle obstacle avoidance system, characterized in that: Including control equipment and radar equipment; The radar device includes a plurality of radar models, which are used to obtain the motion state information of the target object in the working area in the current period in real time according to the radar model, and send it to the control device; The control device is used to implement the drone obstacle avoidance method as described in any one of claims 1 to 9.

12. A control device, characterized in that: It includes a processor and a memory, the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the drone obstacle avoidance method as described in any one of claims 1 to 9.

13. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the unmanned aerial vehicle obstacle avoidance method according to any one of claims 1 to 9 is implemented.

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