Obstacle identification method and device for data transmission of unmanned equipment, equipment and medium

Abstract

The embodiment of the invention discloses an obstacle identification method and device for data transmission of unmanned equipment, equipment and a medium, and relates to the technical field of unmanned equipment control. The method comprises the following steps: receiving picture data and radar data collected by unmanned equipment; determining type information of an obstacle according to the picture data; determining an identification mode of an obstacle according to the type information and the radar data; wherein the identification mode is to perform alignment identification with the display position of the obstacle in the picture data. According to the technical scheme, the obstacle can be accurately positioned and marked on the basis of the transmission data of the unmanned equipment, the attention of a user can be aroused in a remote control picture, and the user can be helped to display the obstacle information and timely avoid the obstacle on the basis that the attention of the user is not distracted.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of unmanned equipment control technology, and in particular, to an obstacle identification method, device, equipment and medium for unmanned equipment to transmit data. Background Art

[0002] In recent years, unmanned equipment technology has developed rapidly and has gradually been applied to various industries, such as drones and unmanned vehicles. During the operation of unmanned equipment, there may be obstacles that have an adverse effect on the travel safety and task execution of unmanned equipment. In addition to more obvious obstacles such as buildings and poles, there are also more obscure obstacles such as wires and tree branches. It is difficult for users to observe obstacles during the remote control of unmanned equipment, which makes it easy for unmanned equipment to be hit and damaged.

[0003] In order to optimize the user experience, some unmanned equipment now uses a radar ball to display the direction and distance of obstacles approaching the unmanned equipment. However, this method requires users to find obstacles in the picture according to the direction and distance of the obstacles, which distracts the user's attention and makes it difficult to reduce the risk of collision damage. Therefore, how to provide effective obstacle prompts to help users remotely control unmanned equipment more intuitively and sensitively is a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0004] The embodiments of the present invention provide an obstacle identification method, device, equipment and medium for unmanned equipment transmission data. To address the problem in the prior art that the control process of unmanned equipment cannot avoid obstacles in time, obstacles can be accurately located and marked based on the transmission data of the unmanned equipment, and displayed intuitively on the remote control screen to attract the user's attention. Without distracting the user's attention, obstacle information can be displayed to help the user avoid obstacles in time.

[0005] In a first aspect, an embodiment of the present invention provides a method for identifying obstacles in data transmission by an unmanned device, the method comprising:

[0006] Receive image data and radar data collected by unmanned equipment;

[0007] Determine the type information of the obstacle according to the image data;

[0008] The obstacle identification method is determined according to the type information and the radar data; wherein the identification method is to perform alignment identification with the display position of the obstacle in the picture data.

[0009] In a second aspect, an embodiment of the present invention further provides an obstacle identification device for unmanned equipment to transmit data, the device comprising:

[0010] Data acquisition module, used to receive image data and radar data collected by unmanned equipment;

[0011] A type determination module, used to determine the type information of the obstacle according to the image data;

[0012] The identification method determination module is used to determine the identification method of the obstacle according to the type information and the radar data; wherein the identification method is to perform alignment identification with the display position of the obstacle in the picture data.

[0013] In a third aspect, an embodiment of the present invention further provides an obstacle identification device for unmanned equipment to transmit data, the device comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the obstacle identification method for unmanned equipment to transmit data described in the embodiment of the present invention.

[0014] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the obstacle identification method for unmanned equipment transmitting data described in an embodiment of the present invention.

[0015] In an embodiment of the present invention, the image data and radar data collected by the unmanned equipment are received; the type information of the obstacle is determined according to the image data; the identification method of the obstacle is determined according to the type information and the radar data; wherein the identification method is to align the display position of the obstacle in the image data. This technical solution can accurately locate and mark obstacles based on the transmission data of the unmanned equipment, and intuitively display them on the remote control screen to attract the user's attention, and help the user display obstacle information without distracting the user's attention, so as to avoid obstacles in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of an obstacle identification method for unmanned equipment transmitting data provided in Embodiment 1 of the present invention;

[0017] Figure 2 This is an example diagram of a task plot page provided in the first embodiment of the present invention;

[0018] Figure 3 A flowchart of an obstacle identification method for unmanned equipment transmitting data provided in Embodiment 2 of the present invention;

[0019] Figure 4 The obstacle type information provided for the second embodiment of the present invention is an example diagram of a surface obstacle;

[0020] Figure 5A flowchart of a method for identifying obstacles in data transmission by unmanned equipment provided in Embodiment 3 of the present invention;

[0021] Figure 6 The obstacle type information provided in the third embodiment of the present invention is an example diagram of a linear obstacle;

[0022] Figure 7 A schematic diagram of a module of an obstacle identification device for transmitting data by unmanned equipment provided in a fourth embodiment of the present invention;

[0023] Figure 8 A schematic diagram of the structure of an obstacle identification device for transmitting data to an unmanned device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0025] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0026] In conjunction with the accompanying drawings, the obstacle identification method for unmanned equipment transmitting data provided by the embodiment of the present application is described in detail through specific embodiments and their application scenarios.

[0027] Embodiment 1

[0028] Figure 1 This is a flow chart of an obstacle identification method for unmanned equipment transmitting data provided in Embodiment 1 of the present invention. Figure 1 As shown, the specific steps include:

[0029] S101, receiving image data and radar data collected by unmanned equipment.

[0030] First of all, the usage scenario of this solution can be a scenario in which the user controls the movement of unmanned equipment according to the screen on the display end. Based on the above usage scenarios, it can be understood that the execution subject of this application can be the display end, which can be used to remotely or process-control unmanned equipment, and the connection method between the display end and the unmanned equipment can include wired connection and wireless connection. Specifically, the reception of picture data and radar data and the determination of obstacle type information and identification method can be performed by the display end, and the display end gives an early warning to the user, and the user checks the obstacles identified in the picture to control the movement of the unmanned equipment and avoid obstacles.

[0031] Unmanned equipment can refer to equipment that can complete tasks or work autonomously, without the need for users to follow the equipment to operate or intervene. Users can also choose manual mode to actively control unmanned equipment. Unmanned equipment includes but is not limited to drones and unmanned vehicles. The display terminal can be a display device that helps users control unmanned equipment, a display screen installed on a remote control device, or software in an external device connected to the remote control device.

[0032] Image data can be a digital image composed of a series of pixels used to represent visual information. Image data can be collected by a camera installed on an unmanned device. The optical sensor behind the camera lens converts the light entering through the lens into an electrical signal; the photosensitive element in the optical sensor detects the intensity and color of the light and converts it into a voltage signal; the analog-to-digital converter converts the continuously changing analog voltage signal into a digital form for further processing and storage.

[0033] Radar data is information obtained by the radar system, that is, electromagnetic wave pulse signals. The radar system consists of a transmitter, a receiver, and a signal processor. The transmitter emits electromagnetic wave pulses, which are reflected when they encounter obstacles. The receiver receives the signals reflected by the obstacles, and the signal processor processes these signals. The distance and direction information of the obstacles can be determined based on the radar data.

[0034] There is a wireless connection between the display end and the unmanned device. Wireless connection allows large amounts of data to be transmitted through wireless signals without physical connection to meet high-bandwidth, low-latency communication requirements. Common high-speed wireless communication technologies include Wi-Fi (Wireless Fidelity, wireless LAN), 4G / 5G (4Generation / 5Generation, 4th / 5th generation) mobile communications, WiMAX (World Interoperability for Microwave Access, global microwave interconnection access) and millimeter wave communications. The display end can obtain image data and radar data by receiving wireless signals sent by unmanned equipment.

[0035] S102: Determine type information of the obstacle according to the image data.

[0036] Obstacles can prevent the unmanned equipment from moving. If the unmanned equipment hits an obstacle, the unmanned equipment will be damaged, or even scrapped or exploded. Specifically, obstacles may include electric towers, electric poles, trees and dead branches, cable cables, wires, people, buildings, vehicles, tombstones, earth slopes, and other obstacles. Type information may be a type name obtained by classifying the shape of the obstacle, including surface obstacles and linear obstacles. By using image recognition technology to identify obstacles in the image data, the type information of the obstacle can be determined.

[0037] In the technical solution, optionally, before determining the type information of the obstacle according to the picture data, the method further includes:

[0038] Obtaining the obstacle type entry result of the mission plot of the unmanned equipment;

[0039] Accordingly, determining the type information of the obstacle according to the picture data includes:

[0040] According to the obstacle type entry result, the obstacle type is identified on the image data, and the type information of the obstacle is output.

[0041] The mission plot can be the geographical scope where the unmanned equipment performs the mission. Before the unmanned equipment officially performs the mission, it is necessary to first conduct field measurements of the geographical scope of the mission. The obstacle type entry result is the classification and naming of the detected obstacles by the user in the process of pre-measuring the geographical scope of the mission, and the type name and location information stored in the display end. The image data of the detected obstacles can also be stored. When the unmanned equipment starts to perform the mission, the user selects the mission plot, and the display end automatically retrieves the stored obstacle type entry results of the mission plot.

[0042] The display end can use image recognition technology to identify obstacles in the picture data. Image recognition technology is a technology that uses computer vision methods and machine learning methods to identify and classify images. Specifically, the target detection technology in image recognition technology is used in this technical solution. The target detection technology can not only identify whether there are obstacles in the picture data, but also mark the location and boundary box of the obstacles.

[0043] Optionally, before using the target detection technology, the picture data may be compared with the image data of the obstacles detected in the process of predicting the task plot, so as to preliminarily identify the obstacles, which may improve the recognition rate.

[0044] The determined obstacle type information will be output to the relevant program for subsequently determining the obstacle identification method.

[0045] The advantage of this arrangement of the present solution is that by performing obstacle type identification on the screen data according to the obstacle type entry result, the type information of the obstacle can be quickly confirmed.

[0046] S103, determining a marking method of the obstacle according to the type information and the radar data; wherein the marking method is to align the obstacle with the display position of the obstacle in the picture data.

[0047] The identification method is a different way of prompting users according to the obstacle type information and radar data adopted by this solution.

[0048] The display end mainly provides two pages for users, including the real-time picture page and the task plot page.

[0049] The real-time screen page displays screen data. For the real-time screen page, the identification method is to align the display position of the obstacle in the screen data. The display position is the pixel coordinate area of ​​the obstacle in the screen data. Alignment identification is an image marking technology used in the field of computer vision and augmented reality to locate and align virtual objects or images with real-world scenes. Determining the identification method is mainly divided into three aspects: determining the shape of the identification, determining the color parameters, and determining the flashing parameters.

[0050] Specifically, the shape of the sign can be divided into two types according to the type information of the obstacle, namely, a grid sign and a line sign. The surface obstacle adopts the grid sign, and the linear obstacle adopts the line sign. After determining the shape of the sign, the color parameters and flashing parameters of the sign can be determined according to the direction information and distance information of the obstacle.

[0051] The task plot page displays the task plot and obstacles within the task plot. The identification method adopted by the task plot page is to mark the obstacle icon and the distance information between the obstacle and the unmanned equipment at the location of the known obstacle in the task plot. If the distance information between the obstacle and the unmanned equipment is less than the danger threshold, the icon of the obstacle becomes a red warning icon. Among them, the danger threshold can be set by production personnel or users. Optionally, if during the autonomous operation of the unmanned equipment, obstacle information that does not exist in the obstacle type entry result is identified in the task plot, a risk warning can be issued through the display end or a risk warning can be pushed to the user's communicative device to attract the user's attention, and the user can choose to temporarily take over the control.

[0052] Figure 2 This is an example diagram of a task plot page provided in the first embodiment of the present invention. Figure 2As shown, in the mission plot, there are two obstacles, a power tower and a tree, and there is currently an unknown obstacle in front of the left side of the unmanned equipment.

[0053] In an embodiment of the present application, the image data and radar data collected by the unmanned equipment are received; the type information of the obstacle is determined according to the image data; the identification method of the obstacle is determined according to the type information and the radar data; wherein the identification method is to align the display position of the obstacle in the image data. The obstacle identification method of the unmanned equipment transmission data described above accurately locates and marks obstacles based on the transmission data of the unmanned equipment, and is intuitively reflected in the remote control screen to attract the user's attention, and helps the user display obstacle information without distracting the user's attention, so as to avoid obstacles in time.

[0054] Embodiment 2

[0055] Figure 3 A flowchart of an obstacle identification method for unmanned equipment transmitting data provided in Embodiment 2 of the present invention. This solution makes a better improvement on Embodiment 1, specifically: determining the obstacle identification method according to the type information and the radar data, including: when the type information is a surface obstacle, determining the distance information of the surface obstacle according to the radar data; when the distance information is less than the set distance, generating a grid-shaped identification; wherein the grid-shaped identification corresponds to the display position of the surface obstacle.

[0056] like Figure 3 As shown, the specific steps include:

[0057] S301, receiving image data and radar data collected by unmanned equipment.

[0058] S302: Determine type information of the obstacle according to the image data.

[0059] S303: When the type information is a surface obstacle, determine the distance information of the surface obstacle according to the radar data.

[0060] Surface obstacles may include electric towers, people, buildings, vehicles, tombstones, earth slopes and other obstacles. The distance information may be the distance between the unmanned equipment and the surface obstacle, in meters (m). By recording the emission time and the reflection reception time of the electromagnetic wave pulse signal, calculating the time interval between the emission time and the reflection reception time, multiplying the time interval by the propagation speed of the electromagnetic wave pulse signal and dividing by 2, the calculated result is the distance information.

[0061] S304: When the distance information is less than a set distance, generate a grid-shaped mark; wherein the grid-shaped mark corresponds to a display position of the surface obstacle.

[0062] The set distance can be set by the production personnel or the user, and is the distance that needs to be paid attention to by the user. The grid mark is a grid pattern composed of parallel lines and intersections, which can be pre-stored in the display end. The grid mark can be generated by aligning the center of the grid mark pattern with the center of the obstacle, and adjusting the size of the grid mark pattern until the grid mark pattern can cover the obstacle.

[0063] Figure 4 The obstacle type information provided for the second embodiment of the present invention is an example diagram of a surface obstacle. Figure 4 As shown, there are two trees in the picture data. The trees are surface obstacles and the two trees have been marked in a grid shape.

[0064] The advantage of this arrangement of the present invention is that by using a grid-shaped mark to mark the surface obstacles, the user can have an intuitive understanding of the size and shape of the surface obstacles, which can more easily attract the user's attention.

[0065] In the technical solution, optionally, after generating the grid-shaped mark, the method further includes:

[0066] Determine the position information of the surface obstacle according to the radar data;

[0067] A color parameter of the grid-shaped mark is determined according to the distance information and the orientation information.

[0068] The azimuth information can be the direction of the surface obstacle relative to the unmanned equipment. The radar system determines the horizontal azimuth and vertical azimuth of the surface obstacle relative to the radar by receiving the phase difference of the electromagnetic wave pulse signal.

[0069] The color parameter is the color presented by the grid-shaped mark, which can include green, yellow and red. When the position information is within the flight airspace, as the distance information of the surface obstacle decreases, according to the first distance segmentation mechanism, the color parameter changes from green to yellow and then to red. When the position information is outside the flight airspace, as the distance information of the surface obstacle decreases, according to the second distance segmentation mechanism, the color parameter changes from green to yellow and then to red.

[0070] The advantage of this setting is that by changing the color of the grid-shaped logo according to the distance information and the direction information, it can help the user process the obstacle information, so that the user can give priority to avoiding the surface obstacles that are closer and pay attention to the surface obstacles that are farther away.

[0071] Optionally, determining a color parameter of the grid-shaped marker according to the distance information and the orientation information includes:

[0072] In the case where the position information is within the flight airspace, determining the color parameter of the grid-shaped mark according to the comparison result between the distance information and the first distance segmentation mechanism;

[0073] When the azimuth information is outside the flight airspace, the color parameters of the grid-shaped mark are determined according to the comparison result between the distance information and the second distance segmentation mechanism.

[0074] The flight airspace may be an area where the unmanned equipment may collide with a surface obstacle. The flight airspace may be set by production personnel or users, for example, the area between 60 degrees to the left of the unmanned equipment's moving direction and 60 degrees to the right of the unmanned equipment's moving direction is used as the flight airspace.

[0075] When the orientation information is within the flight airspace, the unmanned equipment may collide with surface obstacles in the flight airspace if it maintains the current moving direction. Therefore, the first distance segmentation mechanism sets the distance segments corresponding to red and yellow as farther and larger distance segments, which can be divided into three segments: 35 meters to 20 meters, 20 meters to 8 meters, and 8 meters to 0 meters. When the distance information is in the distance segment of 35 meters to 20 meters, the color parameter is green, when the distance information is in the distance segment of 20 meters to 8 meters, the color parameter is yellow, and when the distance information is in the distance segment of 8 meters to 0 meters, the color parameter is red.

[0076] When the orientation information is outside the flight airspace, the unmanned device maintains the current moving direction and will not collide with surface obstacles outside the flight airspace. However, if the unmanned device changes its moving direction significantly, it will also collide with surface obstacles outside the flight airspace, and the user needs to be prompted. Therefore, the second distance segmentation mechanism sets the distance segments corresponding to red and yellow to closer and smaller distance segments, which can be divided into three segments: 35 meters to 10 meters, 10 meters to 5 meters, and 5 meters to 0 meters. When the distance information is in the distance segment of 35 meters to 10 meters, the color parameter is green, when the distance information is in the distance segment of 10 meters to 5 meters, the color parameter is yellow, and when the distance information is in the distance segment of 5 meters to 0 meters, the color parameter is red.

[0077] The advantage of this setting is that by adopting different distance segmentation mechanisms according to whether the azimuth information is within the flight airspace, it can help users analyze surface obstacle information and avoid surface obstacles in time.

[0078] Optionally, after determining the position information of the surface obstacle according to the radar data, the method further includes:

[0079] In the case where the azimuth information is within the flight airspace, determining the flashing parameters of the grid-shaped marker according to the comparison result between the distance information and the first distance segmentation mechanism;

[0080] When the azimuth information is outside the flight airspace, the flashing parameters of the grid-shaped logo are determined according to the comparison result between the distance information and the second distance segmentation mechanism; wherein the flashing parameters include a brightness change range and a brightness change period.

[0081] The flashing parameter may be a brightness change parameter of the distance tag of the surface obstacle, including two parameters: a brightness change range and a brightness change period. The brightness change range may be a brightness change amplitude of the distance tag, in candela (cd), and the brightness change period may be a time interval between any two flashes of the distance tag, in seconds (s).

[0082] When the direction information is within the flight airspace, according to the above-mentioned first distance segmentation mechanism, when the distance information is in the distance segment of 35 meters to 20 meters, the brightness change range is 50 candelas, and the brightness change period is 1 second; when the distance information is in the distance segment of 20 meters to 8 meters, the brightness change range of the distance segment is 100 candelas, and the brightness change period is 0.6 seconds; when the distance information is in the distance segment of 8 meters to 0 meters, the brightness change range is 150 candelas, and the brightness change period is 0.3 seconds.

[0083] When the direction information is within the flight airspace, according to the above-mentioned second distance segmentation mechanism, when the distance information is in the distance segment of 35 meters to 10 meters, the brightness change range is 50 candelas, and the brightness change period is 1 second; when the distance information is between 10 meters and 5 meters, the brightness change range of the distance segment is 100 candelas, and the brightness change period is 0.6 seconds; when the distance information is between 5 meters and 0 meters, the brightness change range of the distance segment is 150 candelas, and the brightness change period is 0.3 seconds.

[0084] In addition, optionally, in order to increase user attention, when the direction information is within the flight airspace, the display end emits a low-frequency alarm sound when the distance information is in the distance segment of 20 meters to 8 meters, and the display end emits a high-frequency alarm sound when the distance information is in the distance segment of 8 meters to 0 meters; when the direction information is outside the flight airspace, the display end emits a low-frequency alarm sound when the distance information is in the distance segment of 10 meters to 5 meters, and the display end emits a high-frequency alarm sound when the distance information is in the distance segment of 5 meters to 0 meters.

[0085] The advantage of this setting is that by providing users with flashing prompts with different effects based on the direction information and distance information, it can help users analyze the information of surface obstacles and avoid surface obstacles in time.

[0086] Embodiment 3

[0087] Figure 5 A flowchart of an obstacle identification method for unmanned equipment data transmission provided in Example 3 of the present invention. This solution makes a better improvement on Example 1, and the specific improvement is: determining the obstacle identification method according to the type information and the radar data, including: when the type information is a linear obstacle, generating a linear identification according to the extension direction of the linear obstacle in the image data; determining the distance information of the linear obstacle according to the radar data; when the distance information is less than the set distance, determining the color parameters of the linear identification according to the distance information; wherein the linear identification adopts a preset transparency.

[0088] like Figure 5 As shown, the specific steps include:

[0089] S501, receiving image data and radar data collected by unmanned equipment.

[0090] S502: Determine type information of the obstacle according to the image data.

[0091] S503: When the type information is a linear obstacle, generate a linear mark according to the extension direction of the linear obstacle in the image data.

[0092] Linear obstacles may include poles, trees and dead branches, cable ties, and wires. Linear markings may be solid color markings with a certain degree of transparency. Object detection technology may detect the edge of a linear obstacle, and use the edge to extend a certain distance outward as the boundary of the linear marking. A solid color layer with a preset transparency is added to the area within the boundary to form a linear marking. The preset transparency may be the degree of light transmittance of the layer set by the production staff or the user.

[0093] Figure 6 The obstacle type information provided for the third embodiment of the present invention is a schematic diagram of a linear obstacle. Figure 6 As shown, there are electric poles and electric wires in the picture data. The electric poles and electric wires are linear obstacles, and the electric poles and electric wires in the picture data have been marked with lines.

[0094] S504: Determine distance information of the linear obstacle according to the radar data.

[0095] The distance information can be the distance length between the unmanned equipment and the linear obstacle, in meters (m). By recording the emission time and the reflection reception time of the electromagnetic wave pulse signal, calculating the time interval between the emission time and the reflection reception time, multiplying the time interval by the propagation speed of the electromagnetic wave pulse signal and dividing by 2, the calculated result is the distance information.

[0096] S505: When the distance information is less than a set distance, determine a color parameter of the line-shaped mark according to the distance information; wherein the line-shaped mark adopts a preset transparency.

[0097] The set distance can be set by production personnel or users, and is a distance that needs to be paid attention to by users. The color parameter is the color of the line mark, which can include green, yellow and red. The method of determining the color parameter of the line mark can be that as the distance approaches, the color parameter of the line mark changes from green to yellow and then to red.

[0098] The advantage of this arrangement of the present invention is that by using line-shaped markings to mark linear obstacles, users can have an intuitive understanding of the size and shape of the linear obstacles, which can more easily attract the attention of users.

[0099] In the technical solution, optionally, before determining the color parameter of the line mark according to the distance information, the method further includes:

[0100] Determine the position information of the linear obstacle according to the radar data;

[0101] Accordingly, determining the color parameter of the line mark according to the distance information includes:

[0102] A color parameter of the line mark is determined according to the distance information and the orientation information.

[0103] The azimuth information can be the direction of the linear obstacle relative to the unmanned equipment. The radar system determines the horizontal azimuth and vertical azimuth of the linear obstacle relative to the radar by receiving the phase difference of the electromagnetic wave pulse signal.

[0104] When the position information is within the flight airspace, as the distance information of the linear obstacle decreases, the color parameter changes from green to yellow and then to red according to the first distance segmentation mechanism. When the position information is outside the flight airspace, as the distance information of the linear obstacle decreases, the color parameter changes from green to yellow and then to red according to the second distance segmentation mechanism.

[0105] The advantage of this setting is that by changing the color of the linear marker according to the distance information and the direction information, it can help the user process the obstacle information, so that the user can avoid the linear obstacles that are closer first and pay attention to the linear obstacles that are farther away.

[0106] Optionally, determining a color parameter of the line mark according to the distance information and the orientation information includes:

[0107] In the case where the azimuth information is within the flight airspace, determining a color parameter of the line mark according to a comparison result between the distance information and the first distance segmentation mechanism;

[0108] When the azimuth information is outside the flight airspace, the color parameter of the line mark is determined according to the comparison result between the distance information and the second distance segmentation mechanism.

[0109] When the orientation information is within the flight airspace, the unmanned equipment may collide with linear obstacles in the flight airspace if it maintains the current moving direction. Therefore, the first distance segmentation mechanism sets the distance segments corresponding to red and yellow as farther and larger distance segments, which can be divided into three segments: 35 meters to 20 meters, 20 meters to 8 meters, and 8 meters to 0 meters. When the distance information is in the distance segment of 35 meters to 20 meters, the color parameter is green, when the distance information is in the distance segment of 20 meters to 8 meters, the color parameter is yellow, and when the distance information is in the distance segment of 8 meters to 0 meters, the color parameter is red.

[0110] When the orientation information is outside the flight airspace, the unmanned device maintains the current moving direction and will not collide with linear obstacles outside the flight airspace. However, if the unmanned device changes its moving direction significantly, it will also collide with linear obstacles outside the flight airspace, and the user needs to be prompted. Therefore, the second distance segmentation mechanism sets the distance segments corresponding to red and yellow to closer and smaller distance segments, which can be divided into three segments: 35 meters to 10 meters, 10 meters to 5 meters, and 5 meters to 0 meters. When the distance information is in the distance segment of 35 meters to 10 meters, the color parameter is green, when the distance information is in the distance segment of 10 meters to 5 meters, the color parameter is yellow, and when the distance information is in the distance segment of 5 meters to 0 meters, the color parameter is red.

[0111] The advantage of this setting is that by adopting different distance segmentation mechanisms according to whether the azimuth information is within the flight airspace, it can help users analyze linear obstacle information and avoid linear obstacles in time.

[0112] Optionally, after determining the azimuth information of the linear obstacle according to the radar data, the method further includes:

[0113] In the case where the azimuth information is within the flight airspace, determining the flashing parameters of the line-shaped mark according to the comparison result between the distance information and the first distance segmentation mechanism;

[0114] When the azimuth information is outside the flight airspace, the flashing parameters of the linear marker are determined according to the comparison result between the distance information and the second distance segmentation mechanism; wherein the flashing parameters include a brightness variation range and a brightness variation period.

[0115] The flashing parameter may be a brightness change parameter of the distance tag of the linear obstacle, including two parameters: a brightness change range and a brightness change period. The brightness change range may be a brightness change amplitude of the distance tag, in candela (cd), and the brightness change period may be a time interval between any two flashes of the distance tag, in seconds (s).

[0116] When the direction information is within the flight airspace, according to the above-mentioned first distance segmentation mechanism, when the distance information is in the distance segment of 35 meters to 20 meters, the brightness change range is 50 candelas, and the brightness change period is 1 second; when the distance information is in the distance segment of 20 meters to 8 meters, the brightness change range of the distance segment is 100 candelas, and the brightness change period is 0.6 seconds; when the distance information is in the distance segment of 8 meters to 0 meters, the brightness change range is 150 candelas, and the brightness change period is 0.3 seconds.

[0117] When the direction information is within the flight airspace, according to the above-mentioned second distance segmentation mechanism, when the distance information is in the distance segment of 35 meters to 10 meters, the brightness change range is 50 candelas, and the brightness change period is 1 second; when the distance information is between 10 meters and 5 meters, the brightness change range of the distance segment is 100 candelas, and the brightness change period is 0.6 seconds; when the distance information is between 5 meters and 0 meters, the brightness change range of the distance segment is 150 candelas, and the brightness change period is 0.3 seconds.

[0118] In addition, optionally, in order to increase user attention, when the direction information is within the flight airspace, the display end emits a low-frequency alarm sound when the distance information is in the distance segment of 20 meters to 8 meters, and the display end emits a high-frequency alarm sound when the distance information is in the distance segment of 8 meters to 0 meters; when the direction information is outside the flight airspace, the display end emits a low-frequency alarm sound when the distance information is in the distance segment of 10 meters to 5 meters, and the display end emits a high-frequency alarm sound when the distance information is in the distance segment of 5 meters to 0 meters.

[0119] The advantage of this setting is that by providing users with flashing prompts with different effects based on the direction information and distance information, it can help users analyze linear obstacle information and avoid linear obstacles in time.

[0120] Embodiment 4

[0121] Figure 7 This is a schematic diagram of a module of an obstacle identification device for unmanned equipment data transmission provided by the fourth embodiment of the present invention. The device is used to execute the obstacle identification method for unmanned equipment data transmission described above, and has the corresponding functional modules and beneficial effects of the execution method. Figure 7 As shown, the device specifically includes:

[0122] The data acquisition module 710 is used to receive the image data and radar data collected by the unmanned equipment;

[0123] A type determination module 720, configured to determine type information of an obstacle according to the image data;

[0124] The identification method determination module 730 is used to determine the identification method of the obstacle according to the type information and the radar data; wherein the identification method is to perform alignment identification with the display position of the obstacle in the picture data.

[0125] In the embodiment of the device, the data acquisition module is used to receive the screen data and radar data collected by the unmanned equipment; the type determination module is used to determine the type information of the obstacle according to the screen data; the identification method determination module is used to determine the identification method of the obstacle according to the type information and the radar data; wherein the identification method is to align the display position of the obstacle in the screen data. This solution accurately locates and marks obstacles based on the transmission data of the unmanned equipment, and intuitively displays them on the remote control screen to attract the user's attention, and helps the user display obstacle information without distracting the user's attention, so as to avoid obstacles in time.

[0126] Embodiment 5

[0127] Figure 8 A schematic diagram of the structure of an obstacle identification device for transmitting data to an unmanned device provided in Embodiment 5 of the present invention is shown as follows: Figure 8 As shown, the device includes a processor 801, a memory 802, an input device 803 and an output device 804; the number of processors 801 in the device can be one or more. Figure 8 A processor 801 is taken as an example; the processor 801, memory 802, input device 803 and output device 804 in the device can be connected by a bus or other means. Figure 8 The example of connection via bus is taken. The memory 802, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the obstacle identification method for unmanned equipment transmitting data in the embodiment of the present invention. The processor 801 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 802, that is, realizes the above-mentioned mobile device target determination method. The input device 803 can be used to receive input digital or character information, and generate key signal input related to user settings and function control of the device. The output device 804 may include a display device such as a display screen.

[0128] The embodiment of the present invention further provides a storage medium including computer executable instructions, which can be stored in the form of a server application. When the computer executable instructions are executed by a computer processor, they are used to execute a method for identifying obstacles for unmanned equipment to transmit data. The method includes:

[0129] Receive image data and radar data collected by unmanned equipment;

[0130] Determine the type information of the obstacle according to the image data;

[0131] The obstacle identification method is determined according to the type information and the radar data; wherein the identification method is to perform alignment identification with the display position of the obstacle in the picture data.

[0132] It should be noted that, in this article, the terms "comprise", "include" or any other variant 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, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0133] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal (which can be a mobile device, mobile phone, computer, server or network device, etc.) to execute the methods described in each embodiment of the present application.

[0134] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for identifying obstacles for unmanned equipment to transmit data, characterized in that: The method is executed by a display terminal, which is connected to an unmanned device and is used to receive transmission data from the unmanned device; the method includes: Receive image data and radar data collected by unmanned equipment; Determine the type information of the obstacle according to the image data; The obstacle identification method is determined according to the type information and the radar data; wherein the identification method is to align the obstacle with the display position of the obstacle in the picture data.

2. The obstacle identification method for unmanned equipment data transmission according to claim 1, characterized in that: Determining an obstacle identification method according to the type information and the radar data includes: In a case where the type information is a surface obstacle, determining distance information of the surface obstacle according to the radar data; When the distance information is less than the set distance, a grid-shaped mark is generated; wherein the grid-shaped mark corresponds to the display position of the surface obstacle.

3. The obstacle identification method for unmanned equipment data transmission according to claim 2, characterized in that: After generating the grid-shaped mark, the method further includes: Determine the position information of the surface obstacle according to the radar data; A color parameter of the grid-shaped mark is determined according to the distance information and the orientation information.

4. The obstacle identification method for unmanned equipment data transmission according to claim 3 is characterized in that: Determining a color parameter of the grid-shaped mark according to the distance information and the orientation information includes: In the case where the position information is within the flight airspace, determining the color parameter of the grid-shaped mark according to the comparison result between the distance information and the first distance segmentation mechanism; When the azimuth information is outside the flight airspace, the color parameters of the grid-shaped mark are determined according to the comparison result between the distance information and the second distance segmentation mechanism.

5. The obstacle identification method for unmanned equipment data transmission according to claim 3, characterized in that: After determining the position information of the surface obstacle according to the radar data, the method further includes: In the case where the azimuth information is within the flight airspace, determining the flashing parameters of the grid-shaped marker according to the comparison result between the distance information and the first distance segmentation mechanism; When the azimuth information is outside the flight airspace, the flashing parameters of the grid-shaped logo are determined according to the comparison result between the distance information and the second distance segmentation mechanism; wherein the flashing parameters include a brightness change range and a brightness change period.

6. The obstacle identification method for unmanned equipment data transmission according to claim 1, characterized in that: Determining an obstacle identification method according to the type information and the radar data includes: In the case where the type information is a linear obstacle, generating a linear mark according to an extension direction of the linear obstacle in the picture data; Determine the distance information of the linear obstacle according to the radar data; When the distance information is less than the set distance, the color parameter of the line-shaped mark is determined according to the distance information; wherein the line-shaped mark adopts a preset transparency.

7. The obstacle identification method for unmanned equipment data transmission according to claim 6, characterized in that: Before determining the color parameter of the line mark according to the distance information, the method further includes: Determine the position information of the linear obstacle according to the radar data; Accordingly, determining the color parameter of the line mark according to the distance information includes: A color parameter of the line mark is determined according to the distance information and the orientation information.

8. The obstacle identification method for unmanned equipment data transmission according to claim 7, characterized in that: Determining a color parameter of the line mark according to the distance information and the orientation information includes: In the case where the azimuth information is within the flight airspace, determining a color parameter of the line mark according to a comparison result between the distance information and the first distance segmentation mechanism; When the azimuth information is outside the flight airspace, the color parameter of the line mark is determined according to the comparison result between the distance information and the second distance segmentation mechanism.

9. The obstacle identification method for unmanned equipment data transmission according to claim 7, characterized in that: After determining the position information of the linear obstacle according to the radar data, the method further includes: In the case where the azimuth information is within the flight airspace, determining the flashing parameters of the line-shaped mark according to the comparison result between the distance information and the first distance segmentation mechanism; When the azimuth information is outside the flight airspace, the flashing parameters of the line-shaped mark are determined according to the comparison result between the distance information and the second distance segmentation mechanism; wherein the flashing parameters include a brightness change range and a brightness change period.

10. The obstacle identification method for unmanned equipment data transmission according to claim 1, characterized in that: Before determining the type information of the obstacle according to the picture data, the method further includes: Obtaining the obstacle type entry result of the mission plot of the unmanned equipment; Accordingly, determining the type information of the obstacle according to the picture data includes: According to the obstacle type entry result, the obstacle type is identified on the image data, and the type information of the obstacle is output.

11. An obstacle identification device for unmanned equipment to transmit data, characterized in that: The device comprises: Data acquisition module, used to receive image data and radar data collected by unmanned equipment; A type determination module, used to determine the type information of the obstacle according to the image data; The identification method determination module is used to determine the identification method of the obstacle according to the type information and the radar data; wherein the identification method is to perform alignment identification with the display position of the obstacle in the picture data.

12. An unmanned device, comprising: a storage device, one or more processors; The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the obstacle identification method for unmanned equipment transmitting data as described in any one of claims 1-10.

13. A storage medium storing computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute the obstacle identification method for unmanned equipment transmitting data according to any one of claims 1 to 10.

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