Obstacle alerting method, computer device, medium, and moving device

Abstract

The present disclosure provides an obstacle alerting method, a computer device, a medium, and a moving device. A real-time image captured by a moving device is received, the real-time image can be displayed in an interactive interface of a display device, and when a target obstacle is present in a current movement area of the moving device, obstacle alert information is displayed in the alert area of the real-time image corresponding to the current movement area, thereby achieving precise obstacle alerting.

Description

Obstacle prompting method, computer device, medium and traveling device TECHNICAL FIELD

[0001] The present disclosure relates to, but is not limited to, an obstacle prompting method, a computer device, a medium and a traveling device. BACKGROUND

[0002] In recent years, with the rapid development of obstacle detection technology and the continuous iteration of electronic devices, traveling devices with obstacle prompting functions, such as unmanned aerial vehicles, have been widely used. The traveling devices can prompt obstacles during use, so that users can adjust the traveling direction of the traveling device in real time according to the prompt to avoid obstacles.

[0003] However, the obstacle prompting method of the related art has the problems of low obstacle prompting accuracy and strong interference, which affects the user experience, because the detection range of the obstacle is inconsistent with the actual traveling range of the traveling device.

[0004] SUMMARY

[0005] The following is a summary of the subject matter of the detailed description of the present disclosure. This summary is not intended to limit the scope of protection of the claims.

[0006] The present disclosure provides an obstacle prompting method, a computer device, a medium and a traveling device.

[0007] A first aspect of the present disclosure provides an obstacle prompting method, which comprises:

[0008] receiving a real-time picture taken by a traveling device;

[0009] displaying the real-time picture in an interactive interface of a display device, and displaying obstacle prompting information in a prompt area in the real-time picture in response to the presence of a target obstacle in a current traveling area of the traveling device, the prompt area corresponding to the current traveling area.

[0010] According to some embodiments of the present disclosure, the traveling device is an unmanned aerial vehicle, the current traveling area is in the shape of a cylinder, the axis of the current traveling area is parallel to the current traveling direction of the unmanned aerial vehicle, and the bottom surface of the cylinder is configured such that the minimum circumscribed circle of the projection of the unmanned aerial vehicle on a preset plane is inside the bottom surface area, and the preset plane is perpendicular to the direction from the tail of the unmanned aerial vehicle to the head.

[0011] According to some embodiments of the present disclosure, the current traveling area is in the shape of a cylinder, and the diameter of the current traveling area is equal to or greater than the diameter of the minimum circumscribed circle of the projection of the unmanned aerial vehicle on a preset plane.

[0012] According to some embodiments of the present disclosure, the diameter of the current travel area is the sum of the diameter of the minimum circumscribed circle and a preset minimum safety distance.

[0013] According to some embodiments of the present disclosure, the obstacle prompting method further comprises:

[0014] In response to a user adjustment operation on the preset minimum safety distance, the preset minimum safety distance is changed.

[0015] According to some embodiments of the present disclosure, in response to the existence of the target obstacle in the current travel area of the travel device, the display of the obstacle prompting information in the prompt area in the real-time picture comprises:

[0016] In response to the existence of the target obstacle in the current travel area and the distance between the target obstacle and the travel device being less than a preset distance threshold, the obstacle prompting information is displayed in the prompt area, the obstacle prompting information being used to prompt the contour shape of the target obstacle, or the obstacle prompting information being used to prompt the contour shape of the prompt area.

[0017] According to some embodiments of the present disclosure, if the obstacle prompting information is used to prompt the contour shape of the target obstacle, the obstacle prompting information is used to prompt the contour shape of the target obstacle in the current travel area.

[0018] According to some embodiments of the present disclosure, if the proportion of the target obstacle in the prompt area is greater than or equal to a preset proportion threshold, the obstacle prompting information is used to prompt the contour shape of the target obstacle.

[0019] If the proportion of the target obstacle in the prompt area is less than a preset proportion threshold, the obstacle prompting information is used to prompt the contour shape of the prompt area.

[0020] According to some embodiments of the present disclosure, the display of the obstacle prompting information in the prompt area comprises:

[0021] According to the distance between the target obstacle and the travel device, a prompt color is determined, different distances between the target obstacle and the travel device corresponding to different prompt colors.

[0022] The obstacle prompting information is displayed in the prompt color.

[0023] According to some embodiments of the present disclosure, if the obstacle prompting information is used to prompt the contour shape of the target obstacle, the obstacle prompting information is a prompt color block, the prompt color block being the same as the contour shape of the target obstacle.

[0024] If the obstacle prompt information is used to indicate the outline shape of the prompt area, the obstacle prompt information is a prompt line, and the prompt line has the same outline shape as the prompt area.

[0025] According to some embodiments of this disclosure, the obstacle warning method further includes:

[0026] Identify the target obstacle within the current travel area;

[0027] Determining the target obstacle within the current travel area includes:

[0028] Receive the detection images captured by the traveling device;

[0029] Based on the detected image, the target obstacle within the current travel area is determined.

[0030] According to some embodiments of this disclosure, if the obstacle prompting information is used to indicate the outline shape of the target obstacle, determining the target obstacle within the current travel area based on the detected image includes:

[0031] Based on the detected image, a first depth image corresponding to the detected image is determined;

[0032] Based on the first depth image, first obstacle information is determined. The first obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the first depth image and the traveling device.

[0033] Based on the first obstacle information, the target obstacle is determined.

[0034] According to some embodiments of this disclosure, determining the first obstacle information based on the first depth image includes:

[0035] Based on the first depth image, determine the first point cloud data set;

[0036] Based on the first depth image and the first point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the first depth image and the traveling device are calculated to obtain the first obstacle information;

[0037] The step of determining the target obstacle based on the first obstacle information includes:

[0038] Based on the first obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

[0039] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt a contour shape of the target obstacle, the determining the target obstacle in the current travel area based on the detection image comprises:

[0040] determining a second depth image corresponding to a first preset area of the detection image based on the detection image, the first preset area corresponding to the current travel area;

[0041] determining second obstacle information based on the second depth image, the second obstacle information being used to represent shapes, sizes and distances between each obstacle in a field of view area corresponding to the second depth image and the travel device;

[0042] determining the target obstacle based on the second obstacle information.

[0043] According to some embodiments of the present disclosure, the determining the second obstacle information based on the second depth image comprises:

[0044] determining a second point cloud data set based on the second depth image;

[0045] calculating shapes, sizes and distances between each obstacle in the field of view area corresponding to the second depth image and the travel device based on the second depth image and the second point cloud data set, to obtain the second obstacle information;

[0046] the determining the target obstacle based on the second obstacle information comprises:

[0047] determining, based on the second obstacle information, an obstacle with the shortest distance between the obstacle and the travel device in the current travel area as the target obstacle.

[0048] According to some embodiments of the present disclosure, the displaying the obstacle prompt information in the prompt area comprises:

[0049] determining a contour shape of the target obstacle in the real-time image based on the shapes, sizes and distances between the target obstacle and the travel device;

[0050] displaying the obstacle prompt information in the prompt area based on the contour shape of the target obstacle in the real-time image.

[0051] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt a contour shape of the prompt area, the determining the target obstacle in the current travel area based on the detection image comprises:

[0052] determine, based on the detection image, a third depth image corresponding to the detection image;

[0053] calculate, based on the third depth image, distances between each obstacle in a view area corresponding to the third depth image and the traveling device;

[0054] determine, as the target obstacle, an obstacle in the current traveling area that has the shortest distance to the traveling device.

[0055] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the prompt area, the determining, based on the detection image, of the target obstacle in the current traveling area comprises:

[0056] determine, based on the detection image, a fourth depth image corresponding to a second preset area of the detection image, the second preset area corresponding to the current traveling area;

[0057] calculate, based on the fourth depth image, distances between each obstacle in a view area corresponding to the fourth depth image and the traveling device;

[0058] determine, as the target obstacle, an obstacle in the current traveling area that has the shortest distance to the traveling device.

[0059] According to some embodiments of the present disclosure, the detection image is captured by a binocular camera of the traveling device.

[0060] According to some embodiments of the present disclosure, the traveling device is in communication connection with a remote control device, and the remote control device is used to control the current traveling direction of the traveling device.

[0061] A second aspect of the embodiments of the present disclosure provides an obstacle prompting method, which comprises:

[0062] sending the captured real-time picture to a display device, so that the display device performs the obstacle prompting method as described in the first aspect.

[0063] According to some embodiments of the present disclosure, the obstacle prompting method further comprises:

[0064] determining the target obstacle in the current traveling area;

[0065] sending the determination result of the target obstacle to the display device;

[0066] The determining of the target obstacle in the current traveling area comprises:

[0067] determining, based on a detection image, the target obstacle in the current traveling area.

[0068] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, the determining the target obstacle in the current travel area based on the detection image comprises:

[0069] determining a first depth image corresponding to the detection image based on the detection image;

[0070] determining first obstacle information based on the first depth image, the first obstacle information being used to represent the shape, size and distance between each obstacle in the field of view area corresponding to the first depth image and the travel device;

[0071] determining the target obstacle based on the first obstacle information.

[0072] According to some embodiments of the present disclosure, the determining the first obstacle information based on the first depth image comprises:

[0073] determining a first point cloud data set based on the first depth image;

[0074] calculating the shape, size and distance between each obstacle in the field of view area corresponding to the first depth image and the travel device based on the first depth image and the first point cloud data set, to obtain the first obstacle information;

[0075] The determining the target obstacle based on the first obstacle information comprises:

[0076] determining the obstacle with the shortest distance between the travel device in the current travel area as the target obstacle based on the first obstacle information.

[0077] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, the determining the target obstacle in the current travel area based on the detection image comprises:

[0078] determining a second depth image corresponding to a first preset area of the detection image based on the detection image, the first preset area corresponding to the current travel area;

[0079] determining second obstacle information based on the second depth image, the second obstacle information being used to represent the shape, size and distance between each obstacle in the field of view area corresponding to the second depth image and the travel device;

[0080] determining the target obstacle based on the second obstacle information.

[0081] According to some embodiments of the present disclosure, the determining the second obstacle information based on the second depth image comprises:

[0082] determining a second point cloud data set based on the second depth image;

[0083] calculating shapes, sizes and distances between each obstacle in a view area corresponding to the second depth image and the traveling device based on the second depth image and the second point cloud data set, to obtain the second obstacle information;

[0084] The determining the target obstacle based on the second obstacle information comprises:

[0085] determining an obstacle with the shortest distance between the traveling device in the current traveling area as the target obstacle based on the second obstacle information.

[0086] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the prompt area, the determining the target obstacle in the current traveling area based on the detection image comprises:

[0087] determining a third depth image corresponding to the detection image based on the detection image;

[0088] calculating distances between each obstacle in a view area corresponding to the third depth image and the traveling device based on the third depth image;

[0089] determining an obstacle with the shortest distance between the traveling device in the current traveling area as the target obstacle.

[0090] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the prompt area, the determining the target obstacle in the current traveling area based on the detection image comprises:

[0091] determining a fourth depth image corresponding to a second preset area of the detection image based on the detection image, the second preset area corresponding to the current traveling area;

[0092] calculating distances between each obstacle in a view area corresponding to the fourth depth image and the traveling device based on the fourth depth image;

[0093] determining an obstacle with the shortest distance between the traveling device in the current traveling area as the target obstacle.

[0094] A third aspect of the embodiments of the present disclosure provides a computer device, comprising a first memory, a first processor and a display, the first memory storing a computer program, when the computer program is executed by the first processor, the first processor is configured to receive a real-time picture taken by a traveling device; the display is configured to display the real-time picture in an interactive interface of a display device, and in response to the existence of a target obstacle in a current traveling area of the traveling device, display obstacle prompt information in a prompt area in the real-time picture, the prompt area corresponding to the current traveling area.

[0095] According to some embodiments of the present disclosure, the traveling device is a drone, the current traveling area is in a cylindrical shape, an axis of the current traveling area is parallel to a current traveling direction of the drone, and a bottom surface of the cylindrical shape is configured such that a minimum circumscribed circle of a projection of the drone on a preset plane is inside the bottom surface area, and the preset plane is perpendicular to a direction from a tail of the drone to a head of the drone.

[0096] According to some embodiments of the present disclosure, the current traveling area is in a cylindrical shape, and a diameter of the current traveling area is equal to or greater than a diameter of a minimum circumscribed circle of a projection of the drone on a preset plane.

[0097] According to some embodiments of the present disclosure, the diameter of the current traveling area is a sum of the diameter of the minimum circumscribed circle and a preset minimum safety distance.

[0098] According to some embodiments of the present disclosure, the first processor is configured to change the preset minimum safety distance in response to an adjustment operation of a user on the preset minimum safety distance.

[0099] According to some embodiments of the present disclosure, the display is configured to display the obstacle prompt information in the prompt area in response to the existence of the target obstacle in the current traveling area and a distance between the target obstacle and the traveling device being less than a preset distance threshold, and the obstacle prompt information is used to prompt a contour shape of the target obstacle, or the obstacle prompt information is used to prompt a contour shape of the prompt area.

[0100] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, the obstacle prompt information is used to prompt the contour shape of the target obstacle in the current traveling area.

[0101] According to some embodiments of the present disclosure, if a proportion of the target obstacle in the prompt area is greater than or equal to a preset proportion threshold, the obstacle prompt information is used to prompt the contour shape of the target obstacle.

[0102] If the proportion of the target obstacle in the prompt area is less than a preset proportion threshold, the obstacle prompt information is used to prompt a contour shape of the prompt area.

[0103] According to some embodiments of the present disclosure, the first processor is configured to determine a prompt color according to a distance between the target obstacle and the travel device, the distance between the target obstacle and the travel device being in different preset distance ranges corresponding to different prompt colors; and the display is configured to display the obstacle prompt information in the prompt color.

[0104] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt a contour shape of the target obstacle, the obstacle prompt information is a prompt color block, and the prompt color block is the same as the contour shape of the target obstacle.

[0105] If the obstacle prompt information is used to prompt a contour shape of the prompt area, the obstacle prompt information is a prompt line, and the prompt line is the same as the contour shape of the prompt area.

[0106] According to some embodiments of the present disclosure, the first processor is configured to determine the target obstacle in the current travel area.

[0107] The determination of the target obstacle in the current travel area includes receiving a detection image captured by the travel device, and determining the target obstacle in the current travel area based on the detection image.

[0108] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt a contour shape of the target obstacle, the first processor is configured to determine a first depth image corresponding to the detection image based on the detection image, determine first obstacle information based on the first depth image, the first obstacle information being used to represent shapes, sizes and distances between each obstacle in a view area corresponding to the first depth image and the travel device, and determine the target obstacle based on the first obstacle information.

[0109] According to some embodiments of the present disclosure, the first processor is configured to determine a first point cloud data set based on the first depth image, calculate shapes, sizes and distances between each obstacle in a view area corresponding to the first depth image and the travel device based on the first depth image and the first point cloud data set to obtain the first obstacle information, and determine the target obstacle as an obstacle having the shortest distance to the travel device in the current travel area based on the first obstacle information.

[0110] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, the first processor is configured to determine, based on the detection image, a second depth image corresponding to a first preset region of the detection image, the first preset region corresponding to the current travel region; determine, based on the second depth image, second obstacle information used to represent the shape, size and distance between each obstacle in a field of view region corresponding to the second depth image and the travel device; and determine the target obstacle based on the second obstacle information.

[0111] According to some embodiments of the present disclosure, the first processor is configured to determine, based on the second depth image, a second point cloud data set; calculate, based on the second depth image and the second point cloud data set, the shape, size and distance between each obstacle in a field of view region corresponding to the second depth image and the travel device, to obtain the second obstacle information; and determine, based on the second obstacle information, the obstacle with the shortest distance to the travel device in the current travel region as the target obstacle.

[0112] According to some embodiments of the present disclosure, the first processor is configured to determine, based on the shape, size and distance between the target obstacle and the travel device, the contour shape of the target obstacle in the real-time image; and the display is configured to display the obstacle prompt information in the prompt region based on the contour shape of the target obstacle in the real-time image.

[0113] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the prompt region, the first processor is configured to determine, based on the detection image, a third depth image corresponding to the detection image; calculate, based on the third depth image, the distance between each obstacle in a field of view region corresponding to the third depth image and the travel device; and determine, as the target obstacle, the obstacle with the shortest distance to the travel device in the current travel region.

[0114] According to some embodiments of the present disclosure, if the obstacle prompt information is used to prompt the contour shape of the prompt region, the first processor is configured to determine, based on the detection image, a fourth depth image corresponding to a second preset region of the detection image, the second preset region corresponding to the current travel region; calculate, based on the fourth depth image, the distance between each obstacle in a field of view region corresponding to the fourth depth image and the travel device; and determine, as the target obstacle, the obstacle with the shortest distance to the travel device in the current travel region.

[0115] According to some embodiments of the present disclosure, the detection image is captured by a binocular camera of the traveling device.

[0116] According to some embodiments of the present disclosure, the traveling device is communicatively connected with a remote control device, and the remote control device is configured to control a current traveling direction of the traveling device.

[0117] A fourth aspect of the present disclosure provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a first processor to implement the steps of the method of the first aspect.

[0118] A fifth aspect of the present disclosure provides a traveling device, which comprises a second memory, a second processor, and a photographing apparatus, and the second processor is configured to send a real-time image captured by the photographing apparatus to a display device, so that the display device performs the obstacle prompting method of the first aspect.

[0119] According to some embodiments of the present disclosure, the second processor is configured to perform the obstacle prompting method of the second aspect.

[0120] A sixth aspect of the present disclosure provides a traveling device, which comprises a third memory and a third processor, and the third processor is configured to perform automatic obstacle avoidance based on a target obstacle in a current traveling area of the traveling device.

[0121] According to some embodiments of the present disclosure, the traveling device is a drone, the current traveling area is in a cylindrical shape, an axis of the current traveling area is parallel to a current traveling direction of the drone, and a bottom surface of the cylindrical shape is configured such that a minimum circumscribed circle of a projection of the drone on a preset plane is inside the bottom surface area, and the preset plane is perpendicular to a direction from a tail of the drone to a head of the drone.

[0122] According to some embodiments of the present disclosure, the current traveling area is in a cylindrical shape, and a diameter of the current traveling area is equal to or greater than a diameter of a minimum circumscribed circle of a projection of the drone on a preset plane.

[0123] According to some embodiments of the present disclosure, the third processor is configured to determine the target obstacle in the current traveling area.

[0124] The determination of the target obstacle in the current traveling area comprises:

[0125] The determination of the target obstacle in the current traveling area is based on a detection image.

[0126] According to some embodiments of the present disclosure, the third processor is configured to determine, based on the detection image, a first depth image corresponding to the detection image;

[0127] determine, based on the first depth image, first obstacle information, the first obstacle information being used to represent shapes, sizes, and distances from the traveling device of respective obstacles in a field of view corresponding to the first depth image;

[0128] determine, based on the first obstacle information, the target obstacle.

[0129] According to some embodiments of the present disclosure, the third processor is configured to determine, based on the first depth image, a first point cloud data set;

[0130] based on the first depth image and the first point cloud data set, calculate shapes, sizes, and distances from the traveling device of respective obstacles in a field of view corresponding to the first depth image, to obtain the first obstacle information;

[0131] determine, based on the first obstacle information, the target obstacle as the obstacle with the shortest distance from the traveling device in the current traveling area.

[0132] According to some embodiments of the present disclosure, the third processor is configured to determine, based on the detection image, a second depth image corresponding to a first preset region of the detection image, the first preset region corresponding to the current traveling area;

[0133] determine, based on the second depth image, second obstacle information, the second obstacle information being used to represent shapes, sizes, and distances from the traveling device of respective obstacles in a field of view corresponding to the second depth image;

[0134] determine, based on the second obstacle information, the target obstacle.

[0135] According to some embodiments of the present disclosure, the third processor is configured to determine, based on the second depth image, a second point cloud data set;

[0136] based on the second depth image and the second point cloud data set, calculate shapes, sizes, and distances from the traveling device of respective obstacles in a field of view corresponding to the second depth image, to obtain the second obstacle information;

[0137] determine, based on the second obstacle information, the target obstacle as the obstacle with the shortest distance from the traveling device in the current traveling area.

[0138] According to some embodiments of the present disclosure, the third processor is configured to determine, based on the detection image, a third depth image corresponding to the detection image;

[0139] Based on the third depth image, a distance between each obstacle in a view area corresponding to the third depth image and the traveling device is calculated;

[0140] An obstacle with the shortest distance between the obstacle and the traveling device in the current traveling area is determined as the target obstacle.

[0141] According to some embodiments of the present disclosure, the third processor is configured to determine, based on the detection image, a fourth depth image corresponding to a second preset area of the detection image, the second preset area corresponding to the current traveling area;

[0142] Based on the fourth depth image, a distance between each obstacle in a view area corresponding to the fourth depth image and the traveling device is calculated;

[0143] An obstacle with the shortest distance between the obstacle and the traveling device in the current traveling area is determined as the target obstacle.

[0144] In the obstacle prompting method, the computer device and the medium provided by the embodiments of the present disclosure, the current traveling area of the traveling device is taken as a judgment area of whether there is a target obstacle, and the display of the obstacle prompting information in the corresponding prompt area, so that the detection range and the prompt range of the obstacle are both adapted to the actual traveling range of the traveling device, thereby improving the accuracy of the obstacle prompting, reducing the interference of the signal, and improving the user experience.

[0145] Other aspects can become apparent from the following detailed description, taken in conjunction with the accompanying drawings, illustrating the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0146] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure. In these drawings, like reference numerals are used to represent similar elements throughout the various figures. The drawings below depict only some embodiments of the present disclosure and are therefore not to be considered limiting of the scope of the disclosure. Other embodiments can be derived from the drawings, depending on the design criteria.

[0147] FIG. 1 is a schematic diagram of an obstacle detection range and an obstacle.

[0148] FIG. 2 is an application scenario diagram of an obstacle prompting method according to an exemplary embodiment.

[0149] FIG. 3 is a flowchart of an obstacle prompting method according to an exemplary embodiment.

[0150] FIG. 4 is a schematic diagram of a real-time view, according to an example embodiment.

[0151] FIG. 5 is a schematic diagram of a current travel area, according to an example embodiment.

[0152] FIG. 6 is a top view of a current travel area and an obstacle, according to an example embodiment.

[0153] FIG. 7 is a schematic diagram of a travel device and a current travel area, according to an example embodiment.

[0154] FIG. 8 is a flowchart of displaying obstacle prompt information in a prompt area, according to an example embodiment.

[0155] FIG. 9 is a schematic diagram of a prompt color block in a real-time view, according to an example embodiment.

[0156] FIG. 10 is a schematic diagram of a prompt line in a real-time view, according to an example embodiment.

[0157] FIG. 11 is a flowchart of determining a target obstacle in a current travel area, according to an example embodiment.

[0158] FIG. 12 is a flowchart of determining a target obstacle in a current travel area based on a detection image, according to an example embodiment.

[0159] FIG. 13 is a flowchart of determining first obstacle information based on a first depth image, according to an example embodiment.

[0160] FIG. 14 is a flowchart of determining a target obstacle in a current travel area based on a detection image, according to another example embodiment.

[0161] FIG. 15 is a flowchart of determining second obstacle information based on a second depth image, according to an example embodiment.

[0162] FIG. 16 is a flowchart of displaying obstacle prompt information in a prompt area, according to another example embodiment.

[0163] FIG. 17 is a flowchart of determining a target obstacle in a current travel area based on a detection image, according to another example embodiment.

[0164] FIG. 18 is a flowchart of determining a target obstacle in a current travel area based on a detection image, according to another example embodiment.

[0165] FIG. 19 is a flowchart of an obstacle prompting method, according to another example embodiment.

[0166] FIG. 20 is a flowchart of an obstacle prompting method according to another exemplary embodiment.

[0167] FIG. 21 is a block diagram of a computer device according to an exemplary embodiment.

[0168] Reference Signs:

[0169] 1, traveling device; 2, display device; 3, remote control device; 10, current traveling area; 20, prompting area; 30, prompting color block; 40, prompting line; 100, computer device; 101, calculation unit; 102, ROM; 103, RAM; 104, bus; 105, input / output interface; 106, input unit; 107, output unit; 108, storage unit; 109, communication unit. DETAILED DESCRIPTION

[0170] The technical solutions in the disclosed embodiments will be described clearly and completely below with reference to the drawings in the disclosed embodiments. Obviously, the described embodiments are part of, rather than all of, the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the protection scope of the present disclosure. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other in any manner without conflict.

[0171] In recent years, with the rapid development of obstacle detection technology and the continuous iteration of traveling devices such as unmanned aerial vehicles and remote control vehicles, traveling devices with obstacle prompting functions have been widely used in many fields. The traveling devices can prompt obstacles through voice, image, text, and other means during use, so that users can adjust the traveling direction of the traveling device in real time to avoid obstacles.

[0172] In the related art, as shown in FIG. 1, the projection of the detection range of the obstacle on the top view plane is usually a sector with the traveling device as the center. When an obstacle is detected in the detection range, a prompt signal will be sent out.

[0173] However, when the obstacle prompting method in the related art is used to prompt obstacles, the detection range of the obstacle is inconsistent with the actual traveling range of the traveling device. Even if the traveling device can successfully cross the obstacle while keeping the traveling direction unchanged, the prompt signal indicating the existence of the obstacle will still be sent out, which will interfere with the user in many use scenarios such as unmanned aerial vehicle obstacle avoidance flight competitions. The obstacle prompting accuracy is low, the interference is strong, and other problems exist, which affects the user experience.

[0174] The exemplary embodiments of the present disclosure provide an obstacle prompting method, a computer device, a medium and a traveling device. The obstacle prompting method can display a real-time picture taken by the traveling device in an interactive interface of a display device, and display obstacle prompting information in a prompt area corresponding to a current traveling area of the traveling device in the real-time picture when there is a target obstacle in the current traveling area of the traveling device, so as to realize automatic prompting of the obstacle. The current traveling area of the traveling device is taken as a judgment area of whether there is a target obstacle, and the obstacle prompting information is displayed in the corresponding prompt area, so that the detection range and the prompt range of the obstacle are both adapted to the actual traveling range of the traveling device, thereby improving the accuracy of the obstacle prompting, reducing the interference of signals and improving the user experience.

[0175] The obstacle prompting method provided by the embodiments of the present disclosure can be applied to an application scenario as shown in FIG. 2. The application scenario includes a traveling device 1, a display device 2 and a remote control device 3. The traveling device 1 is in communication connection with the display device 2 and the remote control device 3 respectively. The display device 2 can receive a real-time picture taken by the traveling device 1, display the real-time picture in an interactive interface of the display device 2, and display obstacle prompting information in a prompt area corresponding to a current traveling area of the traveling device 1 in the real-time picture when there is a target obstacle in the current traveling area of the traveling device 1. A user can adjust the traveling direction of the traveling device 1 through the remote control device 3 according to the obstacle prompting information to avoid the obstacle. The traveling device 1 can be a drone, a remote control car or the like. The display device 2 can be a wearable device such as glasses or a terminal device such as a mobile phone. The type of the display device 2 is not limited to this. The display device 2 with problems such as low obstacle prompting accuracy and strong interference can use the obstacle prompting method provided by the embodiments.

[0176] In one exemplary embodiment, an obstacle prompting method is provided for a display device 2. The display device 2 can be a wearable device such as glasses or a terminal device such as a mobile phone that can display images. As shown in FIG. 3, the obstacle prompting method includes the following steps:

[0177] Step S100: receiving a real-time picture taken by a traveling device.

[0178] In step S100, the display device 2 receives a real-time picture taken by the traveling device 1. The real-time picture taken by the traveling device 1 can reflect the traveling angle of the traveling device 1. When the traveling device 1 moves, the real-time picture taken by the traveling device 1 changes synchronously.

[0179] For example, the walking device 1 is a drone, and the display device 2 is glasses. The drone and glasses are connected in communication. The drone can capture real-time images through the camera installed on it and send the image data corresponding to the real-time images to the glasses so that the glasses can receive the real-time images captured by the drone.

[0180] Step S200: Display the real-time screen in the interactive interface of the display device. In response to the presence of a target obstacle in the current travel area of ​​the traveling device, display obstacle prompt information in the prompt area of ​​the real-time screen. The prompt area corresponds to the current travel area.

[0181] In step S200, the received real-time image shown in Figure 4 is first displayed on the interactive interface of the display device 2, so that the user can observe the real-time image captured by the traveling device 1 through the interactive interface of the display device 2 and experience the traveling perspective of the traveling device 1.

[0182] As shown in Figure 5, the current travel area 10 of the traveling device 1 is the spatial area that the traveling device 1 may pass through while maintaining its current travel direction. The edge of the current travel area 10 corresponds to the size of the traveling device 1, and the extension direction of the current travel area 10 is consistent with the current travel direction of the traveling device 1. A target obstacle refers to an obstacle that will interfere with the current travel direction when traveling in the current travel direction. A target obstacle can be all obstacles existing in a certain spatial area, or it can be a portion of the obstacles existing in a certain spatial area that meet certain conditions. For example, a target obstacle can be the obstacle closest to the traveling device 1.

[0183] When a target obstacle exists within the current travel area 10 of the traveling device 1, obstacle warning information is displayed in the prompt area 20 of the real-time screen displayed on the interactive interface of the display device 2. The prompt area 20 in the real-time screen corresponds to the current travel area 10 of the traveling device 1 in actual physical space. If the edge of the current travel area 10 is circular, the prompt area 20 is also circular. The obstacle warning information displayed in the prompt area 20 can indicate to the user that a target obstacle exists within the current travel area 10 of the traveling device 1. The obstacle warning information can be, for example, text, color blocks, or lines.

[0184] It is understandable that using the current travel area 10 of the traveling device 1 as the judgment area for the existence of target obstacles can make the detection range of obstacles match the actual travel range of the traveling device 1, avoiding the problem in related technologies where the traveling device 1 can successfully pass through obstacles while maintaining the same direction of travel, but still emits an obstacle warning signal, thus reducing unnecessary signal interference.

[0185] In this embodiment, by receiving the real-time picture taken by the traveling device 1, the real-time picture can be displayed in the interactive interface of the display device 2, and when there is a target obstacle in the current traveling area 10 of the traveling device 1, the display of the obstacle prompt information is performed in the prompt area 20 corresponding to the current traveling area 10 in the real-time picture, thereby realizing the automatic prompting of the obstacle. The current traveling area 10 of the traveling device 1 is taken as a judgment area of whether there is a target obstacle, and the display of the obstacle prompt information is performed in the corresponding prompt area 20, so that the detection range and the prompt range of the obstacle are both adapted to the actual traveling range of the traveling device 1, thereby improving the accuracy of the obstacle prompt, reducing the interference of the signal, and improving the user experience.

[0186] In some embodiments, the traveling device 1 is a drone, the current traveling area 10 is in the shape of a column, the axis of the column is parallel to the current traveling direction of the drone, and the bottom surface of the column is configured such that the minimum circumscribed circle of the projection of the drone on a preset plane is inside the bottom surface area, and the preset plane is perpendicular to the direction from the tail of the drone to the head of the drone.

[0187] The traveling device 1 is a drone, the current traveling area 10 is in the shape of a column, the column is a three-dimensional figure having two parallel bottom surfaces, the side edges of the column are the side edges of the current traveling area 10, the current traveling area 10 extends along the height direction of the column, and the height of the column is a preset obstacle detection distance. The two bottom surfaces of the column can be equal or not equal, and the user can set them according to the actual detection requirement. For example, in a conventional scene, the two bottom surfaces of the column can be set to be equal, so that the projection of the current traveling area 10, i.e., the detection area of the obstacle, on a plane in the space from the traveling device 1 keeps the same size. In an unconventional scene, the two bottom surfaces of the column can be set to be not equal, for example, the bottom surface of the column close to the traveling device 1 can be set to be larger, and the bottom surface of the column far from the traveling device 1 can be set to be smaller, so that the projection of the current traveling area 10, i.e., the detection area of the obstacle, on a plane in the space from the traveling device 1 gradually decreases. It can be understood that when the projection of the current traveling area 10 on a plane in the space from the traveling device 1 gradually decreases, a larger plane detection range can be maintained when the traveling device 1 is close to the obstacle, and the plane detection range can be appropriately reduced when the traveling device 1 is far from the obstacle, thereby reducing the number of detection targets under the premise of ensuring that all obstacles that can collide with the traveling device 1 are detected, and improving the response speed.

[0188] The axis of the current travel area 10 of the UAV at any time, i.e. the extending direction, is parallel to the current travel direction of the UAV, i.e. the current flight direction. The bottom surface of the column is configured to contain the minimum circumscribed circle of the projection of the UAV on a preset plane, and the minimum circumscribed circle can be inscribed in the edge of the bottom surface or can not intersect the edge of the bottom surface. The preset plane is perpendicular to the direction in which the tail of the UAV points to the nose, i.e. the current flight direction. Exemplarily, the bottom surface of the column can have a shape such as a circle, a rectangle, a triangle, and other polygons or irregular figures. The shape and size of the bottom surface of the column are such that the minimum circumscribed circle of the projection of the UAV on the preset plane can be located within the area range of the bottom surface.

[0189] It can be understood that the bottom surface of the column is configured to contain the minimum circumscribed circle of the projection of the UAV on a preset plane, and the UAV can always be located within the current travel area 10 when the UAV travels in the current travel direction, so that all obstacles that can collide with the UAV can be detected when the current travel area 10 is taken as the detection area of the target obstacle. In the same scenario, unlike the related art in which a prompt is issued in the obstacle detection range as shown in FIG. 1, no obstacle prompt information is displayed when the obstacle does not exist in the obstacle detection range as shown in FIG. 6.

[0190] In the embodiment, the current travel area 10 of the UAV is in the shape of a column, the axis of the current travel area 10 is parallel to the current travel direction of the UAV, the bottom surface of the column is configured to contain the minimum circumscribed circle of the projection of the UAV on a preset plane, and the UAV can always be located within the current travel area 10 when the UAV travels in the current travel direction, so that all obstacles that can collide with the UAV can be detected when the current travel area 10 is taken as the detection area of the target obstacle, and invalid prompts when the UAV can pass through the obstacles can be avoided, so that the detection range of the obstacles is adapted to the actual travel range of the travel device 1, thereby improving the accuracy of the obstacle prompt, reducing the interference of signals, and improving the user experience.

[0191] In some embodiments, the current travel area 10 is in the shape of a cylinder, and the diameter of the current travel area 10 is equal to or greater than the diameter of the minimum circumscribed circle of the projection of the UAV on a preset plane.

[0192] As shown in FIG. 5, FIG. 6 and FIG. 7, the current travel area 10 of the UAV is in a cylindrical shape, the bottom edge of the cylindrical shape is the edge of the current travel area 10, the current travel area 10 extends along the height direction of the cylindrical shape, and the height of the cylindrical shape is the preset obstacle detection distance. The axis of the current travel area 10 at any time is parallel to the current travel direction of the UAV, and the diameter of the current travel area 10 is equal to or greater than the diameter of the minimum circumscribed circle of the projection of the UAV on a preset plane, that is, the maximum size of the UAV in any direction in the preset plane is perpendicular to the direction from the tail to the head of the UAV.

[0193] It can be understood that the diameter of the current travel area 10 is equal to or greater than the diameter of the minimum circumscribed circle of the projection of the UAV on the preset plane, and the UAV can always be located in the current travel area 10 when the UAV travels in the current travel direction, so that all obstacles that can collide with the UAV can be detected when the current travel area 10 is used as the detection area of the target obstacle. If the current travel area 10 is equal to or slightly greater than the diameter of the minimum circumscribed circle of the projection of the UAV on the preset plane, in the same scenario, unlike the related art, the UAV will not display the obstacle prompt information when the obstacle does not exist in the obstacle detection range as shown in FIG. 6, but will issue a prompt in the obstacle detection range as shown in FIG. 1.

[0194] Since the UAV can rotate around the direction from the tail to the head during flight, the current travel area 10 is set to be in a cylindrical shape, so that any posture of the UAV after rotating around the direction from the tail to the head can always be maintained in the current travel area 10, so that all obstacles that can collide with the UAV can be detected when the current travel area 10 is used as the detection area of the target obstacle, and the UAV can avoid collision with the obstacle after overturning.

[0195] In the embodiment, the current travel area 10 of the UAV is in a cylindrical shape, the diameter of the current travel area 10 is equal to or greater than the diameter of the minimum circumscribed circle of the projection of the UAV on the preset plane, and the UAV can always be located in the current travel area 10 when the UAV travels in the current travel direction, so that all obstacles that can collide with the UAV can be detected when the current travel area 10 is used as the detection area of the target obstacle, and the UAV can avoid invalid prompts when it can pass through the obstacle, so that the obstacle detection range is adapted to the actual travel range of the travel device 1, thereby improving the accuracy of the obstacle prompt, reducing the interference of the signal, and improving the user experience.

[0196] If the diameter of the current travel area 10 is equal to the diameter of the minimum circumscribed circle of the projection of the UAV in the preset plane, the UAV may collide or scratch the obstacle outside the current travel area 10 after a slight directional adjustment, and the user needs to have high UAV flight skills to ensure that the UAV successfully passes through the small gap between the obstacles without displaying the obstacle prompt information.

[0197] To solve this problem, in some embodiments, the diameter of the current travel area 10 is the sum of the diameter of the minimum circumscribed circle and a preset minimum safety distance.

[0198] If the diameter of the current travel area 10 is set to be greater than the diameter of the minimum circumscribed circle, the diameter of the current travel area 10 can be the sum of the diameter of the minimum circumscribed circle and a preset minimum safety distance. The preset minimum safety distance is the minimum safety distance set to avoid scratching or collision of the UAV due to operation failure or too small gap between obstacles. The preset minimum safety distance can be set in advance according to experience. For example, the preset minimum safety distance can be 1 / 10 of the diameter of the minimum circumscribed circle.

[0199] In this embodiment, the diameter of the current travel area 10 is set to be the sum of the diameter of the minimum circumscribed circle and a preset minimum safety distance, so that the diameter of the current travel area 10 can be slightly larger than the diameter of the minimum circumscribed circle, i.e., the maximum size of the UAV in the preset plane, which can avoid scratching or collision of the UAV due to operation failure or too small gap between obstacles when the diameter of the current travel area 10 is equal to the diameter of the minimum circumscribed circle, ensuring flight safety without displaying the obstacle prompt information and improving user experience.

[0200] In some embodiments, the obstacle prompting method further includes the following step: in response to a user adjustment operation on the preset minimum safety distance, changing the preset minimum safety distance.

[0201] The user can make an adjustment operation on the preset minimum safety distance. When the adjustment operation of the user is identified, the preset minimum safety distance is changed to change the diameter of the current travel area 10, i.e., the detection range of the obstacle. For example, the user can realize the adjustment operation by clicking the adjustment control in the interactive interface of the display device 2. If the user's UAV flight skills are poor or the gap between the obstacles is small, the preset minimum safety distance can be increased to increase the diameter of the current travel area 10. If the user's flight skills are strong or the gap between the obstacles is large, the preset minimum safety distance can be reduced to reduce the diameter of the current travel area 10.

[0202] In this embodiment, when the adjustment operation of the user for the preset minimum safety distance is identified, the preset minimum safety distance is changed, so that the user can adjust the diameter of the current travel area 10 by making the adjustment operation to adjust the preset minimum safety distance, so that the diameter of the current travel area 10, that is, the obstacle detection range, can be adapted to the actual needs of the user, ensuring the operability and applicability of the obstacle prompting method, and improving the user experience.

[0203] In some embodiments, in response to the existence of the target obstacle in the current travel area 10 of the travel device 1, the display of the obstacle prompting information in the prompt area 20 in the real-time picture includes the following steps: in response to the existence of the target obstacle in the current travel area 10 and the distance between the target obstacle and the travel device 1 being less than a preset distance threshold, displaying the obstacle prompting information in the prompt area 20, the obstacle prompting information being used to prompt the contour shape of the target obstacle, or the obstacle prompting information being used to prompt the contour shape of the prompt area 20.

[0204] If the target obstacle exists in the current travel area 10, the distance between the target obstacle and the travel device 1 can be close or far. In the case of a far distance, the travel device 1 can also continue to travel in the current travel direction, and at this time, the display of the obstacle prompting information in the prompt area 20 will interfere with the user. Therefore, when the display of the obstacle prompting information in the prompt area 20 is required to meet the condition that the target obstacle exists in the current travel area 10, it is also necessary to ensure that the distance between the target obstacle and the travel device 1 is less than a preset distance threshold, which can be 10 meters, for example.

[0205] When the target obstacle exists in the current travel area 10 and the distance between the target obstacle and the travel device 1 is less than the preset distance threshold, the obstacle prompting information displayed in the prompt area 20 can prompt the contour shape of the target obstacle or the contour shape of the prompt area 20. If the obstacle prompting information prompts the contour shape of the target obstacle, the user can intuitively observe the contour shape of the target obstacle according to the obstacle prompting information, so as to determine the part of the target obstacle that can collide with the travel device 1 according to the contour shape of the target obstacle and determine the appropriate obstacle avoidance direction. If the obstacle prompting information prompts the contour shape of the prompt area 20, the user can determine that the target obstacle exists in the current travel area 10 according to the obstacle prompting information, which can avoid the difficulty of determining the existence of the target obstacle in the current travel area 10 by observing the contour shape of the target obstacle when the target obstacle is small.

[0206] In the embodiment, the obstacle prompt information is displayed in the prompt area 20 when the target obstacle exists in the current travel area 10 and the distance between the travel device 1 and the target obstacle is less than the preset distance threshold, so that the display of the obstacle prompt information is performed only when the travel device 1 is close to the target obstacle, that is, the obstacle avoidance is needed, the accuracy of the obstacle prompt is improved, and the interference of the signal is reduced. The obstacle prompt information can prompt the contour shape of the target obstacle or the contour shape of the prompt area 20, so that the user can intuitively observe the contour shape of the target obstacle or determine that the target obstacle exists in the current travel area 10 according to the obstacle prompt information, and reasonably avoid the obstacle according to the prompt information.

[0207] In some embodiments, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, the obstacle prompt information is used to prompt the contour shape of the target obstacle in the current travel area 10.

[0208] If the obstacle prompt information prompts the contour shape of the target obstacle, since the range in which the obstacle prompt information is displayed, that is, the prompt area 20, corresponds to the current travel area 10 of the travel device 1, the prompted contour shape of the target obstacle is the contour shape of the target obstacle in the current travel area 10. If an obstacle is completely located in the current travel area 10, the displayed contour shape of the obstacle as the target obstacle is the complete contour shape of the obstacle. If an obstacle is partially located in the current travel area 10, the displayed contour shape of the obstacle as the target obstacle is the contour shape of the part of the obstacle located in the current travel area 10.

[0209] In some embodiments, if the proportion of the target obstacle in the prompt area 20 is greater than or equal to a preset proportion threshold, the obstacle prompt information is used to prompt the contour shape of the target obstacle. If the proportion of the target obstacle in the prompt area 20 is less than the preset proportion threshold, the obstacle prompt information is used to prompt the contour shape of the prompt area.

[0210] The display mode of the obstacle prompt information can be determined according to the proportion of the target obstacle in the prompt area 20. The proportion of the target obstacle in the prompt area 20 can be determined according to the existing related technology. When the proportion of the target obstacle in the prompt area 20 is greater than or equal to a preset proportion threshold, it means that the corresponding target obstacle in the prompt area 20 is relatively large. At this time, the obstacle prompt information is used to prompt the contour shape of the target obstacle. The user can intuitively observe the contour shape of the target obstacle according to the obstacle prompt information. When the proportion of the target obstacle in the prompt area 20 is less than the preset proportion threshold, it means that the corresponding target obstacle in the prompt area 20 is relatively small. If it is difficult to determine the existence of the small target obstacle in the current travel area 10 by observing the contour shape of the target obstacle, the obstacle prompt information is used to prompt the contour shape of the prompt area 20. The user can determine the existence of the target obstacle in the current travel area according to the obstacle prompt information.

[0211] In the embodiment, when the proportion of the target obstacle in the prompt area 20 is greater than or equal to the preset proportion threshold, the obstacle prompt information is used to prompt the contour shape of the target obstacle. When the proportion of the target obstacle in the prompt area 20 is less than the preset proportion threshold, the obstacle prompt information is used to prompt the contour shape of the prompt area 20. The prompt mode of the obstacle prompt information can be determined according to the size of the target obstacle. The user can intuitively observe the contour shape of the target obstacle when the target obstacle is relatively large, and can determine whether there is a target obstacle in the current travel area 10 when the target obstacle is relatively small. The adaptability of the target obstacle prompt information in different scenarios is improved.

[0212] In some embodiments, as shown in FIG. 8, the obstacle prompt information is displayed in the prompt area 20, including the following steps:

[0213] Step S210: determining the prompt color according to the distance between the target obstacle and the travel device. The distance between the target obstacle and the travel device is in different preset distance ranges, and different prompt colors correspond to different distances.

[0214] In step S210, the distance between the target obstacle and the travel device 1 can be determined by, for example, a depth map technology, and the corresponding prompt color can be determined according to the distance between the target obstacle and the travel device 1. When the distance between the target obstacle and the travel device 1 is in different preset distance ranges, the distance has different prompt colors.

[0215] Exemplarily, when the distance between the target obstacle and the traveling device 1 is in the preset distance range of 5-10 meters, the corresponding prompt color is green, when the distance between the target obstacle and the traveling device 1 is in the preset distance range of 2-5 meters, the corresponding prompt color is yellow, and when the distance between the target obstacle and the traveling device 1 is in the preset distance range of 0-2 meters, the corresponding prompt color is red.

[0216] Step S220: displaying the obstacle prompt information in the prompt color.

[0217] In step S220, the obstacle prompt information is displayed in the prompt color corresponding to the distance between the current target obstacle and the traveling device 1. Exemplarily, when the distance between the target obstacle and the traveling device 1 is in the preset distance range of 0-2 meters, the obstacle prompt information can be displayed in red, so that the user can determine the preset distance range in which the distance between the target obstacle and the traveling device 1 is located according to the display color of the obstacle prompt information, to judge when to avoid the obstacle.

[0218] In this embodiment, the prompt color is determined according to the distance between the target obstacle and the traveling device 1, and the obstacle prompt information is displayed in the prompt color, so that the user can determine the preset distance range in which the distance between the target obstacle and the traveling device 1 is located according to the display color of the obstacle prompt information, to provide a basis for judging when to avoid the obstacle, so that the user can timely control the distance between the traveling device 1 and the target obstacle, the obstacle prompt information is more clear and specific, and the user experience is improved.

[0219] In some embodiments, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, the obstacle prompt information is a prompt color block 30, and the prompt color block 30 is the same as the contour shape of the target obstacle. If the obstacle prompt information is used to prompt the contour shape of the prompt region 20, the obstacle prompt information is a prompt line 40, and the prompt line 40 is the same as the contour shape of the prompt region 20.

[0220] As described above, the obstacle prompt information is used to prompt the contour shape of the target obstacle or the contour shape of the prompt region 20. If the obstacle prompt information is used to prompt the contour shape of the target obstacle, the obstacle prompt information can be a prompt color block 30. As shown in FIG. 9, the prompt color block 30 is a block-shaped region filled with a prompt color, and the prompt color block 30 is the same as the contour shape of the target obstacle, i.e., the edge shape of the block-shaped region filled with the prompt color is the same as the edge shape of the target obstacle in the current traveling region 10. When the prompt color block 30 is displayed in the prompt region 20, the user can intuitively observe the contour shape of the target obstacle according to the contour shape of the prompt color block 30, and determine the preset distance range in which the distance between the target obstacle and the traveling device 1 is located through the color of the prompt color block 30.

[0221] If the obstacle prompt information is used to prompt the contour shape of the prompt area 20, the obstacle prompt information can be a prompt line 40. As shown in FIG. 10, the prompt line 40 is a line with a prompt color and a preset line type, and the prompt line 40 is the same as the contour shape of the prompt area 20. For example, when the prompt area 20 is circular in the real-time picture, the prompt line 40 can be a circular dashed line with a prompt color. When the prompt line 40 is displayed in the prompt area 20, the user can determine that there is a target obstacle in the current travel area 10 according to the prompt line 40, and determine the preset distance range in which the distance between the target obstacle and the travel device 1 is located through the color of the prompt line 40.

[0222] In the embodiment, the obstacle prompt information is set as the prompt color block 30 which is the same as the contour shape of the target obstacle, or the obstacle prompt information is set as the prompt line 40 which is the same as the contour shape of the prompt area 20. The contour shape of the target obstacle can be prompted by the prompt color block 30, or it can be prompted that there is a target obstacle in the current travel area 10 by the prompt line 40, and the preset distance range in which the distance between the target obstacle and the travel device 1 is located can be prompted by the color of the prompt color block 30 or the prompt line 40. The obstacle prompt information is clearer and more specific, so that the user can easily avoid obstacles by using the obstacle prompt information, and the user experience is improved.

[0223] In some embodiments, the obstacle prompting method further comprises: determining the target obstacle in the current travel area 10.

[0224] If it is determined that there is a target obstacle in the current travel area 10 and the distance between the target obstacle and the travel device 1 is less than the preset distance threshold as the condition for displaying the obstacle prompt information, it is necessary to determine whether there is a target obstacle in the travel area and the distance between the target obstacle and the travel device 1. The target obstacle in the current travel area 10 can be determined first.

[0225] As shown in FIG. 11, the target obstacle in the current travel area 10 is determined, including the following steps:

[0226] Step S300: receiving a detection image photographed by the travel device.

[0227] In step S300, the display device 2 receives the detection image photographed by the travel device 1. The detection image can include an image corresponding to the current travel area 10 of the travel device 1, and the detection image photographed by the travel device 1 changes synchronously when the travel device 1 moves. For example, the travel device 1 is a drone, and the display device 2 is glasses. The detection image can be photographed by the camera installed on the drone, and the image data corresponding to the detection image is sent to the glasses, so that the glasses receive the detection image photographed by the drone.

[0228] It should be noted that the real-time picture and the detection image can be captured by the camera on the traveling device 1, and the real-time picture and the detection image can be captured by the same camera on the traveling device 1 or can be captured by different cameras on the traveling device 1 respectively.

[0229] Step S400: determining a target obstacle in the current traveling area based on the detection image.

[0230] In step S400, the display device 2 can determine the target obstacle in the current traveling area 10 according to the received detection image, so as to determine that there is a target obstacle in the current traveling area 10 and determine the distance between the target obstacle and the traveling device 1, so that the subsequent obstacle prompt information can be displayed in the prompt area 20 when the distance between the target obstacle and the traveling device 1 is less than the preset distance threshold.

[0231] In this embodiment, the target obstacle in the current traveling area 10 is determined by receiving the detection image captured by the traveling device 1 and according to the detection image, which realizes the determination of the target obstacle and provides a basis for judging whether there is a target obstacle in the current traveling area 10 and determining the distance between the target obstacle and the traveling device 1, so that whether to display the obstacle prompt information can be determined according to the comparison of the judgment result and the distance. The target obstacle in the current traveling area 10 is determined according to the detection image captured by the traveling device 1, which can ensure the determination accuracy of the target obstacle, thereby improving the accuracy of the obstacle prompt and improving the user experience.

[0232] In some embodiments, as shown in FIG. 12, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, the determination of the target obstacle in the current traveling area 10 based on the detection image can include the following steps:

[0233] Step S410: determining a first depth image corresponding to the detection image based on the detection image.

[0234] In step S410, the depth image is an image that can represent the distance between the object in the scene and the camera, for example, the gray value of a pixel point in the depth image can represent the distance between the object corresponding to the pixel point and the camera. The first depth image corresponding to the detection image can be determined according to the received detection image captured by the traveling device 1, and the shooting area of the detection image is the same as that of the first depth image. For example, the detection image can be converted into the first depth image by running a preset algorithm, and the first depth image can represent the distance between each obstacle in the shooting area corresponding to the detection image and the traveling device 1.

[0235] Step S420: determining first obstacle information based on the first depth image, the first obstacle information being used to represent shapes, sizes and distances between each obstacle in the field of view corresponding to the first depth image and the traveling device.

[0236] In step S420, the first obstacle information can be determined according to the first depth image corresponding to the detection image. When the obstacle prompt information is used to prompt the contour shape of the target obstacle, not only the distance between the target obstacle and the traveling device 1 needs to be determined, but also the shape and size of the target obstacle need to be determined, so the first obstacle information needs to represent the shape, size and distance between each obstacle in the field of view corresponding to the first depth image, i.e., the field of view corresponding to the detection image, and the traveling device 1.

[0237] Step S430: determining the target obstacle based on the first obstacle information.

[0238] In step S430, the target obstacle can be determined from the shapes, sizes and distances between each obstacle in the field of view corresponding to the first depth image represented by the first obstacle information.

[0239] In this embodiment, the first depth image corresponding to the detection image is determined according to the detection image, and the first obstacle information is determined according to the first depth image, so that the target obstacle can be determined according to the first obstacle information, which provides a basis for judging whether there is a target obstacle in the current traveling area 10 and determining the distance between the target obstacle and the traveling device 1, so that whether to display the obstacle prompt information can be determined according to the comparison of the judgment result and the distance. By converting the detection image into the first depth image, the shapes, sizes and distances between each obstacle and the traveling device 1 can be extracted from the first depth image, which can ensure the accuracy of the determination of the target obstacle, thereby improving the accuracy of the obstacle prompt and the user experience.

[0240] In some embodiments, as shown in FIG. 13, the first obstacle information is determined based on the first depth image, including the following steps:

[0241] Step S421: determining a first point cloud data set based on the first depth image.

[0242] In step S421, the first point cloud data set can be determined according to the first depth image corresponding to the detection image by point cloud technology and algorithm. The point cloud is a set of points in the three-dimensional space of the real world, and the point cloud technology and algorithm can capture the physical characteristics of the real world corresponding to the depth image according to the depth image, and dataize the physical characteristics to obtain the first point cloud data set. The first point cloud data set includes the spatial coordinates, reflection intensity and other data of each point in the field of view region corresponding to the first depth image, i.e., the field of view region of the detection image.

[0243] In step S422, the shape, size and distance between each obstacle in the field of view region corresponding to the first depth image and the traveling device are calculated based on the first depth image and the first point cloud data set to obtain the first obstacle information.

[0244] In step S422, the shape, size and distance between each obstacle in the field of view region corresponding to the first depth image and the traveling device are calculated based on the first depth image and the first point cloud data set to obtain the first obstacle information.

[0245] Based on the first obstacle information, the target obstacle is determined, including the following steps: based on the first obstacle information, determining the obstacle with the shortest distance between the current traveling region 10 and the traveling device 1 as the target obstacle.

[0246] After obtaining the first obstacle information, since the first obstacle information represents the shape, size and distance between each obstacle in the field of view region corresponding to the first depth image, i.e., the field of view region of the detection image, and the traveling device 1, and the field of view region is larger than the current traveling region 10 of the traveling device 1. Therefore, only the obstacles located in the current traveling region 10 can be selected, and the obstacle with the shortest distance between the current traveling region 10 and the traveling device 1 is selected as the target obstacle, so that the determination of the target obstacle is realized.

[0247] In this embodiment, the first point cloud data set is determined according to the first depth image, and the shape, size and distance between each obstacle in the field of view region corresponding to the first depth image and the travel device 1 are calculated according to the first depth image and the first point cloud data set, so as to obtain the first obstacle information, thereby realizing the determination of the first obstacle information, providing a basis for the determination of the target obstacle, and ensuring the accuracy of the first obstacle information by using the point cloud technology and the point cloud algorithm. According to the first obstacle information, the obstacle with the shortest distance between the current travel region 10 and the travel device 1 is determined as the target obstacle, thereby realizing the determination of the target obstacle, providing a basis for whether to display the obstacle prompt information, and enabling the obstacle prompt information to prompt the target obstacle with the shortest distance from the travel device 1, i.e., the obstacle most in need of obstacle avoidance, thereby ensuring the safety of obstacle avoidance and improving the user experience.

[0248] It can be understood that, if the target obstacle is determined by determining the first depth image corresponding to the detection image and determining the first obstacle information according to the first depth image, since the field of view region of the detection image is large, the calculation amount of the determination process of the first depth image and the first obstacle information is large, and there may be a problem of slow response speed.

[0249] Therefore, in some embodiments, as shown in FIG. 14, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, based on the detection image, determining the target obstacle within the current travel region 10 can further include the following steps:

[0250] Step S440: based on the detection image, determining a second depth image corresponding to a first preset region of the detection image, the first preset region corresponding to the current travel region.

[0251] In step S440, the depth map is an image capable of representing the distance between the object in the scene and the camera, for example, the distance between the object corresponding to the pixel point in the depth map and the camera can be represented by the gray value of the pixel point. According to the received detection image shot by the travel device 1, the second depth image corresponding to the first preset region of the detection image can be determined, and the first preset region corresponds to the current travel region 10, so that the field of view region corresponding to the second depth image is the same as the current travel region 10. For example, the detection image can be converted into a second depth image by running a preset algorithm, and the second depth image can represent the distance between each obstacle in the current travel region 10 and the travel device 1.

[0252] Step S450: based on the second depth image, determining second obstacle information, the second obstacle information being used to represent the shape, size and distance between each obstacle in the field of view region corresponding to the second depth image and the travel device.

[0253] In step S450, the second obstacle information can be determined according to the second depth image corresponding to the preset region of the detection image. When the obstacle prompt information is used to prompt the contour shape of the target obstacle, not only the distance between the target obstacle and the traveling device 1 needs to be determined, but also the shape and size of the target obstacle need to be determined, so the second obstacle information needs to be able to represent the shape, size and distance between each obstacle in the current traveling area 10 corresponding to the second depth image.

[0254] Step S460: determining the target obstacle based on the second obstacle information.

[0255] In step S460, the shape, size and distance between each obstacle in the current traveling area 10 corresponding to the second depth image represented by the second obstacle information can be determined as the target obstacle.

[0256] In this embodiment, the second depth image corresponding to the preset region of the detection image is determined according to the detection image, and the second obstacle information is determined according to the second depth image, which can determine the target obstacle according to the second obstacle information, provides a basis for judging whether there is a target obstacle in the current traveling area 10 and determining the distance between the target obstacle and the traveling device 1, so that whether to display the obstacle prompt information can be determined according to the comparison of the judgment result and the distance. By converting the detection image into the second depth image, the shape, size and distance between each obstacle and the traveling device 1 can be extracted from the second depth image, which can ensure the accuracy of the target obstacle determination, thereby improving the accuracy of the obstacle prompt and improving the user experience. In addition, the second depth image only corresponds to the first preset region of the detection image, which reduces the calculation amount of the determination process of the second depth image and the second obstacle information, and improves the response speed.

[0257] In some embodiments, as shown in FIG. 15, the second obstacle information is determined based on the second depth image, including the following steps:

[0258] Step S451: determining a second point cloud data set based on the second depth image.

[0259] In step S451, the second point cloud data set can be determined by point cloud technology and algorithm according to the second depth image corresponding to the preset region of the detection image. The point cloud is a set of points in the three-dimensional space of the real world, and the point cloud technology and algorithm can capture the physical characteristics of the real world corresponding to the depth image according to the depth image, and dataize it to obtain the second point cloud data set. The second point cloud data set includes the spatial coordinates, reflection intensity and other data of each point in the current traveling area 10 corresponding to the second depth image.

[0260] Step S452: Based on the second depth image and the second point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the second depth image and the traveling device are calculated to obtain second obstacle information.

[0261] In step S452, the shape and size of each obstacle in the field of view corresponding to the second depth image, i.e. the current traveling area 10, can be calculated according to the determined second point cloud data set, and the distance between each obstacle and the traveling device 1 can be determined according to the second depth image. For example, the set of points with similar spatial coordinates and the same reflection intensity can be determined as an obstacle according to the spatial coordinates and reflection intensity of each point included in the second point cloud data set, so as to determine the shape and size of each obstacle, and the distance between each obstacle and the traveling device 1 is determined according to the second depth image to obtain the second obstacle information.

[0262] Based on the second obstacle information, the target obstacle is determined, including the following steps: based on the second obstacle information, the obstacle with the shortest distance between the current traveling area 10 and the traveling device 1 is determined as the target obstacle.

[0263] After obtaining the second obstacle information, since the first obstacle information represents the shape, size and distance between each obstacle in the field of view corresponding to the second depth image, i.e. the current traveling area 10, and the traveling device 1, the target obstacle can be selected directly from these obstacles, and the obstacle with the shortest distance between the current traveling area 10 and the traveling device 1 is determined as the target obstacle, so as to realize the determination of the target obstacle.

[0264] In this embodiment, the second point cloud data set is determined according to the second depth image, and the shape, size and distance between each obstacle in the field of view corresponding to the second depth image and the traveling device 1 are calculated according to the second depth image and the second point cloud data set to obtain the second obstacle information, so as to realize the determination of the second obstacle information, provide a basis for the determination of the target obstacle, and ensure the accuracy of the second obstacle information by using point cloud technology and point cloud algorithm. According to the second obstacle information, the obstacle with the shortest distance between the current traveling area 10 and the traveling device 1 is determined as the target obstacle, so as to realize the determination of the target obstacle, provide a basis for whether to display the obstacle prompt information, and enable the obstacle prompt information to prompt the target obstacle with the shortest distance to the traveling device 1, i.e. the obstacle that needs to be avoided most, so as to ensure the safety of obstacle avoidance and improve the user experience.

[0265] In some embodiments, if the obstacle prompt information is used to prompt the contour shape of the target obstacle, as shown in FIG. 16, the obstacle prompt information is displayed in the prompt area 20, including the following steps:

[0266] Step S230: determining the contour shape of the target obstacle in the real-time picture based on the shape, size and distance between the target obstacle and the traveling device.

[0267] In step S230, either the first obstacle information or the second obstacle information as the basis for determining the target obstacle can represent the shape, size and distance between the target obstacle and the traveling device 1, and the corresponding contour shape of the target obstacle in the real-time picture can be determined according to the actual shape, size and distance between the target obstacle and the traveling device 1.

[0268] Step S240: displaying the obstacle prompt information in the prompt area based on the contour shape of the target obstacle in the real-time picture.

[0269] In step S240, the obstacle prompt information for prompting the contour shape of the target obstacle can be displayed in the prompt area 20 according to the contour shape of the target obstacle in the real-time picture. Exemplarily, the contour shape and the prompt color of the target obstacle in the real-time picture can be determined according to the actual shape, size and distance between the target obstacle and the traveling device 1 represented by the first obstacle information or the second obstacle information, and the contour shape of the prompt color block 30 can be determined according to the contour shape of the target obstacle in the real-time picture, so as to display the prompt color block 30 with the contour shape and the prompt color in the prompt area 20.

[0270] In this embodiment, the contour shape of the target obstacle in the real-time picture is determined according to the shape, size and distance between the target obstacle and the traveling device 1, and the obstacle prompt information is displayed in the prompt area 20 according to the contour shape of the target obstacle in the real-time picture, so that the obstacle prompt information can be used to prompt the contour shape of the target obstacle, and the obstacle prompt information is more clear and specific, so that the user can easily avoid obstacles by using the obstacle prompt information, and the user experience is improved.

[0271] In some embodiments, as shown in FIG. 17, if the obstacle prompt information is used to prompt the contour shape of the prompt area, and the target obstacle in the current traveling area 10 is determined based on the detection image, the method can include the following steps:

[0272] Step S471: determining a third depth image corresponding to the detection image based on the detection image.

[0273] In step S471, the depth map is an image capable of representing the distance between the object and the camera in the scene, for example, the gray value of a pixel point in the depth map can represent the distance between the object corresponding to the pixel point and the camera. According to the received detection image captured by the traveling device 1, a third depth image corresponding to the detection image can be determined, and the field of view area of the detection image is the same as that of the third depth image. For example, the detection image can be converted into a third depth image by running a preset algorithm, and the third depth image can represent the distance between each obstacle and the traveling device 1 in the field of view area corresponding to the detection image.

[0274] Step S472: Based on the third depth image, the distance between each obstacle and the traveling device in the field of view area corresponding to the third depth image is calculated.

[0275] In step S472, when the obstacle prompt information is used to prompt the contour shape of the target obstacle, it is to prompt whether there is a target obstacle in the current traveling area 10, and it is not necessary to determine the shape and size of the target obstacle by point cloud technology, but only to determine the distance between the target obstacle and the traveling device. The distance between each obstacle and the traveling device 1 in the third depth image can be determined according to the third depth image.

[0276] Step S473: Determine the obstacle with the shortest distance between the current traveling area and the traveling device as the target obstacle.

[0277] In step S473, since the field of view area corresponding to the third depth image, i.e. the field of view area corresponding to the detection image, is larger than the current traveling area 10 of the traveling device 1, it is necessary to select the obstacle located in the current traveling area 10, and the obstacle with the shortest distance between the current traveling area 10 and the traveling device 1 is selected as the target obstacle, so as to realize the determination of the target obstacle.

[0278] In this embodiment, the corresponding third depth image is determined according to the detection image, and the distance between each obstacle and the traveling device 1 in the corresponding field of view area is calculated according to the third depth image, and then the obstacle with the shortest distance between the current traveling area 10 and the traveling device 1 is selected as the target obstacle, which provides a basis for judging whether there is a target obstacle in the current traveling area 10 and determining the distance between the target obstacle and the traveling device 1. The subsequent determination of whether to display the obstacle prompt information can be determined according to the comparison of the judgment result and the distance. By converting the detection image into a third depth image, the distance between each obstacle and the traveling device 1 can be extracted through the third depth image, the determination accuracy of the target obstacle can be ensured, and the accuracy of the obstacle prompt is improved, and the user experience is improved.

[0279] It can be understood that if the target obstacle is determined by determining the third depth image corresponding to the detection image and determining the target obstacle according to the third depth image, since the field of view of the detection image is large, the calculation amount of the determination process of the distance between the third depth image and each obstacle and the travel device 1 is large, and there may be a problem of slow response speed.

[0280] Therefore, in some embodiments, as shown in FIG. 18, if the obstacle prompt information is used to prompt the contour shape of the prompt area 20, and the target obstacle in the current travel area 10 is determined based on the detection image, it can include the following steps:

[0281] Step S481: determining a fourth depth image corresponding to a second preset area of the detection image based on the detection image, the second preset area corresponding to the current travel area.

[0282] In step S481, the depth image is an image that can represent the distance between the object in the scene and the camera, for example, the gray value of a pixel point in the depth image can represent the distance between the object corresponding to the pixel point and the camera. The fourth depth image corresponding to the second preset area of the detection image can be determined according to the received detection image taken by the travel device 1, and the second preset area corresponds to the current travel area 10, so that the field of view corresponding to the fourth depth image is the same as the current travel area 10. For example, the detection image can be converted into a fourth depth image by running a preset algorithm, and the fourth depth image can represent the distance between each obstacle in the current travel area 10 and the travel device 1.

[0283] Step S482: calculating the distance between each obstacle in the field of view corresponding to the fourth depth image and the travel device based on the fourth depth image.

[0284] In step S482, when the obstacle prompt information is used to prompt the contour shape of the target obstacle, it is to prompt whether there is a target obstacle in the current travel area 10, and it is not necessary to determine the shape and size of the target obstacle by point cloud technology, but only to determine the distance between the target obstacle and the travel device. The distance between each obstacle in the fourth depth image and the travel device 1 can be determined according to the fourth depth image.

[0285] Step S483: determining the obstacle with the shortest distance between the current travel area and the travel device as the target obstacle.

[0286] In step S483, since the field of view corresponding to the fourth depth image is the same as the current travel area 10, the selection can be directly made among these obstacles, and the obstacle with the shortest distance between the current travel area 10 and the travel device 1 is selected as the target obstacle, and the determination of the target obstacle is realized.

[0287] In this embodiment, the corresponding fourth depth image is determined according to the detection image, and the distance between each obstacle in the corresponding viewfinder region and the traveling device 1 is calculated according to the fourth depth image. Then, the obstacle with the shortest distance between the current traveling region 10 and the traveling device 1 is taken as the target obstacle, which provides a basis for judging whether there is a target obstacle in the current traveling region 10 and determining the distance between the target obstacle and the traveling device 1. Then, whether to display the obstacle prompt information can be determined according to the judgment result and the distance comparison. By converting the detection image into the third depth image, the distance between each obstacle and the traveling device 1 can be extracted through the third depth image, which can ensure the determination accuracy of the target obstacle, thereby improving the accuracy of the obstacle prompt and the user experience. In addition, the fourth depth image only corresponds to the second preset region, which reduces the calculation amount of the determination process of the fourth depth image and the distance between each obstacle and the traveling device 1, and improves the response speed. In some embodiments, the detection image is captured by the binocular camera of the traveling device 1.

[0288] The detection image can be captured by the binocular camera arranged on the traveling device 1. The binocular camera can simulate human stereoscopic vision by using two cameras, and the depth information can be calculated by the difference between the images captured by the two cameras, so as to determine the corresponding first depth image or second depth image according to the detection image.

[0289] In this embodiment, the detection image is captured by the binocular camera of the traveling device 1, which facilitates the determination of the corresponding first depth image of the detection image or the second depth image of the preset region of the detection image, reduces the calculation amount of the determination process of the target obstacle, ensures the accuracy of the determination of the target obstacle, and improves the response speed and the accuracy of the obstacle prompt.

[0290] In some embodiments, the traveling device 1 is in communication connection with the remote control device 3, and the remote control device 3 is used to control the current traveling direction of the traveling device 1.

[0291] In this embodiment, the traveling device 1 is in communication connection with the remote control device 3, and the traveling device 1 can adjust the current traveling direction in response to the control operation of the user on the remote control device 3, so that the user can control the current traveling direction of the traveling device 1 according to the obstacle prompt information through the remote control device 3 to avoid obstacles.

[0292] In one example embodiment, a kind of obstacle prompt method is provided, and the display device 2 is used, as shown in Figure 19, the obstacle prompt method includes the following steps:

[0293] Step S1: receiving the real-time picture captured by the unmanned aerial vehicle;

[0294] Step S2: display the real-time picture in the interactive interface of the display device;

[0295] Step S3: receiving a detection image captured by a binocular camera of the UAV;

[0296] Step S4: determining a first depth image corresponding to the detection image based on the detection image;

[0297] Step S5: determining a first point cloud data set based on the first depth image;

[0298] Step S6: calculating shapes, sizes and distances between each obstacle in a view area corresponding to the first depth image based on the first point cloud data set, to obtain first obstacle information;

[0299] Step S7: determining an obstacle with the shortest distance to the UAV in the current travel area as a target obstacle based on the first obstacle information;

[0300] Step S8: in response to the existence of the target obstacle in the current travel area and the distance between the target obstacle and the UAV being less than a preset distance threshold, determining a prompt color according to the distance between the target obstacle and the UAV, different prompt colors corresponding to different preset distance ranges of the distance between the target obstacle and the UAV;

[0301] Step S9: determining a contour shape of the target obstacle in the real-time image based on the shapes, sizes and distances between the target obstacle and the UAV;

[0302] Step S10: displaying a prompt color block in a prompt area in the real-time image in the prompt color based on the contour shape of the target obstacle in the real-time image, the prompt area in the real-time image corresponding to the current travel area of the travel device, the prompt color block being the same as the contour shape of the target obstacle.

[0303] In the embodiment, the real-time image captured by the UAV can be displayed in the interactive interface of the display device 2, and when the target obstacle exists in the current travel area 10 of the UAV and the distance between the target obstacle and the travel device 1 is less than the preset distance threshold, the display of the obstacle prompt information is performed in the prompt area 20 corresponding to the current travel area 10 in the real-time image, so that the automatic prompting of the obstacle is realized. The current travel area 10 of the travel device 1 is taken as a judgment area of whether the target obstacle exists, and the display of the obstacle prompt information is performed in the corresponding prompt area 20, so that the detection range and the prompt range of the obstacle are both adapted to the actual travel range of the travel device 1, thereby improving the accuracy of the obstacle prompt, reducing the interference of the signal and improving the user experience.

[0304] In one example embodiment, a method for displaying an obstacle prompt on a display device 2 is provided, as shown in FIG. 20, the method comprises the following steps:

[0305] Step S11: receiving a real-time image captured by the UAV;

[0306] Step S12: displaying the real-time image on an interactive interface of the display device;

[0307] Step S13: receiving a detection image captured by the binocular camera of the UAV;

[0308] Step S14: determining a third depth image corresponding to the detection image based on the detection image;

[0309] Step S15: calculating distances between each obstacle in a viewfinder region corresponding to the third depth image and the travel device based on the third depth image;

[0310] Step S16: determining an obstacle with the shortest distance to the travel device in a current travel region as a target obstacle;

[0311] Step S17: in response to the target obstacle existing in the current travel region and the distance between the target obstacle and the UAV being less than a preset distance threshold, determining a prompt color according to the distance between the target obstacle and the UAV, the target obstacle and the UAV being in different preset distance ranges corresponding to different prompt colors;

[0312] Step S18: displaying a prompt line in a prompt region in the real-time image in the prompt color, the prompt region in the real-time image corresponding to the current travel region of the travel device, the prompt line having the same contour shape as the prompt region.

[0313] In this embodiment, by receiving the real-time image captured by the UAV, the real-time image can be displayed on the interactive interface of the display device 2, and when the target obstacle exists in the current travel region 10 of the UAV and the distance between the target obstacle and the travel device 1 is less than the preset distance threshold, the display of the obstacle prompt information is performed in the prompt region 20 corresponding to the current travel region 10 in the real-time image, realizing the automatic prompt of the obstacle. The current travel region 10 of the travel device 1 is used as a judgment region for whether the target obstacle exists, and the display of the obstacle prompt information is performed in the corresponding prompt region 20, so that the detection range and the prompt range of the obstacle are both adapted to the actual travel range of the travel device 1, thereby improving the accuracy of the obstacle prompt, reducing the interference of the signal, and improving the user experience.

[0314] In one example embodiment, a method for providing an obstacle prompt is provided, and the method comprises the following steps: sending a real-time image captured by the traveling device 1 to the display device 2, so that the display device performs the obstacle prompt method as described above.

[0315] In the method, the traveling device 1 can be a drone for example, and the traveling device 1 can capture a real-time image by its camera and send the captured real-time image to the display device 2, so that the display device 2 can display the real-time image in the interactive interface of the display device 2, and when there is a target obstacle in the current traveling area 10 of the traveling device 1, display the obstacle prompt information in the prompt area 20 corresponding to the current traveling area 10 in the real-time image, so as to realize the automatic prompt of the obstacle. The obstacle prompt method performed by the display device 2 after receiving the real-time image sent by the traveling device 1 has been described in the above embodiments, and will not be repeated here.

[0316] In some embodiments, the detection and determination of the target obstacle in the current traveling area 10 can be performed by the display device 2 according to the above embodiments, that is, the display device 2 receives the detection image captured and sent by the traveling device 1, and the display device 2 determines the target obstacle in the current traveling area 10 according to the detection image.

[0317] In other embodiments, the obstacle prompt method for the traveling device 1 further comprises: determining the target obstacle in the current traveling area 10, and sending the determination result of the target obstacle to the display device 2. The determination of the target obstacle in the current traveling area 10 comprises: determining the target obstacle in the current traveling area 10 based on the detection image.

[0318] The detection and determination of the target obstacle in the current traveling area 10 can also be performed by the traveling device 1, that is, the traveling device 1 directly determines the target obstacle in the current traveling area 10 according to the detection image captured by the traveling device 1, and sends the determination result of the determined target obstacle to the display device 2, so that the display device 2 can display the obstacle prompt information according to the determination result of the target obstacle. The determination of the target obstacle in the current traveling area 10 by the traveling device 1 is similar to the step of determining the target obstacle in the current traveling area 10 by the display device 2 according to the detection image, which has been described in the above embodiments and will not be repeated here. In one example embodiment, a computer device is provided, comprising a first processor, a first memory and a display, the first memory stores a computer program, and when the first processor executes the computer program, the first processor and the display implement the steps of any of the above obstacle prompt methods for the display device 2.

[0319] In an example embodiment, a computer readable storage medium is provided, which stores a computer program, the computer program being executed by a first processor to implement the steps of any of the above described methods for obstacle prompting of a display device 2. The computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, etc.

[0320] In an example embodiment, a traveling device 1 is provided, which comprises a second processor, a second memory, and a photographing device, the second memory storing a computer program, the second processor executing the computer program to send a real-time picture taken by the photographing device to a display device 2, so that the display device 2 can execute the steps of any of the above described methods for obstacle prompting of a display device 2.

[0321] In some embodiments, the second processor executes the computer program to enable the traveling device to execute the steps of any of the above described methods for obstacle prompting of a traveling device 1.

[0322] In an example embodiment, a traveling device 1 is provided, which comprises a third processor and a third memory, the third memory storing a computer program, the third processor executing the computer program to perform automatic obstacle avoidance according to a target obstacle in a current traveling area 10 of the traveling device 1 when the target obstacle exists in the current traveling area 10. The definition of the current traveling area 10 and the way in which the traveling device 1 determines the target obstacle in the current traveling area 10 have been described in the above described embodiments, and will not be repeated here.

[0323] In the present embodiment, the traveling device 1 can perform automatic obstacle avoidance when a target obstacle exists in its current traveling area 10, so that the detection range of the obstacle is adapted to the actual traveling range of the traveling device 1, the automatic obstacle avoidance of the traveling device 1 is realized and the accuracy of the automatic obstacle avoidance is ensured, the interference of signals is reduced, and the user experience is improved. As shown in FIG. 21, a structure block diagram of a computer device 100 which can be a display device 2 of the present disclosure will now be described, the computer device 100 comprising a computing unit 101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 102 or loaded from a storage unit 108 into a random access memory (RAM) 103. Various programs and data required for the operation of the computer device 100 can also be stored in the RAM 103. The computing unit 101, the ROM 102, and the RAM 103 are connected to each other through a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0324] A plurality of components in the computer device 100 are connected to the I / O interface 105, including an input unit 106, an output unit 107, a storage unit 108, and a communication unit 109. The input unit 106 can be any type of device capable of inputting information to the computer device 100, and can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the computer device 100, and can include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and / or a remote controller. The output unit 107 can be any type of device capable of presenting information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 108 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 109 allows the computer device 100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0325] The computing unit 101 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 101 performs various methods and processes described above, such as the obstacle cueing method. For example, in some embodiments, the obstacle cueing method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 108. In some embodiments, part or all of the computer program can be loaded and / or installed onto the computer device 100 via the ROM 102 and / or the communication unit 109. When the computer program is loaded onto the RAM 103 and executed by the computing unit 101, one or more steps of the obstacle cueing method described above can be performed. Alternatively, in other embodiments, the computing unit 101 can be configured to perform the obstacle cueing method by any other appropriate means, such as by means of firmware.

[0326] The computer device 100 can be implemented with one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for performing the obstacle cueing method described above.

[0327] The embodiments or examples in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between embodiments can be mutually referred to.

[0328] In the description of the specification, the description referring to the terms "embodiment", "exemplary embodiment", and the like means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the disclosure.

[0329] In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0330] It can be understood that the terms "first", "second", and the like used in the disclosure can be used in the disclosure to describe various structures, but these structures are not limited by these terms. These terms are only used to distinguish the first structure from another structure.

[0331] In one or more drawings, the same elements are denoted by similar reference numerals. For the sake of clarity, parts of the drawings are not drawn to scale. In addition, some well-known parts can not be shown. For the sake of simplicity, structures obtained after several steps can be described in one drawing. Many specific details of the disclosure are described below, such as the structure, material, size, processing process, and technology of the device, in order to more clearly understand the disclosure. However, as those skilled in the art can understand, the disclosure can be implemented without these specific details.

[0332] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the disclosure, and not to limit them; although the disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the disclosure. Industrial applicability

[0333] In the obstacle prompting method, the computer device and the medium provided by the embodiments of the present disclosure, by receiving a real-time picture taken by a traveling device, the real-time picture can be displayed in an interactive interface of a display device, and when there is a target obstacle in a current traveling area of the traveling device, the display of obstacle prompting information is performed in a prompt area corresponding to the current traveling area in the real-time picture, thereby realizing the automatic prompting of the obstacle. The current traveling area of the traveling device is taken as a judgment area of whether there is a target obstacle, and the display of obstacle prompting information is performed in the corresponding prompt area, so that the detection range and the prompting range of the obstacle are both adapted to the actual traveling range of the traveling device, thereby improving the accuracy of the obstacle prompting, reducing the interference of the signal, and improving the user experience.

Claims

1. An obstacle cues method, wherein, The obstacle warning method includes: Receive real-time images captured by mobile equipment; The real-time image is displayed in the interactive interface of the display device. In response to the presence of a target obstacle in the current travel area of ​​the traveling device, obstacle prompt information is displayed in the prompt area of ​​the real-time image, and the prompt area corresponds to the current travel area.

2. The obstacle warning method according to claim 1, wherein, The traveling device is a drone. The current traveling area is cylindrical. The axis of the current traveling area is parallel to the current traveling direction of the drone. The bottom surface of the cylinder is configured such that the smallest circumcircle of the projection of the drone onto a preset plane is inside the bottom surface area. The preset plane is perpendicular to the direction from the tail of the drone to the head.

3. The obstacle warning method according to claim 2, wherein, The current travel area is cylindrical, and the diameter of the current travel area is equal to or greater than the diameter of the smallest circumcircle of the projection of the UAV onto the preset plane.

4. The obstacle warning method according to claim 3, wherein, The diameter of the current travel area is the sum of the diameter of the smallest circumcircle and the preset minimum safety distance.

5. The obstacle warning method according to claim 4, wherein, The obstacle warning method further includes: In response to the user's adjustment operation on the preset minimum safe distance, the preset minimum safe distance is changed.

6. The obstacle warning method according to any one of claims 1 to 5, wherein, The step of displaying obstacle warning information in the prompt area of ​​the real-time screen in response to the presence of a target obstacle in the current travel area of ​​the traveling device includes: In response to the presence of the target obstacle within the current travel area and the distance between the target obstacle and the travel device being less than a preset distance threshold, obstacle warning information is displayed in the warning area. The obstacle warning information is used to indicate the outline shape of the target obstacle, or the obstacle warning information is used to indicate the outline shape of the warning area.

7. The obstacle warning method according to claim 6, wherein, If the obstacle prompt information is used to indicate the outline shape of the target obstacle, the obstacle prompt information is used to indicate the outline shape of the target obstacle within the current travel area.

8. The obstacle warning method according to claim 6 or 7, wherein, If the proportion of the target obstacle in the prompt area is greater than or equal to a preset proportion threshold, the obstacle prompt information is used to prompt the outline shape of the target obstacle; If the proportion of the target obstacle in the prompt area is less than a preset proportion threshold, the obstacle prompt information is used to indicate the outline shape of the prompt area.

9. The obstacle warning method according to any one of claims 6 to 8, wherein, The step of displaying the obstacle warning information in the warning area includes: The prompt color is determined based on the distance between the target obstacle and the traveling device, and different prompt colors correspond to different distance ranges between the target obstacle and the traveling device; The obstacle warning information is displayed using the indicated color.

10. The obstacle warning method according to any one of claims 6 to 9, wherein, If the obstacle prompt information is used to indicate the outline shape of the target obstacle, the obstacle prompt information is a prompt color block, and the prompt color block is the same as the outline shape of the target obstacle; If the obstacle prompt information is used to indicate the outline shape of the prompt area, the obstacle prompt information is a prompt line, and the prompt line has the same outline shape as the prompt area.

11. The obstacle warning method according to any one of claims 6 to 10, wherein, The obstacle warning method further includes: Identify the target obstacle within the current travel area; Determining the target obstacle within the current travel area includes: Receive the detection images captured by the traveling device; Based on the detected image, the target obstacle within the current travel area is determined.

12. The obstacle warning method according to claim 11, wherein, If the obstacle warning information is used to indicate the outline shape of the target obstacle, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a first depth image corresponding to the detected image is determined; Based on the first depth image, first obstacle information is determined. The first obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the first depth image and the traveling device. Based on the first obstacle information, the target obstacle is determined.

13. The obstacle warning method according to claim 12, wherein, The step of determining the first obstacle information based on the first depth image includes: Based on the first depth image, determine the first point cloud data set; Based on the first depth image and the first point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the first depth image and the traveling device are calculated to obtain the first obstacle information; The step of determining the target obstacle based on the first obstacle information includes: Based on the first obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

14. The obstacle warning method according to claim 11, wherein, If the obstacle warning information is used to indicate the outline shape of the target obstacle, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a second depth image corresponding to a first preset region of the detected image is determined, wherein the first preset region corresponds to the current travel region; Based on the second depth image, second obstacle information is determined. The second obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the second depth image and the traveling device. The target obstacle is determined based on the second obstacle information.

15. The obstacle warning method according to claim 14, wherein, The determination of the second obstacle information based on the second depth image includes: Based on the second depth image, determine the second point cloud data set; Based on the second depth image and the second point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the second depth image and the traveling device are calculated to obtain the second obstacle information; The step of determining the target obstacle based on the second obstacle information includes: Based on the second obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

16. The obstacle warning method according to any one of claims 12 to 15, wherein, Displaying obstacle warning information in the warning area includes: Based on the shape and size of the target obstacle and its distance from the traveling device, the outline shape of the target obstacle in the real-time image is determined; Based on the outline shape of the target obstacle in the real-time image, obstacle prompt information is displayed in the prompt area.

17. The obstacle warning method according to claim 11, wherein, If the obstacle warning information is used to indicate the outline shape of the warning area, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a third depth image corresponding to the detected image is determined; Based on the third depth image, calculate the distance between each obstacle in the view area corresponding to the third depth image and the traveling device; The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

18. The obstacle warning method according to claim 11, wherein, If the obstacle warning information is used to indicate the outline shape of the warning area, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a fourth depth image corresponding to the second preset region of the detected image is determined, and the second preset region corresponds to the current travel region; Based on the fourth depth image, calculate the distance between each obstacle in the view area corresponding to the fourth depth image and the traveling device; The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

19. The obstacle warning method according to any one of claims 11 to 18, wherein, The detected images are captured by the binocular camera of the traveling device.

20. The obstacle warning method according to any one of claims 1 to 19, wherein, The traveling device is communicatively connected to a remote control device, which is used to control the current traveling direction of the traveling device.

21. An obstacle cues method, wherein, The obstacle warning method includes: The captured real-time footage is sent to a display device so that the display device performs the obstacle warning method as described in any one of claims 1-20.

22. The obstacle warning method according to claim 21, wherein, The obstacle warning method further includes: Identify the target obstacle within the current travel area; The determination result of the target obstacle is sent to the display device; Determining the target obstacle within the current travel area includes: Based on the detected image, the target obstacle in the current travel area is determined.

23. The obstacle warning method according to claim 22, wherein, If the obstacle warning information is used to indicate the outline shape of the target obstacle, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a first depth image corresponding to the detected image is determined; Based on the first depth image, first obstacle information is determined. The first obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the first depth image and the traveling device. Based on the first obstacle information, the target obstacle is determined.

24. The obstacle warning method according to claim 23, wherein, The step of determining the first obstacle information based on the first depth image includes: Based on the first depth image, determine the first point cloud data set; Based on the first depth image and the first point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the first depth image and the traveling device are calculated to obtain the first obstacle information; The step of determining the target obstacle based on the first obstacle information includes: Based on the first obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

25. The obstacle warning method according to claim 22, wherein, If the obstacle warning information is used to indicate the outline shape of the target obstacle, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a second depth image corresponding to a first preset region of the detected image is determined, wherein the first preset region corresponds to the current travel region; Based on the second depth image, second obstacle information is determined. The second obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the second depth image and the traveling device. The target obstacle is determined based on the second obstacle information.

26. The obstacle warning method according to claim 25, wherein, The determination of the second obstacle information based on the second depth image includes: Based on the second depth image, determine the second point cloud data set; Based on the second depth image and the second point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the second depth image and the traveling device are calculated to obtain the second obstacle information; The step of determining the target obstacle based on the second obstacle information includes: Based on the second obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

27. The obstacle warning method according to claim 22, wherein, If the obstacle warning information is used to indicate the outline shape of the warning area, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a third depth image corresponding to the detected image is determined; Based on the third depth image, calculate the distance between each obstacle in the view area corresponding to the third depth image and the traveling device; The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

28. The obstacle warning method according to claim 22, wherein, If the obstacle warning information is used to indicate the outline shape of the warning area, determining the target obstacle within the current travel area based on the detected image includes: Based on the detected image, a fourth depth image corresponding to the second preset region of the detected image is determined, and the second preset region corresponds to the current travel region; Based on the fourth depth image, calculate the distance between each obstacle in the view area corresponding to the fourth depth image and the traveling device; The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

29. A computer device comprising a first memory, a first processor, and a display, wherein the first memory stores a computer program, When the computer program is executed by the first processor, the first processor is configured to receive real-time images captured by the traveling device; the display is configured to display the real-time images in the interactive interface of the display device, and in response to the presence of a target obstacle in the current traveling area of ​​the traveling device, to display obstacle warning information in a warning area in the real-time images, the warning area corresponding to the current traveling area.

30. The computer device according to claim 29, wherein, The traveling device is a drone. The current traveling area is cylindrical. The axis of the current traveling area is parallel to the current traveling direction of the drone. The bottom surface of the cylinder is configured such that the smallest circumcircle of the projection of the drone onto a preset plane is inside the bottom surface area. The preset plane is perpendicular to the direction from the tail of the drone to the head.

31. The computer device according to claim 30, wherein, The current travel area is cylindrical, and the diameter of the current travel area is equal to or greater than the diameter of the smallest circumcircle of the projection of the UAV onto the preset plane.

32. The computer device according to claim 31, wherein, The diameter of the current travel area is the sum of the diameter of the smallest circumcircle and the preset minimum safety distance.

33. The computer device according to claim 32, wherein, The first processor is configured to change the preset minimum safe distance in response to a user's adjustment operation for the preset minimum safe distance.

34. The computer device according to any one of claims 29 to 33, wherein, The display is configured to display obstacle warning information in the warning area in response to the presence of the target obstacle in the current travel area and the distance between the target obstacle and the travel device being less than a preset distance threshold. The obstacle warning information is used to indicate the outline shape of the target obstacle, or the obstacle warning information is used to indicate the outline shape of the warning area.

35. The computer device according to claim 34, wherein, If the obstacle prompt information is used to indicate the outline shape of the target obstacle, the obstacle prompt information is used to indicate the outline shape of the target obstacle within the current travel area.

36. The computer device according to claim 34 or 35, wherein, If the proportion of the target obstacle in the prompt area is greater than or equal to a preset proportion threshold, the obstacle prompt information is used to prompt the outline shape of the target obstacle; If the proportion of the target obstacle in the prompt area is less than a preset proportion threshold, the obstacle prompt information is used to indicate the outline shape of the prompt area.

37. The computer device according to any one of claims 34 to 36, wherein, The first processor is configured to determine a prompt color based on the distance between the target obstacle and the traveling device, with different prompt colors corresponding to different preset distance ranges between the target obstacle and the traveling device; the display is configured to display the obstacle prompt information in the prompt color.

38. The computer device according to any one of claims 34 to 37, wherein, If the obstacle prompt information is used to indicate the outline shape of the target obstacle, the obstacle prompt information is a prompt color block, and the prompt color block is the same as the outline shape of the target obstacle; If the obstacle prompt information is used to indicate the outline shape of the prompt area, the obstacle prompt information is a prompt line, and the prompt line has the same outline shape as the prompt area.

39. The computer device according to any one of claims 34 to 38, wherein, The first processor is configured to determine the target obstacle within the current travel area; Determining the target obstacle within the current travel area includes: receiving a detection image captured by the travel device; Based on the detected image, the target obstacle within the current travel area is determined.

40. The computer device according to claim 39, wherein, If the obstacle prompting information is used to indicate the outline shape of the target obstacle, the first processor is configured to determine a first depth image corresponding to the detection image based on the detection image; Based on the first depth image, first obstacle information is determined. The first obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the first depth image and the traveling device. Based on the first obstacle information, the target obstacle is determined.

41. The computer device according to claim 40, wherein, The first processor is configured to determine a first point cloud data set based on the first depth image; and to calculate the shape, size, and distance between each obstacle in the field of view corresponding to the first depth image and the first point cloud data set, thereby obtaining the first obstacle information. Based on the first obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

42. The computer device according to claim 39, wherein, If the obstacle prompting information is used to indicate the outline shape of the target obstacle, the first processor is configured to determine a second depth image corresponding to a first preset region of the detection image based on the detection image, wherein the first preset region corresponds to the current travel region; Based on the second depth image, second obstacle information is determined. The second obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the second depth image and the traveling device. The target obstacle is determined based on the second obstacle information.

43. The computer device according to claim 42, wherein, The first processor is configured to determine a second point cloud data set based on the second depth image; and to calculate the shape, size, and distance between each obstacle in the field of view corresponding to the second depth image and the second point cloud data set, thereby obtaining the second obstacle information. Based on the second obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

44. The computer device according to any one of claims 40 to 43, wherein, The first processor is configured to determine the outline shape of the target obstacle in the real-time image based on the shape and size of the target obstacle and its distance from the traveling device; the display is configured to display obstacle warning information in the warning area based on the outline shape of the target obstacle in the real-time image.

45. The computer device according to claim 39, wherein, If the obstacle prompting information is used to indicate the outline shape of the prompting area, the first processor is configured to determine a third depth image corresponding to the detection image based on the detection image; and calculate the distance between each obstacle in the viewfinder area corresponding to the third depth image and the traveling device based on the third depth image. The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

46. ​​The computer device according to claim 39, wherein, If the obstacle prompt information is used to indicate the outline shape of the prompt area, the first processor is configured to determine a fourth depth image corresponding to a second preset area of ​​the detection image based on the detection image, wherein the second preset area corresponds to the current travel area; Based on the fourth depth image, calculate the distance between each obstacle in the view area corresponding to the fourth depth image and the traveling device; The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

47. The computer device according to any one of claims 39 to 46, wherein, The detected images are captured by the binocular camera of the traveling device.

48. The computer device according to any one of claims 29 to 47, wherein, The traveling device is communicatively connected to a remote control device, which is used to control the current traveling direction of the traveling device.

49. A computer-readable storage medium having a computer program stored thereon, wherein, When the computer program is executed by the first processor, it implements the steps of the method according to any one of claims 1 to 20.

50. A traveling device, wherein, The traveling device includes a second memory, a second processor, and a camera, wherein the second processor is configured to send real-time images captured by the camera to a display device, so that the display device performs the obstacle warning method as described in any one of claims 1-20.

51. The traveling device according to claim 50, wherein, The second processor is configured to perform the obstacle cuing method as described in any one of claims 21 to 28.

52. A traveling device, wherein, The traveling device includes a third memory and a third processor, the third processor being configured to automatically avoid obstacles based on the target obstacle within the current traveling area in response to the presence of a target obstacle within the current traveling area of ​​the traveling device.

53. The traveling device according to claim 52, wherein, The traveling device is a drone. The current traveling area is cylindrical. The axis of the current traveling area is parallel to the current traveling direction of the drone. The bottom surface of the cylinder is configured such that the smallest circumcircle of the projection of the drone onto a preset plane is inside the bottom surface area. The preset plane is perpendicular to the direction from the tail of the drone to the head.

54. The traveling device according to claim 53, wherein, The current travel area is cylindrical, and the diameter of the current travel area is equal to or greater than the diameter of the smallest circumcircle of the projection of the UAV onto the preset plane.

55. The traveling device according to any one of claims 52 to 54, wherein, The third processor is configured to determine the target obstacle within the current travel area; Determining the target obstacle within the current travel area includes: Based on the detected image, the target obstacle in the current travel area is determined.

56. The traveling device according to claim 55, wherein, The third processor is configured to determine a first depth image corresponding to the detected image based on the detected image; Based on the first depth image, first obstacle information is determined. The first obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the first depth image and the traveling device. Based on the first obstacle information, the target obstacle is determined.

57. The traveling device according to claim 56, wherein, The third processor is configured to determine a first point cloud data set based on the first depth image; Based on the first depth image and the first point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the first depth image and the traveling device are calculated to obtain the first obstacle information; Based on the first obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

58. The traveling device according to claim 55, wherein, The third processor is configured to determine a second depth image corresponding to a first preset region of the detection image based on the detection image, wherein the first preset region corresponds to the current travel region; Based on the second depth image, second obstacle information is determined. The second obstacle information is used to characterize the shape, size, and distance between each obstacle in the viewfinder area corresponding to the second depth image and the traveling device. The target obstacle is determined based on the second obstacle information.

59. The traveling device according to claim 58, wherein, The third processor is configured to determine a second point cloud data set based on the second depth image; Based on the second depth image and the second point cloud data set, the shape, size and distance between each obstacle in the field of view corresponding to the second depth image and the traveling device are calculated to obtain the second obstacle information; Based on the second obstacle information, the obstacle with the shortest distance to the traveling device in the current traveling area is determined as the target obstacle.

60. The traveling device according to claim 55, wherein, The third processor is configured to determine a third depth image corresponding to the detected image based on the detected image; Based on the third depth image, calculate the distance between each obstacle in the view area corresponding to the third depth image and the traveling device; The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

61. The traveling device according to claim 55, wherein, The third processor is configured to determine a fourth depth image corresponding to a second preset region of the detection image based on the detection image, wherein the second preset region corresponds to the current travel region; Based on the fourth depth image, calculate the distance between each obstacle in the view area corresponding to the fourth depth image and the traveling device; The obstacle with the shortest distance to the traveling device in the current traveling area is identified as the target obstacle.

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