CN110045749B - Method and device for detecting obstacle by unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Method and device for detecting obstacle by unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for detecting obstacles by an unmanned aerial vehicle and the unmanned aerial vehicle, belonging to the field of unmanned aerial vehicles. The method comprises the following steps: detecting whether an obstacle exists in front of the unmanned aerial vehicle and a horizontal distance between the unmanned aerial vehicle and the obstacle; controlling the unmanned aerial vehicle to move in a vertical direction in the case that the existence of the obstacle is detected; detecting the horizontal distances at different terrain clearance heights; detecting the travel distance of the unmanned aerial vehicle in the horizontal direction in the process of moving in the vertical direction; and determining whether the obstacle is an obstacle according to the amount of change in the horizontal distance and the travel distance corresponding to the amount of change. Through above-mentioned technical scheme, under unmanned vehicles detected the place ahead and had the obstacle the condition, can judge whether the obstacle in place ahead is the difficult obstacle that crosses such as trees, pole or building to can effectively avoid unmanned vehicles and obstacle to bump.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a method and a device for detecting obstacles by an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
In the current society, the application of unmanned vehicles is more and more extensive, and unmanned vehicles have been applied to fields such as aerial photography, agriculture, plant protection, express transportation and disaster rescue at present. As the application of the unmanned aerial vehicle becomes wider, the unmanned aerial vehicle also needs to cope with more flight environments. Especially for plant protection unmanned aerial vehicle, need to deal with various topography changes. Current plant protection unmanned aerial vehicle is carrying out the in-process of low latitude plant protection operation to vegetation such as farmland, because the imperfection of barrier detection function can often lead to the explosive accident to take place owing to colliding with obstacles such as pole, trees or buildings to influence unmanned aerial vehicle's safe handling.
Disclosure of Invention
The invention aims to provide a method and a device for detecting an obstacle by using an unmanned aerial vehicle and the unmanned aerial vehicle, so that the unmanned aerial vehicle can more accurately detect the obstacle in front.
In order to achieve the above object, an embodiment of the present invention provides a method for an unmanned aerial vehicle to detect an obstacle, the method including: detecting whether an obstacle is present forward of a direction of travel of the UAV and a horizontal distance between the UAV and the obstacle; controlling the unmanned aerial vehicle to move in a vertical direction in the event that the presence of the obstacle is detected; detecting a horizontal distance between the UAV and the obstacle at different terrain clearance heights; detecting the travel distance of the unmanned aerial vehicle in the horizontal direction in the process of moving in the vertical direction; and determining whether the obstacle is the obstacle according to the amount of change in the horizontal distance and the travel distance corresponding to the amount of change.
Optionally, the determining whether the obstacle is the obstacle according to the amount of change in the horizontal distance and the travel distance includes: determining that the obstacle is the obstacle in a case where a difference between the amount of change in the horizontal distance and the travel distance is within a preset distance range.
Optionally, the method further comprises: detecting a moving distance of the unmanned aerial vehicle in a vertical direction; determining a slope of the obstacle according to the movement distance, the amount of change in the horizontal distance, and the travel distance; and determining the obstacle as the obstacle in the case that the slope of the obstacle is within a preset slope range.
Optionally, the preset distance range or the preset slope range is determined according to the maximum climbing speed of the unmanned aerial vehicle.
Optionally, the controlling the unmanned aerial vehicle to move in a vertical direction includes: and controlling the unmanned aerial vehicle to move in the vertical direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold value.
Optionally, the method further comprises: and in the process that the unmanned aerial vehicle moves in the vertical direction, detecting the horizontal distance once every preset time or detecting the horizontal distance once every preset vertical distance.
Optionally, the method further comprises: controlling the unmanned aerial vehicle to move in a left-right direction to bypass the obstacle, if the obstacle is determined to be the obstacle.
In another aspect, an embodiment of the present invention further provides an apparatus for an unmanned aerial vehicle to detect an obstacle, where the apparatus includes: a detection module configured to detect whether an obstacle is present ahead of the direction of travel of the UAV and a horizontal distance between the UAV and the obstacle; a control module configured to: controlling the unmanned aerial vehicle to move in a vertical direction in the event that the presence of the obstacle is detected; acquiring horizontal distances between the unmanned aerial vehicle and the barriers at different ground heights; acquiring the travel distance of the unmanned aerial vehicle in the horizontal direction in the process of moving in the vertical direction; and determining whether the obstacle is the obstacle according to the amount of change in the horizontal distance and the travel distance corresponding to the amount of change.
Optionally, the control module determining whether the obstacle is the obstacle according to the amount of change in the horizontal distance and the travel distance includes: determining that the obstacle is the obstacle in a case where a difference between the amount of change in the horizontal distance and the travel distance is within a preset distance range.
Optionally, the detection module is further configured to detect a movement distance of the unmanned aerial vehicle in a vertical direction; the control module is further configured to: determining a slope of the obstacle according to the movement distance, the amount of change in the horizontal distance, and the travel distance; and determining the obstacle as the obstacle in the case that the slope of the obstacle is within a preset slope range.
Optionally, the preset distance range or the preset slope range is determined according to the maximum climbing speed of the unmanned aerial vehicle.
Optionally, the control module controlling the unmanned aerial vehicle to move in a vertical direction includes: and controlling the unmanned aerial vehicle to move in the vertical direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold value.
Optionally, the detection module is further configured to: and in the process that the unmanned aerial vehicle moves in the vertical direction, detecting the horizontal distance once every preset time or detecting the horizontal distance once every preset vertical distance.
Optionally, the control module is further configured to: controlling the unmanned aerial vehicle to move in a left-right direction to bypass the obstacle, if the obstacle is determined to be the obstacle.
Correspondingly, the embodiment of the invention also provides the unmanned aerial vehicle which comprises the device for detecting the obstacle.
Through above-mentioned technical scheme, under unmanned vehicles detected the place ahead and had the circumstances of obstacle, can judge whether the obstacle in the place ahead is the difficult obstacle that crosses such as trees, pole or building through detecting the change volume and the corresponding distance of marcing of horizontal distance between unmanned vehicles and the obstacle in the place ahead under the co-altitude not to can effectively avoid unmanned vehicles and obstacle to bump, this detection method is simple, easily realize and with low costs.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 illustrates a flow chart of a method for an UAV to detect obstacles according to one embodiment of the present invention;
FIG. 2 illustrates a schematic view of an unmanned aerial vehicle provided by an alternative embodiment of the present invention as it encounters an obstacle;
FIG. 3 illustrates a schematic view of an unmanned aerial vehicle provided by an alternative embodiment of the present invention as it encounters an obstacle;
FIG. 4 illustrates a schematic view of an unmanned aerial vehicle provided by an alternative embodiment of the present invention encountering a barrier;
FIG. 5 illustrates a schematic view of an unmanned aerial vehicle provided by an alternative embodiment of the present invention as it encounters an obstacle;
FIG. 6 is a block diagram illustrating an apparatus for unmanned aerial vehicle obstacle detection provided by one embodiment of the present invention; and
fig. 7 is a block diagram illustrating a detection module provided in an alternative embodiment of the present invention.
Description of the reference numerals
10 detection module 20 control module
11 vertical distance measuring unit 12 horizontal distance measuring unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a method for an unmanned aerial vehicle to detect an obstacle, the method including the steps of:
step S10, detecting whether there is an obstacle in front of the unmanned aerial vehicle in the traveling direction and the horizontal distance between the unmanned aerial vehicle and the obstacle.
And step S20, controlling the unmanned aerial vehicle to move in the vertical direction in the case of detecting the existence of the obstacle.
And step S30, detecting the horizontal distance between the unmanned aerial vehicle and the obstacle at different ground clearance heights.
And step S40, detecting the travel distance of the unmanned aerial vehicle in the horizontal direction during the movement of the unmanned aerial vehicle in the vertical direction.
And step S50, determining whether the obstacle is an obstacle according to the amount of change in the horizontal distance and the travel distance of the unmanned aerial vehicle in the horizontal direction corresponding to the amount of change.
So, under unmanned vehicles detected the place ahead and had the circumstances of obstacle, can judge whether the obstacle in the place ahead is the obstacle that is difficult for crossing such as trees, pole or building through detecting the variable quantity and the corresponding distance of marcing of horizontal distance between unmanned vehicles and the obstacle in the place ahead under the different height to can effectively avoid unmanned vehicles and obstacle to collide, this detection method is simple, easily realizes and with low costs.
Specifically, unmanned vehicles can be for plant protection unmanned aerial vehicle, take photo by plane unmanned aerial vehicle, patrol and examine unmanned aerial vehicle or survey and drawing unmanned aerial vehicle etc. carry out the operation in-process at unmanned vehicles, can detect whether there is the obstacle in the place ahead of unmanned vehicles through the horizontal range finding unit that is located this unmanned vehicles the place ahead to under the condition that exists the obstacle, detect the horizontal distance between unmanned vehicles and the place ahead obstacle. Wherein, this horizontal range finding unit can be for microwave range finding module, ultrasonic ranging module, infrared range finding module, laser range finding module or degree of depth perception camera etc.. In the case where the presence of an obstacle in front is detected, it is possible to control the unmanned aerial vehicle to move in the vertical direction and detect that the unmanned aerial vehicle is at a horizontal distance from the obstacle at different ground clearance heights. In the process that the unmanned aerial vehicle moves in the vertical direction, the horizontal distance can be detected once every preset time or once every preset vertical distance. The preset time and the preset vertical distance may be predetermined according to actual conditions. It is understood that the unmanned aerial vehicle may also have a travel speed in the horizontal direction during the movement of the unmanned aerial vehicle in the vertical direction, and thus it is necessary to simultaneously detect the travel distance in the horizontal direction during the movement of the unmanned aerial vehicle in the vertical direction. As shown in fig. 2 and 3, when the obstacle is an object whose blocking surface tends to be vertical or slightly inclined toward the direction of the unmanned aerial vehicle, such as a tree, a building, or an electric pole, the variation of the horizontal distance of the unmanned aerial vehicle at different heights from the ground is greater than or equal to the forward travel distance of the unmanned aerial vehicle in the process of moving in the vertical direction, and therefore, whether the obstacle in front is the obstacle can be determined according to the variation of the horizontal distance of the unmanned aerial vehicle at different heights and the travel distance of the unmanned aerial vehicle corresponding to the variation.
For example, as shown in fig. 2 to 4, the unmanned aerial vehicle moves from the horizontal position a to the horizontal position B, when the horizontal position of the unmanned aerial vehicle is a, the horizontal distance from the obstacle is d1, and the ground clearance from the ground is h1, at which time the unmanned aerial vehicle starts to move in the vertical direction because the unmanned aerial vehicle detects the presence of the obstacle in front. For example, the unmanned aerial vehicle may climb a height and move to a horizontal position B. When the horizontal position of the unmanned aerial vehicle is B, the distance between the unmanned aerial vehicle and the obstacle is d1 ', and the ground distance between the unmanned aerial vehicle and the ground is h 1'. The distance traveled by the UAV from level A to level B is l 1. When the front of the unmanned aerial vehicle is an obstacle such as a vertical tree shown in fig. 2 or an obstacle such as a tree inclined towards the direction of the unmanned aerial vehicle shown in fig. 3, the horizontal distance d1, the horizontal distance d1 ' and the travel distance l1 meet d1-d1 ' ≧ l1, so that when the difference between the horizontal distance d1 and the horizontal distance d1 ' is greater than or equal to the travel distance l1, it can be determined that the obstacle shown in fig. 2 or fig. 3 exists in front of the unmanned aerial vehicle, and the obstacle unmanned aerial vehicle is not easy to pass through climbing or the like, so that the unmanned aerial vehicle needs to be controlled to hover, change a course or return to avoid collision with the obstacle. In the case that the difference between the horizontal distance d1 and the horizontal distance d 1' is smaller than the travel distance l1, it may be determined that there is a non-obstacle in front of the unmanned aerial vehicle, such as a slope that the unmanned aerial vehicle can climb over, as shown in fig. 4, and in this case, the obstacle may be smoothly passed by adjusting the moving speed of the unmanned aerial vehicle in the vertical direction.
In an alternative embodiment of the present invention, step S40 may include: in the case where the difference between the amount of change in the horizontal distance and the travel distance is within the preset distance range, the obstacle is determined to be an obstacle.
Specifically, as shown in fig. 2 to 4, when the magnitude relationship between the travel distance l1 and the change amount Δ d of the horizontal distance (Δ d — d1-d1 ') is determined, the difference between the travel distance l1 and the horizontal distance may be made, and when the difference s (s — d1-d 1' -l1) is within a preset range, the obstacle in front of the unmanned aerial vehicle may be determined to be an obstacle. For example, when it is necessary to determine whether the obstacle is the obstacle shown in fig. 2 or 3, the preset distance range may be set to [0, + ∞), that is, in the case where the difference between the horizontal distance d1 and the horizontal distance d 1' is greater than or equal to the travel distance l1, it is determined that the obstacle shown in fig. 2 or 3 is present in front of the unmanned aerial vehicle. However, as shown in fig. 5, in some cases, the obstacle such as a tree may be inclined in a direction away from the unmanned aerial vehicle, and the unmanned aerial vehicle may still have difficulty passing because the blocking surface of the obstacle is still steep, and the difference between the horizontal distance d1 and the horizontal distance d 1' is smaller than the travel distance l 1. In order to be able to accurately determine the obstacle shown in fig. 5, it is therefore necessary to adjust the preset distance range. Generally, the obstacle that is liable to tilt is a tree, a pole, or the like, and its deviation angle from the vertical direction is not excessively large. The preset distance range can thus be determined by counting the distance in the horizontal direction of the top position from the bottom position in case of an inclination of a tree, pole or the like, which can be set to-100, + ∞, for example in the case of units of millimeters.
In an alternative embodiment of the present invention, the method for the unmanned aerial vehicle to detect the obstacle may further include:
step S41, detecting a moving distance of the unmanned aerial vehicle in the vertical direction.
And step S42, determining the slope of the obstacle according to the moving distance of the unmanned aerial vehicle, the variation of the horizontal distance and the travel distance.
In step S43, in the case that the slope of the obstacle is within the preset slope range, the obstacle is determined to be an obstacle.
Specifically, as shown in fig. 2 to 5, the ground clearance of the unmanned aerial vehicle at different ground clearance heights can be detected by the vertical ranging unit located at the bottom of the unmanned aerial vehicle, and then the moving distance h of the unmanned aerial vehicle in the vertical direction can be calculated as h1 '-h 1, where h1 is the ground clearance of the unmanned aerial vehicle at the position a, and h 1' is the ground clearance of the unmanned aerial vehicle at the position B. After determining the movement distance h, the slope tan θ of the barrier may be calculated as h/s, where s is d1-d 1' -l 1. After the slope tan θ is determined, the inclination angle and the inclination direction of the front barrier may be determined according to the magnitude and the positive and negative of the slope. Therefore, a slope range in which the obstacle is located may be preset according to actual conditions, and when the unmanned aerial vehicle detects that the slope of the front obstacle is within the preset slope range, it may be determined that the obstacle is in front of the unmanned aerial vehicle as shown in fig. 2, 3, or 5.
It should be noted that when an unmanned aerial vehicle encounters an obstacle, the ability of the unmanned aerial vehicle to clear the obstacle is related to the maximum climb speed of the unmanned aerial vehicle. In the case where the horizontal direction traveling speed of the unmanned aerial vehicle is determined, the larger the maximum climbing speed of the unmanned aerial vehicle is, the larger the upper limit of the slope at which the unmanned aerial vehicle can cross the slope is. Therefore, the maximum slope of the obstacle that the unmanned aerial vehicle can cross can be determined from the maximum climbing speed of the unmanned aerial vehicle, and the above-described preset distance range and preset slope range can be determined from the maximum slope.
In an alternative embodiment of the present invention, in the case where the unmanned aerial vehicle detects an obstacle, it may be determined first whether a horizontal distance between the unmanned aerial vehicle and the obstacle is less than or equal to a preset distance threshold, and in the case where the horizontal distance between the unmanned aerial vehicle and the obstacle is less than or equal to the preset distance threshold, the unmanned aerial vehicle may be controlled to move in the vertical direction.
Specifically, when the unmanned aerial vehicle flies, tasks such as plant protection operation or mapping operation need to be performed according to a preset air route. Therefore, a distance threshold value can be preset according to actual conditions, and the unmanned aerial vehicle is controlled to move in the vertical direction only when the horizontal distance between the unmanned aerial vehicle and the obstacle is smaller than or equal to the preset distance threshold value, so that the influence on tasks such as plant protection operation or aerial photography operation is reduced.
In an alternative embodiment of the invention, the method for unmanned aerial vehicle detection of obstacles further comprises: in the case where the obstacle is determined to be an obstacle, the unmanned aerial vehicle is controlled to move in the left-right direction to bypass the obstacle.
Specifically, when it is determined that the obstacle is ahead of the unmanned aerial vehicle as shown in fig. 2, 3, or 5, the unmanned aerial vehicle may be controlled to move in the left-right direction perpendicular to the plane in which the horizontal direction and the vertical direction are located. For example, the unmanned aerial vehicle may move a certain distance to the left and move forward again in the case where it is detected that there is no obstacle in front. After moving forward for a certain distance, the unmanned aerial vehicle returns to a preset operation route, so that the unmanned aerial vehicle bypasses the obstacle to continue operation.
As shown in fig. 6 and 7, the embodiment of the invention also provides a device for detecting obstacles by using the unmanned aerial vehicle, which comprises a detection module 10 and a control module 20. The detection module 10 is electrically connected with the control module 20. Wherein the detection module 10 is configured to detect whether an obstacle is present in front of the direction of travel of the unmanned aerial vehicle and a horizontal distance between the unmanned aerial vehicle and the obstacle. The control module 20 is configured to control the unmanned aerial vehicle to move in the vertical direction in the case where the existence of the obstacle is detected, acquire the horizontal distance between the unmanned aerial vehicle and the obstacle at different ground heights and the travel distance of the unmanned aerial vehicle in the horizontal direction during the movement of the unmanned aerial vehicle in the vertical direction, and then determine whether the obstacle is the obstacle according to the variation of the horizontal distance and the travel distance of the unmanned aerial vehicle in the horizontal direction corresponding to the variation. The control module 20 may include, but is not limited to, a single chip, a chip, an integrated circuit, a microcontroller, a processor, or the like.
So, under unmanned vehicles detected the place ahead and had the circumstances of obstacle, can judge whether the obstacle in the place ahead is the obstacle that is difficult for crossing such as trees, pole or building through detecting the variable quantity and the corresponding distance of marcing of horizontal distance between unmanned vehicles and the obstacle in the place ahead under the different height to can effectively avoid unmanned vehicles and obstacle to collide, this detection method is simple, easily realizes and with low costs.
Specifically, unmanned vehicles can be plant protection unmanned aerial vehicle, take photo by plane unmanned aerial vehicle, patrol and examine unmanned aerial vehicle or survey and drawing unmanned aerial vehicle etc.. The detection unit 10 may include a horizontal ranging unit 12 located in front of the unmanned aerial vehicle, and during operation of the unmanned aerial vehicle, whether an obstacle exists in front of the unmanned aerial vehicle may be detected by the horizontal ranging unit 12, and in the case that an obstacle exists, a horizontal distance between the unmanned aerial vehicle and the obstacle in front may be detected by the horizontal ranging unit 12. The horizontal distance measuring unit 12 may be a microwave distance measuring module, an ultrasonic distance measuring module, an infrared distance measuring module, a laser distance measuring module, or a depth sensing camera. In the case where an obstacle is detected in front of the unmanned aerial vehicle, the control module 20 may control the unmanned aerial vehicle to move in the vertical direction and detect the horizontal distance between the unmanned aerial vehicle and the obstacle at different ground clearance heights through the horizontal ranging unit 12. In the process that the unmanned aerial vehicle moves in the vertical direction, the control module 20 may detect the horizontal distance once through the horizontal ranging unit 12 at intervals of a preset time or detect the horizontal distance once through the horizontal ranging unit 12 at intervals of a preset vertical distance. The preset time and the preset vertical distance may be predetermined according to actual conditions. It is understood that, during the movement of the unmanned aerial vehicle in the vertical direction, the unmanned aerial vehicle may also have a traveling speed in the horizontal direction, and therefore, it is necessary to simultaneously detect a traveling distance in the horizontal direction during the movement of the unmanned aerial vehicle in the vertical direction, which may be detected by a navigation module such as a GPS (Global Positioning System) module of the unmanned aerial vehicle, for example. As shown in fig. 2 and 3, when the obstacle is an object whose blocking surface tends to be vertical or slightly inclined toward the direction of the unmanned aerial vehicle, such as a tree, a building, or an electric pole, the variation of the horizontal distance of the unmanned aerial vehicle at different heights from ground is greater than or equal to the forward travel distance of the unmanned aerial vehicle in the process of moving in the vertical direction, so the control module 20 can determine whether the obstacle ahead is the obstacle according to the variation of the horizontal distance of the unmanned aerial vehicle at different heights and the travel distance of the unmanned aerial vehicle corresponding to the variation.
For example, as shown in fig. 2 to 4, when the unmanned aerial vehicle moves from the horizontal position a to the horizontal position B, and the horizontal distance from the obstacle is d1 and the ground clearance is h1, the unmanned aerial vehicle needs to be controlled to start moving in the vertical direction because the unmanned aerial vehicle detects that there is an obstacle in front of the unmanned aerial vehicle. For example, the control module 20 may control the UAV to ascend an altitude and move to a horizontal position B. When the horizontal position of the unmanned aerial vehicle is B, the distance between the unmanned aerial vehicle and the obstacle is d1 ', and the ground distance between the unmanned aerial vehicle and the ground is h 1'. The travel distance that the unmanned aerial vehicle travels from horizontal position a to horizontal position B is l1, and the travel distance l1 can be obtained by a navigation module of the unmanned aerial vehicle. When the front of the unmanned aerial vehicle is an obstacle such as a vertical tree shown in fig. 2 or an obstacle such as a tree inclined toward the direction of the unmanned aerial vehicle shown in fig. 3, the horizontal distance d1, the horizontal distance d1 ' and the travel distance l1 satisfy d1-d1 ' ≧ l1, so when the difference between the horizontal distance d1 and the horizontal distance d1 ' is greater than or equal to the travel distance l1, the control module 20 may determine that an obstacle such as that shown in fig. 2 or fig. 3 exists in front of the unmanned aerial vehicle, and the obstacle is not likely to pass by climbing or the like, and thus the unmanned aerial vehicle needs to be controlled to hover, change a course or return to avoid colliding with the obstacle. In the case that the difference between the horizontal distance d1 and the horizontal distance d 1' is smaller than the travel distance l1, the control module 20 may determine that there is a non-obstacle in front of the unmanned aerial vehicle, such as a slope that may be passed by climbing, as shown in fig. 4, and may adjust the moving speed of the unmanned aerial vehicle in the vertical direction to smoothly pass through the obstacle.
In an alternative embodiment of the present invention, the control module 20 is configured to determine that the obstacle ahead of the unmanned aerial vehicle is the obstacle if a difference between an amount of change in the horizontal distance between the unmanned aerial vehicle and the obstacle and a travel distance corresponding to the amount of change is within a preset distance range.
Specifically, as shown in fig. 2 to 4, when the magnitude relationship between the travel distance l1 and the change amount Δ d of the horizontal distance (Δ d — d1-d1 ') is determined, the difference between the travel distance l1 and the horizontal distance may be made, and when the difference s (s — d1-d 1' -l1) is within a preset range, the obstacle in front of the unmanned aerial vehicle may be determined to be an obstacle. For example, when it is necessary to determine whether the obstacle is the obstacle shown in fig. 2 or 3, the preset distance range may be set to [0, + ∞), that is, in the case where the difference between the horizontal distance d1 and the horizontal distance d 1' is greater than or equal to the travel distance l1, it is determined that the obstacle shown in fig. 2 or 3 is present in front of the unmanned aerial vehicle. However, as shown in fig. 5, in some cases, the obstacle such as a tree may be inclined in a direction away from the unmanned aerial vehicle, and the unmanned aerial vehicle may still have difficulty passing because the blocking surface of the obstacle is still steep, and the difference between the horizontal distance d1 and the horizontal distance d 1' is smaller than the travel distance l 1. In order to be able to accurately determine the obstacle shown in fig. 5, it is therefore necessary to adjust the preset distance range. Generally, the obstacle that is liable to tilt is a tree, a pole, or the like, and its deviation angle from the vertical direction is not excessively large. The preset distance range can thus be determined by counting the distance in the horizontal direction of the top position from the bottom position in case of an inclination of a tree, pole or the like, which can be set to-100, + ∞, for example in the case of units of millimeters.
In an optional embodiment of the present invention, the detection module 10 may further include a vertical ranging unit 11, where the vertical ranging unit 11 is configured to detect a ground clearance of the unmanned aerial vehicle, and the moving distance of the unmanned aerial vehicle during moving in the vertical direction may be determined by the ground clearance. Wherein, this vertical range unit 11 can be for microwave range module, ultrasonic ranging module, infrared range module, laser range module or degree of depth perception camera etc.. The control module 20 is further configured to determine a slope of the obstacle according to the moving distance of the unmanned aerial vehicle, the amount of change in the horizontal distance, and the travel distance, and determine the obstacle as the obstacle in a case where the slope of the obstacle is within a preset slope range.
Specifically, as shown in fig. 2 to 5, the control module 20 may detect the ground clearance of the unmanned aerial vehicle at different ground clearance heights through the vertical ranging unit 11 located at the bottom of the unmanned aerial vehicle, and may further calculate a moving distance h of the unmanned aerial vehicle in the vertical direction, which is h1 '-h 1, where h1 is the ground clearance of the unmanned aerial vehicle at the a position, and h 1' is the ground clearance of the unmanned aerial vehicle at the B position. After the travel distance h is determined, the slope tan θ of the barrier may be calculated as h/s, where s is d1-d 1' -l 1. After the slope tan θ is determined, the inclination angle and the inclination direction of the front barrier may be determined according to the magnitude and the positive and negative of the slope. Therefore, a slope range in which the obstacle is located may be preset according to actual conditions, and when the slope of the front obstacle is detected to be within the preset slope range, the control module 20 may determine that the obstacle is in front of the unmanned aerial vehicle as shown in fig. 2, 3, or 5.
It should be noted that when an unmanned aerial vehicle encounters an obstacle, the ability of the unmanned aerial vehicle to clear the obstacle is related to the maximum climb speed of the unmanned aerial vehicle. In the case where the horizontal direction travel speed of the unmanned aerial vehicle is determined, the larger the maximum climbing speed of the unmanned aerial vehicle is, the larger the upper limit of the slope at which the unmanned aerial vehicle can cross the slope is. Therefore, the maximum slope of the obstacle that the unmanned aerial vehicle can cross can be determined from the maximum climbing speed of the unmanned aerial vehicle, and the above-described preset distance range and preset slope range can be determined from the maximum slope.
In an alternative embodiment of the present invention, the control module 20 controls the unmanned aerial vehicle to move in the vertical direction in the event that it detects that the horizontal distance from the obstacle is less than or equal to a preset distance threshold.
Specifically, when the unmanned aerial vehicle flies, tasks such as plant protection operation or mapping operation need to be performed according to a preset air route. Therefore, a distance threshold value can be preset according to actual conditions, and the control module 20 controls the unmanned aerial vehicle to move in the vertical direction only when the horizontal distance between the unmanned aerial vehicle and the obstacle is smaller than or equal to the preset distance threshold value, so as to reduce the influence on tasks such as the plant protection operation or the aerial photography operation.
In an alternative embodiment of the present invention, the control module 20 is further configured to control the unmanned aerial vehicle to move in the left-right direction to bypass the obstacle in the case where the obstacle is determined to be the obstacle.
Specifically, when it is determined that the obstacle is ahead of the unmanned aerial vehicle as shown in fig. 2, 3, or 5, the control module 20 may control the unmanned aerial vehicle to move in the left-right direction perpendicular to the plane in which the horizontal direction and the vertical direction are located. For example, the unmanned aerial vehicle may move a certain distance to the left and move forward again in the case where it is detected that there is no obstacle in front. After moving forward for a certain distance, the unmanned aerial vehicle returns to a preset operation route, so that the unmanned aerial vehicle bypasses the obstacle to continue operation.
Correspondingly, the embodiment of the invention also provides the unmanned aerial vehicle which comprises the device for detecting the obstacle. Wherein, this unmanned vehicles can be for plant protection unmanned aerial vehicle, take photo by plane unmanned aerial vehicle, patrol and examine unmanned aerial vehicle or survey and drawing unmanned aerial vehicle etc..
While the invention has been described in detail with reference to the drawings, the invention is not limited to the details of the embodiments, and various simple modifications can be made within the technical spirit of the embodiments of the invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the idea of the embodiments of the present invention.
Claims (15)
1. A method for an unmanned aerial vehicle to detect an obstacle, the method comprising:
detecting whether an obstacle is present ahead of the direction of travel of the unmanned aerial vehicle and a horizontal distance between the unmanned aerial vehicle and the obstacle;
controlling the unmanned aerial vehicle to move in a vertical direction in the event that the presence of the obstacle is detected;
detecting a horizontal distance between the UAV and the obstacle at different terrain clearance heights;
detecting a travel distance in a horizontal direction during movement of the unmanned aerial vehicle in a vertical direction, wherein the travel distance is generated by a travel speed in the horizontal direction during movement of the unmanned aerial vehicle in the vertical direction; and
and determining whether the obstacle is the obstacle according to the variation of the horizontal distance and the travel distance corresponding to the variation.
2. The method of claim 1, wherein said determining whether the obstruction is the obstacle based on the amount of change in the horizontal distance and the travel distance comprises:
determining that the obstacle is the obstacle in a case where a difference between the amount of change in the horizontal distance and the travel distance is within a preset distance range.
3. The method of claim 1, further comprising:
detecting a moving distance of the unmanned aerial vehicle in a vertical direction;
determining a slope of the obstacle from the movement distance, the amount of change in the horizontal distance, and the travel distance; and
determining the obstacle as the obstacle in the case that the slope of the obstacle is within a preset slope range.
4. The method according to claim 2 or 3, wherein a preset distance range or a preset slope range is determined according to the maximum climbing speed of the unmanned aerial vehicle.
5. The method of claim 2 or 3, wherein the controlling the UAV to move in a vertical direction comprises:
and controlling the unmanned aerial vehicle to move in the vertical direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold value.
6. The method of claim 1, further comprising:
and in the process that the unmanned aerial vehicle moves in the vertical direction, detecting the horizontal distance once every preset time or detecting the horizontal distance once every preset vertical distance.
7. The method of claim 1, further comprising:
controlling the unmanned aerial vehicle to move in a left-right direction to bypass the obstacle, if the obstacle is determined to be the obstacle.
8. An apparatus for an unmanned aerial vehicle to detect an obstacle, the apparatus comprising:
a detection module configured to detect whether an obstacle is present ahead of the direction of travel of the UAV and a horizontal distance between the UAV and the obstacle;
a control module configured to:
controlling the unmanned aerial vehicle to move in a vertical direction in the event that the presence of the obstacle is detected;
acquiring horizontal distances between the unmanned aerial vehicle and the barriers at different ground clearance heights;
acquiring a travel distance in the horizontal direction during the movement of the unmanned aerial vehicle in the vertical direction, wherein the travel distance is generated by a travel speed in the horizontal direction during the movement of the unmanned aerial vehicle in the vertical direction; and
and determining whether the obstacle is the obstacle according to the variation of the horizontal distance and the advancing distance corresponding to the variation.
9. The apparatus of claim 8, wherein the control module determining whether the obstruction is the obstacle based on the amount of change in the horizontal distance and the travel distance comprises:
determining that the obstacle is the obstacle in a case where a difference between the amount of change in the horizontal distance and the travel distance is within a preset distance range.
10. The apparatus of claim 8,
the detection module is further configured to detect a movement distance of the unmanned aerial vehicle in a vertical direction;
the control module is further configured to:
determining a slope of the obstacle according to the movement distance, the amount of change in the horizontal distance, and the travel distance; and
determining the obstacle as the obstacle in the case that the slope of the obstacle is within a preset slope range.
11. The apparatus of claim 9 or 10, wherein a predetermined distance range or a predetermined slope range is determined based on a maximum climb speed of the UAV.
12. The apparatus of claim 9 or 10, wherein the control module controlling the UAV to move in a vertical direction comprises:
and controlling the unmanned aerial vehicle to move in the vertical direction under the condition that the horizontal distance is smaller than or equal to a preset distance threshold value.
13. The apparatus of claim 8, wherein the detection module is further configured to:
and in the process that the unmanned aerial vehicle moves in the vertical direction, detecting the horizontal distance once every preset time or detecting the horizontal distance once every preset vertical distance.
14. The apparatus of claim 8, wherein the control module is further configured to:
controlling the unmanned aerial vehicle to move in a left-right direction to bypass the obstacle, if the obstacle is determined to be the obstacle.
15. An unmanned aerial vehicle, comprising an apparatus for unmanned aerial vehicle detection of obstacles according to any of claims 8 to 14.
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