59 results about "Traverse" patented technology

The invention discloses a conductor instance detection method and system based on key point matching, and the method comprises the steps: obtaining original aerial image data, generating a four-dimensional feature matrix through dynamic feature mapping and enhancement processing, obtaining three-dimensional projection feature data through projection transformation, and carrying out the feature enhancement to obtain enhanced feature data. Generating enhanced feature map data through multi-scale feature fusion; performing feature recombination on the enhanced feature map data to obtain feature matrix data, generating response matrix data through recursive decomposition and mapping, and calculating adaptive threshold data to screen key points; generating thermodynamic diagram data for the screened key point set through a multi-layer thermodynamic diagram, obtaining a spatial incidence matrix by combining spatial feature enhancement, and performing endpoint matching based on multi-dimensional constraints; and finally, through boundary feature analysis and cross-block instance matching, a global traverse map is constructed, and accurate detection of traverse instances is realized. According to the invention, the accuracy and robustness of wire detection can be effectively improved.

The invention relates to the technical field of tree obstacle recognition, and discloses a tree obstacle recognition method and system, computer equipment and a storage medium, and the method comprises the steps: obtaining tower coordinates and conductor parameters of a power transmission line, generating a conductor three-dimensional geometric model through employing an improved catenary model, and carrying out the interval sampling, and obtaining the point cloud data of a simulated conductor; obtaining original topographic data, and performing coordinate alignment, feature extraction and feature fusion on the original topographic data and the simulated traverse point cloud data to obtain multi-modal topographic features; inputting the to-be-predicted time point and the original tree data into the tree height prediction model to obtain a predicted tree height; and calculating the minimum distance between the conductor and the tree according to the simulated conductor point cloud data, the laser radar point cloud data, the multi-modal topographic features and the predicted tree height. According to the invention, through dynamic wire modeling, multi-source data fusion and intelligent risk prediction, risk pre-judgment of the whole life cycle of the power transmission line is realized, and the operation safety and stability of the power transmission line are improved.

The invention relates to the technical field of roadbed side slopes, and provides a roadbed side slope construction process which comprises the following steps: S1, construction preparation: according to a drawing and survey and arrangement reference data and survey marks provided by a station supervision engineer, conducting traverse survey, leveling and side pile measurement in a roadbed, and summarizing a measurement result; s2, construction lofting is conducted, specifically, a roadbed center line and a filling slope toe line are paid out through a coordinate lofting method, and the slope toe position is calculated according to the set drawing specific height; s3, slope surface construction is conducted, specifically, paying off and slope brushing are conducted, a cushion layer is laid and then strickling is conducted, a formwork is installed according to the size of a to-be-reserved expansion joint, then concrete is poured, and after the concrete is dried to form a concrete layer, the formwork is detached; and S4, elastic filling strips are installed, specifically, connecting rods are inserted into the concrete layers on the two sides of the expansion joint, and the ends, away from the concrete layers, of the connecting rods extend into the expansion joint. The roadbed slope protection structure has the beneficial effect of improving the protection effect on the roadbed slope.

The invention relates to a stability analysis method for control points in a tunnel in the technical field of tunnel measurement, which comprises the following steps of: S1, establishing a wire control network and a leveling network in the tunnel, and remeasuring the control points; s2, selecting a traverse point as an analysis point, comparing the two groups of horizontal angle data obtained after retest, and judging whether the two groups of horizontal angle data meet the standard or not; s3, establishing a deviation limiting system of two adjacent control points, wherein the deviation limiting system comprises a side length deviation standard, an elevation deviation standard and a difference relative precision standard of coordinate differences; s4, taking two control points adjacent to the analysis point as two target points, comparing the deviation limiting systems of the three control points pairwise, and integrating the judgment condition that the horizontal angle is relatively poor to obtain the stability condition of the analysis point; according to the method, comprehensive analysis can be carried out from multiple aspects, and the accuracy of stability judgment is improved.

An embodiment of the present invention relates to a traverse direction control method, apparatus, and moving object for autonomous driving. More particularly, the traverse direction control apparatus for autonomous driving includes an information collection part for collecting data from one or more cameras mounted on an autonomous moving object; a target point information calculation module for calculating target point information on the basis of information collected from a camera module; and a traverse direction control parameter calculation module configured to obtain, based on the target point information, a traverse direction distance from the moving object at time t to a target point, an angle between a head of the moving object and the target point, and a present yaw rate of the moving object, and calculate a traverse direction control parameter of time t+1 based on a pre-stored kinematic model.

The application discloses a kind of automatically generated river section and feature extraction method, comprising: by specified numerical value, along the river center line / longitudinal axis line generation point, and point is set to number along river direction, and adjacent line recursive generation center line is given to these line number;According to the order of numbering, traverse point, and make perpendicular to its adjacent line;Generation perpendicular segment and the intersection of adjacent line, and these intersection points are given the numbering value consistent with point;With intersection point along the direction of existing perpendicular segment, continue to make perpendicular to its adjacent line;Respectively, the intersection of perpendicular segment and adjacent line is solved, and these intersection points are given the numbering consistent with the starting point of perpendicular segment;Until perpendicular segment reaches river boundary;According to center line number and the intersection point number of generated perpendicular segment, line segment is generated, and automatic section establishment is completed;Information extraction point is generated by the generated section line;Extract section two / three-dimensional grid data information.The application realizes the automatic section generation and attribute extraction of river with relatively severe width and curvature variation.

The invention discloses an automatic traverse measurement method for a tunnel, and the method comprises the following steps: setting a control point outside the tunnel, installing a prism on the control point, measuring the height of the prism, setting traverse points on the relatively stable inner walls of the two sides of the tunnel, installing a total station and a prism on each traverse point, measuring the instrument height and the prism height of each observation station; measuring a horizontal angle, a zenith distance and a slope distance through each traverse point to obtain observation data at each traverse point; data acquisition and transmission: acquiring angle and distance data at each lead point, and transmitting and summarizing the angle and distance data in a wireless or optical fiber manner; conducting traverse calculation to obtain coordinates of each traverse point; and result analysis is carried out. Through cooperative work of the total station, the automatic control platform and the data processing and analysis module, automation and high precision of wire measurement are realized. The system has the advantages of high automation degree, high precision, high reliability, strong adaptability and the like, and can meet the requirements of modern tunnel engineering on the measurement technology.

This application discloses a method, system, and device for identifying target geological structures in coal seams. The target geological structures include folds, faults, lower local thickening zones, and upper local thickening zones. The method acquires full measured data of cross-layer boreholes in the target longwall face, along with the strike, dip, and true dip parameters of the coal seam. Preprocessing yields the three-dimensional coordinates of the borehole entry point, the three-dimensional coordinates of the exit point, and the true thickness of the coal seam. A square nine-grid analysis window is constructed with the strike and dip of the coal seam as the directional reference. Target cross-layer boreholes with stable coal seam thickness are selected based on the deviation of the true thickness of the coal seam. A spatial plane equation of the coal seam is established to calculate the theoretical entry point elevation of the target cross-layer borehole, generating regional target geological structure identification results. A sliding window traverses the entire longwall face, outputting the overall regional target geological structure identification results. This method can stably identify hidden small target geological structures and significantly improves computational efficiency compared to traditional methods. It can be widely applied to advanced geological exploration scenarios in coal mine longwall faces.

The invention discloses a method and a system for quality inspection of river flow direction contradictions and electronic equipment. The method comprises the following steps: acquiring river element data based on a linear water system layer of a geographic information database; analyzing the river element data to obtain at least one river vector; the river vectors are traversed, key value pair information of river nodes is generated based on a preset data structure, and the key value pair information comprises coordinate information of the river nodes, the number of starting points corresponding to the river nodes, starting point geometric figures, the number of terminal points and terminal point geometric figures. And identifying flow direction contradictory nodes in the river nodes according to a preset flow direction contradictory condition and the key value pair information. According to the method, automatic and high-precision recognition of river flow direction contradictions is realized by constructing a key value pair data structure, flow direction logic errors in various directed line elements can be quickly and accurately positioned, vector data quality and storage efficiency are remarkably improved, and reliable technical support is provided for geographic information system data management and water system network analysis.

The present invention belongs to the technical field of island-tunnel engineering surveying, and particularly relates to a method for conducting traverse survey of immersed tunnel into the hole in island-tunnel engineering. The method includes: arranging a left out-of-hole survey station, a right out-of-hole survey station and an orientation side point outside the entrance of the immersed tunnel, and arranging a left-door survey station and a right-door survey station near the floodgate to form an out-of-hole control network; respectively arranging a left in-hole traverse network and a right in-hole traverse network in the left and right lanes, which are interconnected with the out-of-hole control network, so as to form a traverse survey network for the immersed tunnel; measuring and calculating the GNSS coordinates of the left out-of-hole survey station, the right out-of-hole survey station and the orientation side point, and then conducting traverse survey of the immersed tunnel based on the traverse survey network for the immersed tunnel. The present invention solves the problem that the floodgate restricts the traverse survey into the hole, and can ensure the traverse survey accuracy of the immersed tunnel in island-tunnel engineering.

The invention relates to a surveying traverse auxiliary teaching example generation method and system, which can realize horizontal angle observation, vertical angle observation, distance observation, automatic generation of traverse measurement examples, observation records and handbooks and automatic inspection of calculation results, and randomly generate different traverse examples based on traverse point coordinate results. The invention also discloses a traverse calculation method of the traverse measurement example. The system randomly generates different traverse calculation examples, reversely calculates traverse derivation theoretical numerical values according to traverse results, simulates observation errors existing in actual observation, reversely calculates traverse measurement example observation values and automatically generates a traverse observation handbook and a calculation handbook, and students perform traverse observation forward calculation through the observation handbook. And after the calculation result is submitted, the system automatically checks and scores. According to the invention, the problem of single traverse measurement example in the measurement textbook is effectively solved, and students can independently master the traverse measurement interior work calculation method.

The invention discloses a river reservoir modeling method based on a Monte Carlo tree, a product, a medium and equipment, and belongs to the technical field of oil and gas reservoir modeling. The method comprises the following steps: establishing a riverway point and non-riverway point well location distribution diagram through logging identification, searching from riverway wells by utilizing a Monte Carlo tree to generate a riverway main stream line trajectory, and traversing all the riverway wells to obtain a main stream line distribution diagram; in the process, a specific protection mechanism and an optimization mechanism are adopted, and non-riverway well mispenetration is avoided, so that the modeling precision and efficiency are improved; the method comprises the following steps: S1, establishing a well location distribution diagram: determining whether each well is a river channel well or a non-river channel well, and establishing a river channel point and non-river channel point well location distribution diagram; s2, generating a main stream line of a single riverway: starting from a selected riverway well to carry out Monte Carlo tree search to obtain a main stream line track of the single riverway; and S3, traversing all the riverway wells to generate a main stream line distribution diagram. According to the method, the problem of errors possibly caused by complex large-scale gridding migration can be solved.

The invention discloses a speed-up railway precision conductor construction method with virtual control points added, which comprises the following steps: S1, arranging conductor points in a staggered manner along two sides of the advancing direction of a speed-up railway line, and arranging the virtual control points between the adjacent conductor points; s2, arranging total stations on each traverse point one by one, and arranging prisms on two front and back adjacent traverse points and adjacent virtual control points; observing each prism by using a total station to obtain a horizontal direction, a slant distance and a vertical angle from the center of the total station to the center of each prism; s3, performing gross error detection analysis on the observation values, and rejecting the detected gross error observation values or re-measuring the observation stations where the gross error observation values are located; and S4, establishing an acceleration railway conductor control network with virtual control points by using all reliable horizontal angles and horizontal distances. According to the method provided by the invention, on the premise of not increasing the burying cost of the control points, on the basis of the connecting wires, only several temporary target points are observed by each observation station, so that the effect of remarkably improving the precision and reliability of the control network is achieved.

The utility model discloses a mine laneway measuring system, which aims to optimize the layout of conductor points and arrange irradiation lamps on the ground for supplementing light, and adopts the technical scheme that the mine laneway measuring system comprises a total station, the irradiation lamps and a plurality of conductor points, the number of the irradiation lamps is the same as that of the conductor points, and the irradiation lamps and the conductor points are in one-to-one correspondence; the line guide points are divided into permanent line guide points and temporary line guide points, the permanent line guide points are arranged at the top of the roadway, the temporary line guide points are arranged at the bottom of the roadway, and the number of the temporary line guide points is larger than that of the permanent line guide points; the total station is arranged on one of the temporary lead points; the irradiation lamp is placed at the bottom of a roadway and used for supplementing light, the irradiation direction of the irradiation lamp is adjustable, and the device belongs to the technical field of roadway measurement.

The present invention relates to a method and system for precise excavation control of a complex section of a cutter suction dredger. The method first constructs a design section based on geological survey data or construction plan parameters, and collects data of high-precision positioning equipment and related sensors in real time, including ship positioning longitude and latitude coordinates, bridge angle, trunnion draft, tide level, compass direction, trolley travel, and transverse winch cable speed, and calculates the auger excavation depth, auger coordinates, auger lifting and lowering speed, and auger transverse speed in combination with ship type parameters; then, the slope ratio, sideline coordinates, and design depth of the current design section are obtained through the auger coordinates, and the deviation between the auger position and the design section is calculated in real time. Finally, in the set excavation mode, the motion parameters of the auger are automatically adjusted through the system built-in control model to ensure that the auger excavation trajectory accurately follows the design section. The present invention achieves efficient, accurate, and uniform excavation effects, and can significantly improve the construction accuracy and efficiency of complex section excavation.

The invention relates to the technical field of surveying and mapping engineering, in particular to a lead precision estimation system which comprises a data acquisition module, a coordinate conversion module, a lead design module, a precision estimation module, a visual display module, a data interaction module and a data storage module. The data acquisition module collects geographic space data of a to-be-processed area and parameters of a measuring instrument; the coordinate conversion module converts the latitude and longitude coordinates into plane projection coordinates through Gaussian positive calculation; the wire design module constructs an edge measurement net, an angle measurement net or a corner net, sets an edge length threshold value, and matches instrument parameters corresponding to a second-level control net and a fourth-level control net; the precision estimation module calculates a weakest point median error and a weakest edge relative median error, and decomposes and calculates a plane through error; the visualization module draws a lead element and an error ellipse on the online map; data interaction supports CSV format import and export, and the storage module stores data support operation through a unified array. The method improves the estimation efficiency and precision, adapts to multiple engineering scenes, and reduces the achievement application threshold.

An embodiment of the present invention relates to a traverse direction control method, apparatus, and moving object for autonomous driving. More particularly, the traverse direction control apparatus for autonomous driving includes an information collection part for collecting data from one or more cameras mounted on an autonomous moving object; a target point information calculation module for calculating target point information on the basis of information collected from a camera module; and a traverse direction control parameter calculation module configured to obtain, based on the target point information, a traverse direction distance from the moving object at time t to a target point, an angle between a head of the moving object and the target point, and a present yaw rate of the moving object, and calculate a traverse direction control parameter of time t+1 based on a pre-stored kinematic model.

The invention relates to the technical field of engineering measurement, in particular to a method for transmitting coordinates of planes inside and outside a tunnel based on inertial navigation in a tunnel construction stage. The method includes: early-stage preparation; uninterruptedly collecting data along a closed route; post data processing is carried out, and the initial coordinates of the in-hole points in the CGCS2000 coordinate system are calculated; the distance between point-to-point pairs in the hole is constrained and adjusted, and the measurement precision is improved; and converting coordinates, and calculating to obtain coordinates of the in-hole point tunnel plane engineering coordinate system. According to the invention, inertial navigation is started by one key, data is continuously and automatically acquired, manual instrument erection and reading are not needed, manual intervention is not needed, at least three persons for cooperative operation of wire measurement are reduced to only one person, the manual workload is reduced, and the measurement efficiency is improved; according to the method, high-precision transmission of plane coordinates inside and outside the tunnel is realized in a CPIII-free scene without depending on CPIII control points in the tunnel, so that the applicability is improved; according to the method, through closed path design and dynamic weighted fusion, the problem of tunnel inertial navigation measurement drift in the construction period, which cannot be realized, is fundamentally solved.

The application discloses a long-distance tunnel control through-accuracy measurement and verification system, and relates to the technical field of tunnel construction measurement. The system comprises a measurement control point, an observation traverse, a traverse stake, a traverse measurement network, the observation traverse being arranged on the traverse stake, one end of the observation traverse being connected with the measurement control point, the other end of the observation traverse being connected with the traverse measurement network, a first ground control network; the system further comprises a pilot hole, a verification traverse, a through tunnel, a horizontal drill hole and a second ground control network; the structure of the second ground control network is the same as that of the first ground control network, the verification traverse is arranged in the pilot hole and along the length direction of the pilot hole, the verification traverse is installed on the traverse stake of the second ground control network, one end of the verification traverse is connected with the measurement control point of the second ground control network, and the other end of the verification traverse is connected with the traverse measurement network through the horizontal drill hole. The application has the effect of verifying the through-accuracy measurement result of the first ground control network.

This invention discloses a multi-technology combined measurement method for ultra-long undersea twin-tunnel railway tunnels and service tunnels, including GNSS measurement outside the tunnels, traverse measurement considering vertical deviation correction, coordinate transfer measurement from free stations in deep shafts, and combined measurement of free stations, intersecting double traverses, and gyro-orientation inside the tunnels. Where the undersea tunnels are relatively short at the connecting points of the cross tunnels, a denser stationing method is used for direction and distance transfer. Combined traverses are used inside the tunnels to enhance azimuth accuracy with gyro-orientation measurement. This invention leverages the advantages of GNSS and total stations, improving the efficiency of deep shaft measurement in long tunnels and enhancing the accuracy of coordinate transfer in deep shafts. Furthermore, the denser stationing method used inside the cross tunnels for direction and distance transfer, along with closed-loop networking between different cross tunnels, improves the reliability of tunnel plane control measurement accuracy and ensures complete consistency of the coordinate systems of the left and right tunnels and the service tunnel.

Systems and methods are provided for monitoring an agricultural implement. An example method includes, as an agricultural implement traverses a field, transmitting command signals to an implement actuator of the agricultural implement, whereby the implement actuator implements operating parameters associated with prescription data for the field. The method also includes receiving, at a monitor device, raw as-applied data from an implement sensor associated with the implement actuator, processing the raw as-applied data into processed as-applied data, and storing the processed as-applied data in a memory. The method further includes rendering a map representing the processed as-applied data, where the rendered map includes one or more application map images indicative of the processed as-applied data over an image of at least part of the field, and then displaying the rendered map.

The present application relates to the technical field of tunnel engineering, in particular to a special long tunnel control point layout structure and control measurement method, comprising the following steps: according to the field measurement condition, the entrance control points C and D are arranged on a pier, and the entrance direction points A and B can be arranged separately or on a pier. In the present application, based on the "Z" type diamond traverse ring, the forced centering pier is arranged to weaken the influence of instrument centering error, and the work of repeatedly burying control piles is avoided. The centering pier is not easy to be disturbed, and the workload and cost are reduced. The control point arrangement makes the target prism have small interference and large angle, improves the measurement accuracy, the cross arrangement method avoids the influence of side light, ensures the data quality, each control point forms a closed quadrilateral, provides redundant observation values, facilitates the detection of data gross error, and facilitates data comparison and analysis. Through comparison of point coordinates, angles and side lengths, gross errors are found and data are reviewed.

The invention discloses an intelligent site selection method, system and equipment for a transformer substation and a medium, and the method comprises the steps: obtaining a site selection evaluation framework through constructing a five-dimensional evaluation factor system and combining a user preference matrix and a scene triggering mechanism; performing weight calculation and dynamic updating on each evaluation factor by introducing an analytic hierarchy process and fusing a real-time remote sensing interpretation result to obtain a dynamic weight distribution scheme; performing weighted stacking on each factor grid map layer to generate a comprehensive suitability score map; sliding window size traversal search is set according to the voltage grade, high-resolution areas meeting the land occupation requirement are extracted, and a preliminary candidate land parcel set is obtained; a non-maximum suppression algorithm is applied to calculate the space overlapping degree between land parcels, high-resolution conflict-free point locations are reserved, and a non-redundant candidate point set is obtained; and generating a vector layer with score and constraint information, and visually outputting the vector layer to obtain a substation site selection recommendation result. According to the method, the automation level, the space rationality and the actual implementation of substation site selection are comprehensively improved.

The application discloses a kind of adjustment methods of tunnel overrun through error, according to the through error measurement value and through control measurement results of rechecking, through locking tunnel hole inside traverse control network and using line design software to design conforming line type, including step one, tunnel through error determination is carried out;Step two, tunnel lining section cross section survey is carried out;Step three, tunnel through control measurement is carried out;Step four, lining section cross section rechecking is carried out;Step five, tunnel through section line type is calculated;Step six, tunnel through section construction is carried out.This method maximally ensures that lining section does not need to be changed and reworked, uses road design software through line adjustment link, can greatly adjust tunnel overrun through error, can be quickly and accurately calculated, without reworking the part that has been constructed, fast construction fast closure.

The present invention discloses a real-time correction method for track detection lag. For the azimuth spectrum of track detection output in real time, when the azimuth of a certain target changes rapidly, the local peak region of its detection has a peak shift due to time accumulation, resulting in corresponding track detection lag. In order to correct this lag, the present invention first traverses and searches the local peak region along the azimuth dimension, then performs azimuth dilation search on each local peak region, with the search object being the original azimuth spectrum before time accumulation, and finally takes the peak azimuth of the original azimuth spectrum as the corrected azimuth detection output. The method of the present invention has clear logic and simple operation. Compared with the existing method of reducing the accumulation time length to slow down the detection lag, the above method of the present invention can accurately detect track changes, perform real-time correction on the accumulated azimuth spectrum, and will not sacrifice the detection gain brought by time accumulation.

In various examples, health of a high definition (HD) map may be monitored to determine whether inaccuracies exist in one or more layers of the HD map. For example, as one or more vehicles rely on the HD map to traverse portions of an environment, disagreements between perception of the one or more vehicles, map layers of the HD map, and / or other disagreement types may be identified and aggregated. Where errors are identified that indicate a drop in health of the HD map, updated data may be crowdsourced from one or more vehicles corresponding to a location of disagreement within the HD map, and the updated data may be used to update, verify, and validate the HD map.

The invention relates to the technical field of mine roadway sideline generation, in particular to a roadway sideline automatic generation and topological relation processing method based on traverse point data, and the method comprises the steps: S1, generating a sideline of a target roadway based on traverse point data; s2, in the side line extending process of the target roadway, if the target roadway intersects with other roadways, the step S3 is executed; if shielding exists between the roadway and other roadways, the step S4 is executed; s3, adjusting the side boundary of the target roadway in real time through a roadway intersection processing algorithm; s4, adjusting the side boundary of the target roadway in real time through a roadway shielding processing algorithm; and S5, repeating the steps S2 to S4 until the sideline of the target roadway is drawn. By processing roadway intersection and roadway shielding in the roadway sideline drawing process in real time, the mine roadway sideline generation quality and accuracy are improved.

The invention relates to a mine laneway three-dimensional data acquisition method and system. The mine laneway three-dimensional data acquisition method comprises the steps that mine laneway control points and a three-dimensional laser scanning target are integrated on mine laneway high echo intensity target control points; mine laneway high echo intensity target control points are arranged on a stable rock mass of a mine laneway roof, coordinate-free high echo intensity targets are arranged on laneway sides, and the control points and target coordinates are obtained; the control points and the targets are numbered, auxiliary measuring points are set, a multi-closed-loop control measurement traverse network is formed through a special network arrangement structure, adjustment processing is carried out, and a measurement operation process is determined; scanning work is carried out according to the measurement operation process, three-dimensional point cloud data are collected, and a three-dimensional data collection movement track is obtained; and through point-to-point data analysis, converting the point cloud data under the relative coordinates into mine laneway control measurement coordinate point cloud data. According to the scheme provided by the invention, the target position can be quickly determined, the control point center can be accurately positioned, and the three-dimensional scanning data processing efficiency is improved.

A method for extracting coordinates and angle of environmental rectangular points based on two-dimensional lidar: Traverse laser dots in the natural environment point cloud frame scanned by laser; select the neighborhood dot set of a random dot Pk, calculate the mean value of angles between lines from Pk to other dots and the X-axis of the laser coordinate system as the segmentation line; divide into left and right dot sets and extract inner dots; fit straight lines, and take their intersection as a rectangular point when the included angle is close to 90°; draw half-lines with the rectangular point as the vertex to determine the angle. This method can extract coordinates and angles of building rectangular points.

The invention provides a method and a system for simulating line flight based on radar laser point cloud distance measurement, relates to the technical field of unmanned aerial vehicle flight control, and aims to eliminate low-density areas by collecting point cloud data of the surrounding environment of an unmanned aerial vehicle in real time and analyzing the point cloud density. And polar coordinates of the residual point clouds are converted into Cartesian coordinates, the Euclidean clustering algorithm is used to divide the point cloud data into a traverse point cloud and an obstacle point cloud, and an extension track of the traverse point cloud is used as a target path. The direction deviation between the unmanned aerial vehicle and the target path is calculated according to the real-time position of the unmanned aerial vehicle, and therefore the roll angle, the yaw angle and the accelerator are adjusted. Finally, the Euclidean distance between the unmanned aerial vehicle and the nearest obstacle is calculated and compared with a set dangerous distance threshold value, the yaw angle and an accelerator are adjusted in real time, and flight safety is ensured. According to the method, point cloud processing, path planning and dynamic obstacle avoidance technologies are combined, and an effective solution is provided for safe flight of the unmanned aerial vehicle in a complex environment.