CN115494856A - Obstacle avoidance method and device, unmanned aerial vehicle and electronic equipment - Google Patents
Obstacle avoidance method and device, unmanned aerial vehicle and electronic equipment Download PDFInfo
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Abstract
The invention discloses an obstacle avoidance method and device, an unmanned aerial vehicle and electronic equipment. Wherein, the method comprises the following steps: in the moving process of target equipment, detecting a target obstacle in a target area, wherein the target obstacle is an obstacle in a moving state; determining a moving track of a target obstacle; and under the condition that the movement track is determined to be overlapped with at least part of the area in the safety area and the distance between the target obstacle and the target equipment is not more than the preset distance, controlling the target equipment to move along a first direction, wherein the safety area is an area determined by taking the target equipment as a center, the first direction is a direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is more than the preset distance. The invention solves the technical problem that the unmanned aerial vehicle is easy to damage because the unmanned aerial vehicle cannot efficiently identify and avoid dynamic obstacles in the related technology.
Description
Technical Field
The invention relates to the field of automatic control, in particular to an obstacle avoidance method and device, an unmanned aerial vehicle and electronic equipment.
Background
When keeping away the barrier, unmanned aerial vehicle among the prior art has better discernment ability of dodging to static barrier, but to dynamic barrier, can not do the accuracy and dodge, especially when unmanned aerial vehicle moves at a high speed, leads to unmanned aerial vehicle easily because dynamic unmanned aerial vehicle damages at the removal in-process.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides an obstacle avoidance method and device, an unmanned aerial vehicle and electronic equipment, and at least solves the technical problem that the unmanned aerial vehicle is easy to damage due to the fact that the unmanned aerial vehicle cannot efficiently recognize and avoid dynamic obstacles in the related technology.
According to an aspect of the embodiments of the present invention, there is provided an obstacle avoidance method, including: in the moving process of target equipment, detecting a target obstacle in a target area, wherein the target obstacle is an obstacle in a moving state; determining a moving track of a target obstacle; and under the condition that the movement track is determined to be overlapped with at least part of the area in the safety area, and the distance between the target obstacle and the target equipment is not more than the preset distance, controlling the target equipment to move along a first direction, wherein the safety area is an area determined by taking the target equipment as the center, the first direction is a direction corresponding to the shortest avoidance duration, and the avoidance duration is the duration consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is more than the preset distance.
Optionally, detecting the target obstacle within the target area comprises: acquiring light intensity parameters in a target area; under the condition that the change rate of the light intensity parameter is greater than a preset change rate, acquiring event information generated by a dynamic visual camera in target equipment within a preset time period and a gray-scale map corresponding to the event information, wherein the event information comprises an event image; determining an obstacle area corresponding to the target obstacle and position information of the obstacle area in the gray-scale image, wherein the obstacle area is a rectangular area containing the target obstacle; and determining a first obstacle event image containing only event information corresponding to the target obstacle based on the event image.
Optionally, the determining, based on the event image, a first obstacle event image that only includes time information corresponding to the target obstacle includes: determining an average timestamp of an event point in an event image; determining a timestamp threshold; screening event points in the event image based on the timestamp threshold and the average timestamp; and obtaining a first obstacle event image corresponding to the target obstacle according to the screening result, wherein the first obstacle event image only comprises event points corresponding to the target obstacle.
Optionally, filtering the event points in the event image based on the timestamp threshold and the average timestamp comprises: and determining the event point with the average timestamp larger than the timestamp threshold value as the event point corresponding to the target obstacle.
Optionally, determining the movement trajectory of the target obstacle comprises: determining a plurality of coordinate values of the target obstacle corresponding to the world coordinate system based on the first obstacle event image; determining coordinate value change conditions of the target barrier in a world coordinate system based on the coordinate values; determining the moving speed and the moving direction of the target obstacle based on the change situation; and determining the moving track of the target obstacle in a target time period based on the coordinate values, the moving speed and the moving direction, wherein the target time period is a time period taking the end point of the preset time period as the starting point.
Optionally, determining a plurality of coordinate values of the target obstacle corresponding in the world coordinate system based on the first obstacle event image comprises: clustering the first obstacle event images to obtain second obstacle event images; determining a rotation matrix corresponding to the target device, and determining corner points and central points of the rotation matrix according to the second obstacle event image; determining the depth value of the target obstacle in a camera reference system according to the angular point and the central point; and determining a plurality of coordinate values of the target obstacle in a world coordinate system according to the depth values.
Optionally, determining the depth value of the target obstacle in the camera reference frame according to the corner point and the center point comprises: determining size information of a target obstacle, side length information of an obstacle area and a focal length of a dynamic vision camera; and determining the depth value of the target obstacle in the camera reference system according to the size information, the side length information, the focal length, the angular point and the central point.
Optionally, determining a rotation matrix corresponding to the target device includes: acquiring pose data of target equipment; determining an average angular velocity of the target device based on the pose data; and establishing a rotation matrix according to the average angular velocity.
According to another aspect of the embodiments of the present invention, there is also provided an unmanned aerial vehicle, where the unmanned aerial vehicle includes a dynamic vision module, a processor, a flight control module, and an inertia measurement module, where the dynamic vision module is configured to detect a target obstacle in a target area during movement of the unmanned aerial vehicle, where the target obstacle is an obstacle in a moving state; the inertial measurement module is used for acquiring pose data of the unmanned aerial vehicle; a processor for determining a movement trajectory of a target obstacle; the flight control module is used for determining whether the moving track is overlapped with a safety area, wherein the safety area is an area determined by taking the target equipment as the center; and under the condition that the moving track is determined to be overlapped with the safety area and the distance between the unmanned aerial vehicle and the target equipment is not more than the preset distance, controlling the unmanned aerial vehicle to move along a first direction, wherein the first direction is the direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position where the distance between the target equipment and the unmanned aerial vehicle is greater than the preset distance.
According to another aspect of the embodiments of the present invention, there is also provided an obstacle avoidance device, including: the detection module is used for detecting a target obstacle in a target area in the moving process of target equipment, wherein the target obstacle is an obstacle in a moving state; the calculation module is used for determining the movement track of the target obstacle; the processing module is used for controlling the target equipment to move along a first direction under the condition that the movement track is determined to be overlapped with a safe area and the distance between the target obstacle and the target equipment is not larger than a preset distance, wherein the safe area is an area determined by taking the target equipment as a center, the first direction is a direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position, which is larger than the preset distance, between the target equipment and the target obstacle.
According to another aspect of the embodiments of the present invention, a nonvolatile storage medium is further provided, where the nonvolatile storage medium includes a stored program, and when the program runs, a device in which the nonvolatile storage medium is located is controlled to execute an obstacle avoidance method.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, where the electronic device includes a processor, and the processor is configured to execute a program, where the program executes an obstacle avoidance method.
In the embodiment of the invention, a target obstacle in a target area is detected in the moving process of target equipment, wherein the target obstacle is an obstacle in a moving state; determining a moving track of a target obstacle; the method comprises the steps of determining the moving track of the obstacle, and controlling the target equipment to move along a first direction under the condition that the moving track is determined to be overlapped with at least part of the area in the safety area, and the distance between the target obstacle and the target equipment is not larger than the preset distance, wherein the safety area is the area determined by taking the target equipment as the center, the first direction is the direction corresponding to the shortest hiding time, and the hiding time is the time consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is larger than the preset distance.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a schematic flow chart of an obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle provided according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an obstacle avoidance device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of an obstacle avoidance method, it is noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different from that described herein.
Fig. 1 is an obstacle avoidance method according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
step S102, in the process of moving target equipment, detecting a target obstacle in a target area, wherein the target obstacle is an obstacle in a moving state;
as an alternative implementation, the specific process of detecting the target obstacle in the target area includes the following steps: acquiring light intensity parameters in the target area; under the condition that the change rate of the light intensity parameter is larger than a preset change rate, acquiring event information generated by a dynamic visual camera in the target equipment within a preset time period and a gray-scale map corresponding to the event information, wherein the event information comprises an event image; determining an obstacle area corresponding to the target obstacle and position information of the obstacle area in the gray-scale image, wherein the obstacle area is a rectangular area containing the target obstacle; and determining a first obstacle event image containing only event information corresponding to the target obstacle based on the event image.
Specifically, in some embodiments of the present application, when an obstacle moving at a high speed appears in a scene where the unmanned aerial vehicle is located or the unmanned aerial vehicle moves by itself, light intensity in the scene may change, thereby causing the dynamic visual camera to generate an event. In addition, the event image may be a four-channel event image, where the first two channels of the event image are used for encoding the number information of positive and negative polarity events, and the last two channels are used for encoding the timestamp information of the positive and negative polarity events. It should be noted that, in the present application, a positive polarity event refers to an event that the light intensity increases within a preset time period, and a negative polarity event refers to an event that the light intensity decreases within the preset time period.
In some embodiments of the present application, the determining, based on the event image, a first obstacle event image including only time information corresponding to the target obstacle includes: determining an average timestamp of an event point in the event image; determining a timestamp threshold; filtering the event points in the event image based on the timestamp threshold and the average timestamp; and obtaining the first obstacle event image corresponding to the target obstacle according to the screening result, wherein the first obstacle event image only comprises event points corresponding to the target obstacle.
Specifically, screening the event points in the event image based on the timestamp threshold and the average timestamp comprises: and determining the event point of which the average timestamp is greater than the timestamp threshold value as the event point corresponding to the target obstacle. Additionally, by thresholding the average timestamp, an event image containing only dynamic obstacle event points may be obtained.
In some embodiments of the present application, when there are potential dynamic obstacles in the scene, the angular velocities on the IMU (inertial measurement unit) of the drone may be averaged, a rotational matrix established using Rodrigues rotation algorithm, motion compensated and normalized average timestamp calculated for the pixels on the event image.
As an optional embodiment, after the gray-scale map is obtained, a yolo model detection algorithm may be used to detect whether a potential dynamic obstacle exists in the gray-scale map, and when the potential dynamic obstacle is detected, size and position information of a bounding box (bounding box) of the dynamic obstacle may be output.
Step S104, determining the movement track of the target obstacle;
in some embodiments of the present application, the determining the movement track of the target obstacle may specifically include: determining a plurality of corresponding coordinate values of the target obstacle in a world coordinate system based on the first obstacle event image; determining coordinate value change conditions of the target obstacle in the world coordinate system based on the plurality of coordinate values; determining the moving speed and the moving direction of the target obstacle based on the change situation; determining the moving track of the target obstacle in a target time period based on the coordinate values, the moving speed and the moving direction, wherein the target time period is a time period with an end point of the preset time period as a starting point.
Specifically, during clustering, event points can be pre-clustered by using an eight-way connected component clustering algorithm, the event points are further clustered by using a DBSCAN density clustering algorithm after pre-clustering, and the newly constructed clustering cost function is an Euclidean distance and an optical flow estimation result calculated by a Lucas-Kanade algorithm. After the clustering result is obtained, a matrix can be drawn around the result to obtain information such as angular points of the matrix, the central position of the matrix and the like.
As an alternative embodiment, determining the corresponding plurality of coordinate values of the target obstacle in the world coordinate system based on the first obstacle event image includes: clustering the first obstacle event images to obtain second obstacle event images; determining a rotation matrix corresponding to the target device, and determining corner points and central points of the rotation matrix according to the second obstacle event image; determining the depth value of the target obstacle in a camera reference system according to the corner points and the central point; and determining a plurality of coordinate values of the target obstacle in the world coordinate system according to the depth value.
The rotation matrix is a minimum rectangle capable of framing the clustering result, the diagonal center of the matrix is determined by the center of the clustering point, and the corner points are the four corners of the matrix.
As an alternative embodiment, determining the depth value of the target obstacle in the camera reference frame according to the corner point and the center point comprises: determining size information of the target obstacle, side length information of the obstacle area, and a focal length of the dynamic vision camera; and determining the depth value of the target obstacle in the camera reference system according to the size information, the side length information, the focal length, the angular point and the central point.
Specifically, the depth value of the dynamic obstacle in the camera reference system can be estimated by using the known size of the dynamic obstacle (radius of a sphere) and the focal length of the event camera as a priori conditions and combining the coordinates of the corner points and the center point obtained by clustering. As shown in the following formula:
where f is the focal length, ω real Is the width of the object and is,
is the measured side length of the fitted rectangle.
In some embodiments of the present application, the rotation matrix corresponding to the target device may be determined by: acquiring pose data of the target equipment; determining an average angular velocity of the target device based on the pose data; and establishing the rotation matrix according to the average angular velocity.
In some embodiments of the present application, after determining the depth and size of the obstacle, the clustered corner points and center points may be projected into a 3D space using a projection model in homogenous coordinates, so as to obtain three-dimensional coordinates of the obstacle in a world coordinate system. The pixel coordinate system and world coordinate system conversion formula (the conversion from two-dimensional coordinates to three-dimensional coordinates is completed by the formula):
wherein the homogenous coordinate system is a coordinate system always using the camera as the origin, and X in the above formula w ,Y w ，Z w Is the physical coordinate of a point in the world coordinate system, Z w V is the pixel coordinate in the pixel coordinate system corresponding to the point, Z c Is a scale factorAnd (5) performing secondary treatment.
For the intrinsic parameters of the camera, the intrinsic parameter matrix depends on the intrinsic parameters of the camera, where f is the image distance, dx and dy respectively represent the physical length of a pixel on the light-sensing plate of the camera in the X and Y directions (i.e. how many millimeters a pixel is on the light-sensing plate), and u is 0 ，v 0 Respectively, coordinates of the center of the camera plate in the pixel coordinate system, and 0 denotes an angle between the lateral and longitudinal edges of the plate (90 degrees indicates no error).
The external parameter matrix is an external parameter of the camera and depends on the relative positions of a camera coordinate system and a world coordinate system, R represents a rotation matrix, and T represents a translation vector.
After the three-dimensional coordinates of the dynamic barrier are obtained through the formula, the instantaneous speed and the direction of the barrier are estimated through the coordinate change of the barrier in a time window (namely in a preset time period), and the influence caused by noise is reduced through a mean value filtering method, so that the average speed and the direction of the dynamic barrier are obtained.
And step S106, controlling the target equipment to move along a first direction under the condition that the movement track is determined to be overlapped with at least part of the area in the safety area, and the distance between the target obstacle and the target equipment is not more than the preset distance, wherein the safety area is an area determined by taking the target equipment as the center, the first direction is a direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is more than the preset distance.
Specifically, after the moving track of the obstacle is determined, the safety range can be defined by taking the unmanned aerial vehicle as the center, the safety range is a rectangular frame, the size of the rectangular frame is obtained by adjusting parameters in a later period, the safety distance of the obstacle is set to be avoided, and the obstacle is avoided only when the dynamic obstacle reaches the safety distance from the unmanned aerial vehicle.
As an alternative implementation, because the preset time length is short, the motion of the dynamic obstacle can be temporarily regarded as uniform linear motion, and whether the motion will intersect with the rectangular frame can be calculated according to the previously obtained speed and direction of the dynamic obstacle and the geometric relationship.
When the collision is judged to be possible, the flight control device of the unmanned aerial vehicle can send an obstacle avoidance signal, so that the unmanned aerial vehicle can avoid the obstacle in the direction with the fastest avoidance time (the unmanned aerial vehicle can avoid the obstacle in the upper direction, the sitting direction, the right direction and the three directions).
Through the steps, the target obstacle in the target area can be detected in the moving process of the target equipment, wherein the target obstacle is an obstacle in a moving state; determining a moving track of a target obstacle; the method comprises the steps of determining the moving track of the obstacle, and controlling the target equipment to move along a first direction under the condition that the moving track is determined to be overlapped with at least part of the area in the safety area, and the distance between the target obstacle and the target equipment is not larger than the preset distance, wherein the safety area is the area determined by taking the target equipment as the center, the first direction is the direction corresponding to the shortest hiding time, and the hiding time is the time consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is larger than the preset distance.
Example 2
According to an embodiment of the invention, an unmanned aerial vehicle is provided. Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle provided in the embodiment of the present invention. As shown in fig. 2, the drone includes: the unmanned aerial vehicle comprises a dynamic vision module 20, a processor 22, a flight control module 24 and an inertial measurement module 26, wherein the dynamic vision module 20 is configured to detect a target obstacle in a target area during movement of the unmanned aerial vehicle, where the target obstacle is an obstacle in a moving state; the inertial measurement module 26 is used for acquiring pose data of the unmanned aerial vehicle; a processor 22 for determining a movement trajectory of the target obstacle; a flight control module 24, configured to determine whether the movement trajectory overlaps a safe area, where the safe area is an area determined by taking the target device as a center; and under the condition that the moving track is determined to be overlapped with the safety area and the distance between the unmanned aerial vehicle and the target equipment is not more than the preset distance, controlling the unmanned aerial vehicle to move along a first direction, wherein the first direction is the direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position where the distance between the target equipment and the unmanned aerial vehicle is greater than the preset distance.
In some embodiments of the present application, the unmanned aerial vehicle further includes a TOF ranging module.
In some embodiments of the present application, the processor 22 is further configured to obtain pose data of the drone from the inertial measurement module 26, calculate a coordinate change condition of the obstacle according to the pose data, perform target segmentation on the event image by using an optical flow calculation method, thereby obtaining an event image only including the obstacle, and send position information and speed information of the obstacle to the flight control module 24.
It should be noted that the unmanned aerial vehicle provided in this embodiment may be configured to execute the obstacle avoidance method provided in embodiment 1, and therefore, the explanation about the obstacle avoidance method in embodiment 1 is also applicable to the unmanned aerial vehicle in this embodiment, and details are not described herein again.
Example 3
According to the embodiment of the invention, the invention provides an obstacle avoidance device. Fig. 3 is a schematic structural diagram of an obstacle avoidance apparatus according to an embodiment of the present invention. As shown in fig. 3, the obstacle avoidance apparatus includes: the detection module 30 is configured to detect a target obstacle in a target area in a moving process of a target device, where the target obstacle is an obstacle in a moving state; a calculation module 32 for determining a movement trajectory of the target obstacle; and the processing module 34 is configured to control the target device to move along a first direction when it is determined that the moving track overlaps a safe region and the distance between the target obstacle and the target device is not greater than a preset distance, where the safe region is a region determined by taking the target device as a center, the first direction is a direction corresponding to a shortest avoidance duration, and the avoidance duration is a duration consumed when the target device moves to a position where the distance between the target device and the target obstacle is greater than the preset distance.
It should be noted that the obstacle avoidance apparatus provided in this embodiment may be used to execute the obstacle avoidance method provided in embodiment 1, and therefore, the explanation about the obstacle avoidance method shown in embodiment 1 is also applicable to the embodiment of this application, and is not described herein again.
According to the embodiment of the invention, a nonvolatile storage medium is also provided. The nonvolatile storage medium comprises a stored program, wherein when the program runs, the equipment where the nonvolatile storage medium is located is controlled to execute the following obstacle avoidance method: in the moving process of target equipment, detecting a target obstacle in a target area, wherein the target obstacle is an obstacle in a moving state; determining a moving track of a target obstacle; and under the condition that the movement track is determined to be overlapped with at least part of the area in the safety area and the distance between the target obstacle and the target equipment is not more than the preset distance, controlling the target equipment to move along a first direction, wherein the safety area is an area determined by taking the target equipment as a center, the first direction is a direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is more than the preset distance.
According to the embodiment of the invention, the electronic equipment is further provided. The electronic equipment comprises a processor, wherein the processor is used for running a program, and the program running is to execute the following obstacle avoidance method: in the moving process of target equipment, detecting a target obstacle in a target area, wherein the target obstacle is an obstacle in a moving state; determining a moving track of a target obstacle; and under the condition that the movement track is determined to be overlapped with at least part of the area in the safety area and the distance between the target obstacle and the target equipment is not more than the preset distance, controlling the target equipment to move along a first direction, wherein the safety area is an area determined by taking the target equipment as a center, the first direction is a direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is more than the preset distance.
According to the embodiment of the invention, the embodiment of the computer terminal is also provided. Fig. 4 is a schematic structural diagram illustrating a computer device 400 according to an embodiment of the present invention.
In an exemplary embodiment, a computer-readable storage medium comprising instructions, such as a memory 404 comprising instructions, executable by a processor 402 of the apparatus 400 to perform the following obstacle avoidance method, detecting a target obstacle in a target area during movement of a target device, wherein the target obstacle is an obstacle in a moving state; determining a moving track of a target obstacle; and under the condition that the movement track is determined to be overlapped with at least part of the area in the safety area, and the distance between the target obstacle and the target equipment is not more than the preset distance, controlling the target equipment to move along a first direction, wherein the safety area is an area determined by taking the target equipment as the center, the first direction is a direction corresponding to the shortest avoidance duration, and the avoidance duration is the duration consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is more than the preset distance. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (12)
1. An obstacle avoidance method is characterized by comprising the following steps:
in the moving process of target equipment, detecting a target obstacle in a target area, wherein the target obstacle is an obstacle in a moving state;
determining a movement track of the target obstacle;
and under the condition that the movement track is determined to be overlapped with at least part of a safety area, and the distance between the target obstacle and the target equipment is not more than a preset distance, controlling the target equipment to move along a first direction, wherein the safety area is an area determined by taking the target equipment as a center, the first direction is a direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to the position where the distance between the target equipment and the target obstacle is more than the preset distance.
2. An obstacle avoidance method according to claim 1, wherein detecting a target obstacle in the target area comprises:
acquiring light intensity parameters in the target area;
under the condition that the change rate of the light intensity parameter is larger than a preset change rate, acquiring event information generated by a dynamic visual camera in the target equipment within a preset time period and a gray-scale map corresponding to the event information, wherein the event information comprises an event image;
determining an obstacle area corresponding to the target obstacle and position information of the obstacle area in the gray-scale image, wherein the obstacle area is a rectangular area containing the target obstacle; and the number of the first and second groups,
and determining a first obstacle event image only containing event information corresponding to the target obstacle based on the event image.
3. The obstacle avoidance method according to claim 2, wherein the event image is composed of event points, each pixel point in the event image corresponds to a timestamp, and determining, based on the event image, a first obstacle event image containing only time information corresponding to the target obstacle comprises:
determining an average timestamp of an event point in the event image;
determining a timestamp threshold;
filtering the event points in the event image based on the timestamp threshold and the average timestamp;
and obtaining the first obstacle event image corresponding to the target obstacle according to the screening result, wherein the first obstacle event image only comprises event points corresponding to the target obstacle.
4. The obstacle avoidance method according to claim 3, wherein the screening the event points in the event image based on the timestamp threshold and the average timestamp comprises:
and determining the event point of which the average timestamp is greater than the timestamp threshold value as the event point corresponding to the target obstacle.
5. An obstacle avoidance method according to claim 3, wherein determining the movement trajectory of the target obstacle comprises:
determining a plurality of corresponding coordinate values of the target obstacle in a world coordinate system based on the first obstacle event image;
determining coordinate value change conditions of the target obstacle in the world coordinate system based on the plurality of coordinate values;
determining the moving speed and the moving direction of the target obstacle based on the change situation;
determining the moving track of the target obstacle in a target time period based on the coordinate values, the moving speed and the moving direction, wherein the target time period is a time period taking the end point of the preset time period as a starting point.
6. An obstacle avoidance method according to claim 5, wherein determining a plurality of coordinate values of the target obstacle in a world coordinate system corresponding to the first obstacle event image comprises:
clustering the first obstacle event images to obtain second obstacle event images;
determining a rotation matrix corresponding to the target device, and determining corner points and central points of the rotation matrix according to the second obstacle event image;
determining the depth value of the target obstacle in a camera reference system according to the corner points and the central point;
and determining a plurality of coordinate values of the target obstacle in the world coordinate system according to the depth values.
7. The obstacle avoidance method according to claim 6, wherein determining the depth value of the target obstacle in a camera reference system according to the corner point and the center point comprises:
determining size information of the target obstacle, side length information of the obstacle area, and a focal length of the dynamic vision camera;
and determining the depth value of the target obstacle in the camera reference system according to the size information, the side length information, the focal length, the angular point and the central point.
8. The obstacle avoidance method according to claim 7, wherein determining the rotation matrix corresponding to the target device comprises:
acquiring pose data of the target equipment;
determining an average angular velocity of the target device based on the pose data;
and establishing the rotation matrix according to the average angular velocity.
9. An unmanned aerial vehicle comprises a dynamic vision module, a processor, a flight control module and an inertia measurement module, wherein,
the dynamic vision module is used for detecting a target obstacle in a target area in the moving process of the unmanned aerial vehicle, wherein the target obstacle is an obstacle in a moving state;
the inertial measurement module is used for acquiring pose data of the unmanned aerial vehicle;
the processor is used for determining the moving track of the target obstacle;
the flight control module is used for determining whether the moving track is overlapped with a safety area, wherein the safety area is an area determined by taking target equipment as a center; and under the condition that the moving track is determined to be overlapped with the safety area, and the distance between the unmanned aerial vehicle and the target equipment is not more than the preset distance, controlling the unmanned aerial vehicle to move along a first direction, wherein the first direction is the direction corresponding to the shortest avoidance time, and the avoidance time is the time consumed when the target equipment moves to the position where the distance between the target equipment and the unmanned aerial vehicle is greater than the preset distance.
10. An obstacle avoidance device, comprising:
the system comprises a detection module, a detection module and a control module, wherein the detection module is used for detecting a target obstacle in a target area in the moving process of target equipment, and the target obstacle is an obstacle in a moving state;
the calculation module is used for determining the movement track of the target obstacle;
and the processing module is used for controlling the target equipment to move along a first direction under the condition that the movement track is determined to be overlapped with a safe area and the distance between the target obstacle and the target equipment is not greater than a preset distance, wherein the safe area is an area determined by taking the target equipment as a center, the first direction is a direction corresponding to the shortest avoiding time length, and the avoiding time length is the time length consumed when the target equipment moves to a position where the distance between the target equipment and the target obstacle is greater than the preset distance.
11. A non-volatile storage medium, comprising a stored program, wherein when the program runs, a device where the non-volatile storage medium is located is controlled to execute the obstacle avoidance method according to any one of claims 1 to 8.
12. An electronic device comprising a processor, wherein the processor is configured to execute a program, and wherein the program executes the obstacle avoidance method according to any one of claims 1 to 8.
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