WO2021088684A1 - Omnidirectional obstacle avoidance method and unmanned aerial vehicle - Google Patents

Abstract

An omnidirectional obstacle avoidance method and an unmanned aerial vehicle (10). The omnidirectional obstacle avoidance method is applied in the unmanned aerial vehicle (10), and comprises: first, acquiring flight speed information of the unmanned aerial vehicle (10) (S10); next, adjusting, according to the acquired flight speed information, image frame rates of multiple cameras in different directions (S20); and performing, according to the adjusted image frame rates of the cameras, omnidirectional obstacle avoidance for the unmanned aerial vehicle (10). In the invention, image frame rates of cameras corresponding to flight direction information are adjusted to significantly increase the image frame rates of the cameras, thereby improving the precision of remote obstacle avoidance, and enabling an unmanned aerial vehicle (10) with limited visual obstacle avoidance processing capacity to have better omnidirectional obstacle avoidance performance.

Description

Omnidirectional obstacle avoidance method and unmanned aerial vehicle

This application claims the priority of the Chinese patent application filed with the Chinese Patent Office on November 07, 2019, the application number is 201911083405.5, and the application name is "omnidirectional obstacle avoidance method and unmanned aerial vehicle", the entire content of which is incorporated herein by reference Applying.

【Technical Field】

The invention relates to the technical field of unmanned aerial vehicles, in particular to an omnidirectional obstacle avoidance method and an unmanned aerial vehicle.

【Background technique】

With the continuous development of unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are gradually becoming more and more popular. There are many ways to control unmanned aerial vehicles, such as remote control, mobile phone, computer and other mobile terminals.

In the process of realizing the present invention, the inventor found that related technologies have at least the following problems: With the development of unmanned aerial vehicle technology, true omnidirectional obstacle avoidance requires support for six front, bottom, rear, left, right and top sides. Direction, the higher the accuracy of long-distance obstacle avoidance, the higher the resolution of the image, and the higher the resolution, the higher the requirement for visual obstacle avoidance processing performance. However, the overall performance of visual obstacle avoidance processing is limited, and the prior art cannot solve the problem of too many obstacle avoidance lenses and insufficient visual obstacle avoidance performance.

[Summary of the invention]

In order to solve the above technical problems, the embodiments of the present invention provide an omnidirectional obstacle avoidance method and an unmanned aerial vehicle that improve the accuracy of long-distance obstacle avoidance of an unmanned aerial vehicle under the condition of certain visual obstacle avoidance processing performance.

In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions: an omnidirectional obstacle avoidance method applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a plurality of cameras in different directions, and the method includes: acquiring the unmanned aerial vehicle Flight speed information of human aircraft;

Adjusting the image frame rates of the cameras in multiple different directions according to the flight speed information;

According to the adjusted image frame rate of the camera, the UAV is omnidirectionally avoiding obstacles.

Optionally, the adjusting the image frame rate of the cameras in multiple different directions according to the flight speed information includes:

Obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information;

According to the flight direction information, image frame rates of the cameras in multiple different directions are adjusted.

Optionally, the flight speed information includes flight speeds corresponding to different directions;

The obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information includes:

Comparing the flight speeds corresponding to different directions with a preset speed threshold;

If one of the flight speeds is greater than the preset speed threshold, the flight direction corresponding to the one of the flight speeds is used as the flight direction information.

Optionally, several cameras are provided in each flight direction of the unmanned aerial vehicle;

The adjusting the image frame rate of the cameras in multiple different directions according to the flight direction information includes:

According to the flight direction information, extract the current flight direction of the unmanned aerial vehicle;

Increasing the image frame rate of the camera corresponding to the current flight direction;

The image frame rate of the camera corresponding to other directions is reduced.

Optionally, the increasing the image frame rate of the camera corresponding to the current flight direction includes:

Increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;

The reducing the image frame rate of the camera corresponding to other directions includes:

The image frame rate of the camera corresponding to the other direction is reduced to half of the maximum value.

Optionally, the increasing the image frame rate of the camera corresponding to the current flight direction includes:

Increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;

The reducing the image frame rate of the camera corresponding to other directions includes:

The image frame rate of the camera corresponding to the other direction is reduced to a minimum.

In order to solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: an omnidirectional obstacle avoidance device. The omnidirectional obstacle avoidance device includes: a flight speed information acquisition module for acquiring flight speed information of the unmanned aerial vehicle.

The image frame rate adjustment module is configured to adjust the image frame rate of the cameras in multiple different directions according to the flight speed information.

The comprehensive obstacle avoidance control module is used to perform omnidirectional obstacle avoidance on the UAV according to the adjusted image frame rate of the camera.

Optionally, the image frame rate adjustment module includes a flight direction information acquisition unit and an image frame rate control unit;

The flight direction information acquiring unit is configured to obtain flight direction information of the unmanned aerial vehicle according to the flight speed information;

The graphic frame rate control unit is configured to adjust the image frame rates of the cameras in multiple different directions according to the flight direction information.

Optionally, a number of cameras are provided in each flight direction of the UAV; the graphics frame rate control unit includes a current flight direction extraction subunit, an image frame rate increase subunit, and an image frame rate decrease subunit ；

The current flight direction extraction subunit is used to extract the current flight direction of the unmanned aerial vehicle according to the flight direction information;

The image frame rate increasing subunit is used to increase the image frame rate of the camera corresponding to the current flight direction;

The image frame rate reduction subunit is used to reduce the image frame rate of the camera corresponding to other directions.

To solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes:

body;

An arm, connected to the fuselage;

The power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly;

Flight control module; and

A memory communicatively connected with the flight control module; wherein the memory stores instructions that can be executed by the flight control module, and the instructions are executed by the flight control module so that the flight control module The group can be used to perform the omnidirectional obstacle avoidance method described above.

Compared with the prior art, the omnidirectional obstacle avoidance method provided by the embodiment of the present invention can be achieved by first obtaining the flight speed information of the unmanned aerial vehicle, and then adjusting all directions in multiple different directions according to the obtained flight speed information. The image frame rate of the camera may further perform omnidirectional obstacle avoidance for the unmanned aerial vehicle according to the adjusted image frame rate of the camera. Through the above-mentioned adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance, and the visual obstacle avoidance processing performance is constant. Under the circumstances, the UAV can better avoid obstacles in all directions.

【Explanation of the drawings】

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a scale limitation.

FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;

2 is a schematic flowchart of an omnidirectional obstacle avoidance method provided by one of the embodiments of the present invention;

Fig. 3 is a schematic diagram of the flow of S30 in Fig. 2;

FIG. 4 is a schematic diagram of the flow of S31 in FIG. 3;

Figure 5 is a schematic diagram of the flow of S32 in Figure 3;

Fig. 6 is a structural block diagram of an omnidirectional obstacle avoidance device provided by one of the embodiments of the present invention;

Fig. 7 is a structural block diagram of an unmanned aerial vehicle provided by one embodiment of the present invention.

【Detailed ways】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as being "fixed to" another element, it may be directly on the other element, or there may be one or more elements in between. When an element is said to be "connected" to another element, it can be directly connected to the other element, or there may be one or more intervening elements in between. The terms "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present invention. The invention and simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention in this specification are only for the purpose of describing specific embodiments, and are not used to limit the present invention. The term "and/or" used in this specification includes any and all combinations of one or more related listed items.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

The embodiment of the present invention provides an omnidirectional obstacle avoidance method and an unmanned aerial vehicle, wherein the omnidirectional obstacle avoidance method applied to the unmanned aerial vehicle first obtains the flight speed information of the unmanned aerial vehicle, and then according to the obtained information. According to the flight speed information, the image frame rates of the cameras in multiple different directions are adjusted, and then the UAV can be omnidirectional obstacle avoidance according to the adjusted image frame rates of the cameras. Through the above-mentioned adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance, and the visual obstacle avoidance processing performance is constant. Under the circumstances, the UAV can better avoid obstacles in all directions.

The following examples illustrate the application environment of the omnidirectional obstacle avoidance method.

FIG. 1 is a schematic diagram of an application environment of an aircraft-free control method provided by an embodiment of the present invention; as shown in FIG. 1, the application scenario includes an unmanned aerial vehicle 10, an infrared wireless network 20, a remote control device 30 and a user 40. The user 40 can use the remote control device 30 to control the UAV 10 through the infrared wireless network.

The unmanned aerial vehicle 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, an umbrella-wing unmanned aerial vehicle, a flapping-wing unmanned aerial vehicle, and a helicopter model.

The unmanned aerial vehicle 10 may have a corresponding volume or power according to actual needs, so as to provide load capacity, flight speed, and flight range that can meet the needs of use. One or more functional modules may be added to the unmanned aerial vehicle 10 to enable the unmanned aerial vehicle 10 to realize corresponding functions.

For example, in this embodiment, the UAV 10 is provided with a battery module, a positioning device, an infrared emitting device, and multiple sets of binocular cameras.

After the battery module is connected to the UAV 10, the battery module can provide the UAV 10 with power. In this embodiment, the battery module includes a voltage conversion module, a voltage detection module, a current detection module, a temperature detection module, an IO input and output module, a CPU control module, a communication module, a power display module, and an interface circuit. Among them, the voltage conversion module realizes the conversion of the battery input voltage into the 5V and 3.3V voltages required by the board; the voltage detection module uses a balanced plug to connect to the battery to realize the measurement of the single voltage value and the total voltage value; the battery power output line The current detection module can be connected to convert the collected current value into a voltage value and send it to the CPU interface for AD collection; the temperature detection module can realize temperature collection by connecting 1 to 8 platinum resistance sensors; the communication module is used for The connection between the board and peripherals can support CAN, RS232, and RS485 interfaces. The CPU control module is connected with the voltage detection module, the current detection module and the temperature detection module through the interface circuit to realize the collection of voltage, current, and temperature.

The positioning device may be a GPS positioning system, and the GPS positioning system is used to obtain real-time geographic location information of the unmanned aerial vehicle.

The infrared emission device is used to send infrared access information and receive infrared control instructions issued by the remote control device. For example, when the remote control device issues an infrared control instruction, the infrared emission device receives the infrared control instruction, and then makes The unmanned aerial vehicle 10 controls the activation state of the unmanned aerial vehicle 10 according to the infrared control command. After the battery module is connected to the UAV 10, the infrared emitting device can send the infrared access information obtained from the access information of the battery module to the remote control device 30.

The binocular camera includes a front view camera, a rear view camera, a top view camera, a bottom view camera, a left view camera, and a right view camera. The front view camera, the rear view camera, the top view camera, the bottom view camera, and the left view camera The camera and the right-view camera are respectively installed on the front end, the rear end, the upper shell, the lower shell, the left end and the right end of the UAV. The above-mentioned cameras can be used to capture image information in corresponding directions respectively, and then the unmanned aerial vehicle The aircraft can perform omnidirectional obstacle avoidance based on the graphic information.

The unmanned aerial vehicle 10 includes at least one flight control module, which serves as the control core for the flight and data transmission of the unmanned aerial vehicle 10, and has the ability to monitor, calculate, and manipulate the flight and mission of the unmanned aerial vehicle. In this embodiment, The flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding light pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal. The remote control device 30 can be any type of smart device used to establish a communication connection with the UAV 10, such as a mobile phone, a tablet computer, a notebook computer, or other mobile control terminals.

The remote control device 30 is equipped with an infrared receiving device for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle. For example, the remote control device 30 may be used to receive infrared access information generated by the UAV 10 when the battery module is normally connected to the UAV. The remote control device 30 can also send an infrared control command generated according to the control command of the user 40 to the UAV 10 to control the activation state of the UAV 10. The remote control device 30 can also be equipped with an image transmission module for controlling positioning images, pan-tilt shooting images, and aiming images return. In this embodiment, the image transmission module can also modulate a binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.

The remote control device 30 may also be equipped with one or more different user 40 interaction devices to collect instructions from the user 40 or display and feedback information to the user 40.

These interactive devices include but are not limited to: buttons, display screens, touch screens, speakers, and remote control joysticks. For example, the remote control device 30 may be equipped with a touch screen, through which the user 40 receives remote control instructions for the UAV 10.

In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can also be integrated with the existing image visual processing technology to further provide more intelligent services. For example, the unmanned aerial vehicle 10 may use a dual-lens camera to collect images, and the remote control device 30 may analyze the images, so as to realize the gesture control of the unmanned aerial vehicle 10 by the user 40.

Fig. 2 is an embodiment of an omnidirectional obstacle avoidance method provided by an embodiment of the present invention. This method can be performed by the unmanned aerial vehicle in FIG. 1. Specifically, referring to Figure 2, the method may include but is not limited to the following steps:

S10. Obtain flight speed information of the unmanned aerial vehicle.

Specifically, the flight speed information is flight speed vectors in different directions, including the current unmanned aerial vehicle's forward speed information v _x , backward speed information-v _x , left to right speed information ± v _y , up and down speed information, ±v _z .

Specifically, the flight speed information can be obtained through the following steps. First obtain the image information, and do the gray-scale processing to obtain the gray-scale image of the image. Among them, the real-time image information of the ground is acquired by the image sensor, and the acquired real-time image information is gray-scaled to obtain continuous image gray-scale images. Then the pyramid optical flow algorithm is used to obtain the optical flow speed, and the flight speed vectors of the unmanned aerial vehicle in different directions are obtained according to the optical flow speed and the height data of the unmanned aerial vehicle, and used as the flight speed information.

It should be noted that the pyramid optical flow algorithm links the two-dimensional velocity field with the gray level, introduces the optical flow constraint equation, and obtains the basic algorithm for optical flow calculation. Based on the optical characteristics of object movement, two hypotheses are proposed: ①The gray scale of the moving object remains unchanged in a short interval; ②The time is continuous or the movement is small, and the image moves slowly over time. The actual middle refers to The ratio of the time change to the motion in the image should be small enough. Based on the premise of the above two assumptions, the use of the pyramid optical flow algorithm to calculate the optical flow speed has the following problems: there are certain requirements for the flight speed, image frequency and processor hardware of the UAV, and the speed measurement range is small. The flying speed of the aircraft is too fast, and the problem of large errors or even complete errors is prone to occur. Increasing the image frequency can solve the error or error problem caused by the flying speed too fast, but at the same time it will bring about the problem of calculation speed. Increasing the image frequency will This results in an increase in the amount of processor calculations and higher requirements on the hardware configuration of the processor, making it impossible to achieve low-cost accurate measurements. For small movements, that is, when the flying speed of the unmanned aerial vehicle is slow, the pyramid algorithm is used to calculate the optical flow speed with higher accuracy and real-time performance.

It should be noted that when the flight speed of the unmanned aerial vehicle is obtained, the gray image of the image is updated after the flight speed of the unmanned aerial vehicle is obtained, and at the same time, it is judged whether the flight speed is greater than the first threshold. It is assumed that the obtained unmanned aerial vehicle is flying If the speed is greater than the first threshold, the block matching optical flow algorithm is used to obtain the optical flow speed, and the flight speed of the unmanned aerial vehicle is obtained according to the optical flow speed and the height data of the unmanned aerial vehicle; otherwise, the pyramid optical flow algorithm is used to obtain the optical flow speed. Flow speed, and finally obtain the flight speed information of the UAV according to the obtained optical flow speed and the altitude data of the UAV.

S20. Adjust the image frame rates of the cameras in multiple different directions according to the flight speed information.

Specifically, the flight direction information of the unmanned aerial vehicle is obtained according to the flight speed information obtained by the above calculation, and then the image frame rates of the cameras in multiple different directions are adjusted according to the flight direction information.

Specifically, the flight speed information includes the current flight speed of the unmanned aerial vehicle in different directions. For example, forward speed v _x1 , backward speed v _x2 , left to right speed v _y , and up and down speed v _z . Then, it is determined whether the flight speed in different directions exceeds the preset speed threshold, and then the current flight direction information of the unmanned aerial vehicle can be determined according to the judgment result. Furthermore, according to the flight direction information, the image frame rates of the cameras in multiple different directions are adjusted. For example, the image frame rate of the camera corresponding to the acquired flight direction information is increased, and the image frame rate of the camera corresponding to other directions is decreased.

Further, the UAV is further provided with a storage device, and the storage device stores the preset speed threshold value.

Wherein, the storage device may be flash memory, hard disk memory, micro multimedia card memory, card memory (for example, SD or XD memory), random access memory (RAM), static random access memory (SRAM), Readable memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disks and optical disks.

S30. Perform omnidirectional obstacle avoidance on the unmanned aerial vehicle according to the adjusted image frame rate of the camera.

Specifically, with the development of drone technology, true omnidirectional obstacle avoidance requires support for six directions: front, bottom, rear, left, right, and top. Through the above-mentioned adjusted image frame rate of the camera, The image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance. Under the condition of certain visual obstacle avoidance processing performance, it is better for the unmanned aerial vehicle Perform omnidirectional obstacle avoidance.

The embodiment of the present invention provides an omnidirectional obstacle avoidance method. The method first obtains the flight speed information of the unmanned aerial vehicle, and then adjusts the cameras in multiple different directions according to the obtained flight speed information. According to the adjusted image frame rate of the camera, the UAV can be omnidirectionally avoided obstacles. Through the above-mentioned adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance, and the visual obstacle avoidance processing performance is constant. Under the circumstances, the UAV can better avoid obstacles in all directions.

In order to better perform omnidirectional obstacle avoidance on the UAV according to the adjusted image frame rate of the camera, in some embodiments, please refer to Fig. 3, S30 includes the following steps:

S31. Obtain flight direction information of the unmanned aerial vehicle according to the flight speed information.

Specifically, the flight speed information includes the current flight speed of the unmanned aerial vehicle in different directions. For example, forward speed v _x1 , backward speed v _x2 , left to right speed v _y , and up and down speed v _z . Then, it is determined whether the flight speed in different directions exceeds the preset speed threshold, and then the current flight direction information of the unmanned aerial vehicle can be determined according to the judgment result.

S32. Adjust image frame rates of the cameras in multiple different directions according to the flight direction information.

Specifically, based on the flight direction information acquired above, the image frame rate of the camera in different directions can be adjusted accordingly.

For example, when the flight direction information is the upward flight direction information, it indicates that the unmanned aircraft is rising, and then the image frame rate of the binocular camera corresponding to the upward direction is increased, and the image frame of the binocular camera corresponding to other directions is increased. The rate is reduced. When the flight direction information is forward flight direction information, it indicates that the unmanned aircraft is flying forward, and then the image frame rate of the binocular camera corresponding to the forward direction is increased, and the image of the binocular camera corresponding to other directions is increased. The frame rate is reduced. When the flight direction information is the backward flight direction information, it indicates that the unmanned aircraft is flying backward, and then the image frame rate of the binocular camera corresponding to the backward direction is increased, and the images of the binocular camera corresponding to other directions The frame rate is reduced. When the flight direction information is leftward flight direction information, it indicates that the unmanned aircraft is flying to the left, and then the image frame rate of the binocular camera corresponding to the left direction is increased, and the images of the binocular camera corresponding to other directions The frame rate is reduced.

In order to better obtain the flight direction information of the UAV based on the flight speed information, in some embodiments, please refer to FIG. 4, S31 includes the following steps:

S311: Compare the flight speeds corresponding to different directions with a preset speed threshold.

S312: If one of the flight speeds is greater than the preset speed threshold, use the flight direction corresponding to the one of the flight speeds as the flight direction information.

For example, if the forward speed corresponding to the forward direction is v _x1 =6m/s, the backward speed corresponding to the backward direction is v _x2 =5m/s, and the leftward speed corresponding to the left direction is v _y1 =7m/s, and to the right The rightward speed corresponding to the direction is v _y2 =8m/s, the upward speed corresponding to the upward direction is v _z =3m/s, and the downward speed corresponding to the downward direction is v _z =5m/s. If the pre-speed threshold is Is 7.5m/s, the forward speed v _x1 =6m/s, the backward speed v _x2 =5m/s, the leftward speed v _y1 =7m/s, the rightward speed v _y2 =8m/s, the upward speed v _z = 3m/s, the downward speed v _z = 5m/s is compared with the pre-speed threshold value of 7.5m/s respectively, and the flight speed in different directions is judged to be 6m/s, 5m/s, 7m/s, 8m/s. If s, 3m/s, 5m/s exceed the preset speed threshold of 7.5m/s, it can be calculated that only the rightward speed v _y2 = 8m/s is greater than the pre-speed threshold of 7.5m/s, then it can be determined If the unmanned aerial vehicle is currently flying to the right, the flight direction information is rightward flight direction information.

For another example, if the forward speed v _x1 =9m/s, the backward speed v _x2 =5m/s, the leftward speed v _y1 =7m/s, the rightward speed v _y2 =8m/s, the upward speed v _z =3m/s, Downward speed v _z =5m/s, if the pre-speed threshold is 7.5m/s, set the forward speed v _x1 =9m/s, the backward speed v _x2 =5m/s, and the leftward speed v _y1 =7m /s, rightward velocity v _y2 = 8m/s, upward velocity v _z = 3m/s, downward velocity v _z = 5m/s, respectively, compare with the pre-speed threshold value of 7.5m/s, and judge and judge different directions Whether the flight speed of 9m/s, 5m/s, 7m/s, 8m/s, 3m/s, 5m/s exceeds the preset speed threshold of 7.5m/s, the forward direction 9m/s and the rightward speed v _{y2 can be calculated} = 8m/s is greater than the pre-speed threshold of 7.5m/s, then it can be determined that the UAV is currently flying forward and right, and the flight direction information is flight direction information forward and right. And so on.

In some embodiments, preset speed thresholds are correspondingly set in different directions, and the preset speed thresholds in different directions may be the same or different. Then, the flight speeds corresponding to different directions are compared with the corresponding preset speed thresholds.

In order to better adjust the image frame rate of the cameras in multiple different directions according to the flight direction information, in some embodiments, please refer to FIG. 5, S32 further includes the following steps:

S321: Extract the current flight direction of the unmanned aerial vehicle according to the flight direction information.

For example, when the flight direction information is upward flight direction information, it indicates that the unmanned aerial vehicle is ascending, and the current flight direction of the unmanned aerial vehicle is upward flight. When the flight direction information is forward flight direction information, it indicates that the unmanned aerial vehicle is flying forward, and the current flight direction of the unmanned aerial vehicle is forward flight. When the flight direction information includes both leftward flight direction information and forward direction information, it indicates that the unmanned aerial vehicle is flying in the forward left direction, and the current flight direction of the unmanned aerial vehicle is flying in the forward left direction.

S322: Increase the image frame rate of the camera corresponding to the current flight direction.

S323: Decrease the image frame rate of the camera corresponding to other directions.

For example, if the current flight direction is the upward direction, the image frame rate of the binocular camera corresponding to the upward direction is increased, and the image frame rate of the binocular camera corresponding to other directions is reduced. If the current flight direction is the forward direction, the image frame rate of the binocular camera corresponding to the forward direction is increased, and the image frame rate of the binocular camera corresponding to other directions is reduced. If the current flight direction is the backward direction, the image frame rate of the binocular camera corresponding to the backward direction is increased, and the image frame rate of the binocular camera corresponding to the other directions is reduced. And so on.

Specifically, in some embodiments, increasing the image frame rate of the camera corresponding to the current flight direction means that the image frame rate of the camera corresponding to the current flight direction can be increased to The maximum value; the reducing the image frame rate of the camera corresponding to other directions refers to reducing the image frame rate of the camera corresponding to other directions to half of the maximum value.

In some embodiments, increasing the image frame rate of the camera corresponding to the current flight direction refers to increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value; Decreasing the image frame rate of the camera corresponding to other directions refers to reducing the image frame rate of the camera corresponding to other directions to a minimum value.

It should be noted that, in the above embodiments, there is not necessarily a certain sequence between the above steps. A person of ordinary skill in the art can understand from the description of the embodiments of the present application that in different embodiments, the above steps There can be different execution orders, that is, they can be executed in parallel, they can be executed interchangeably, and so on.

As another aspect of the embodiments of the present application, the embodiments of the present application provide an omnidirectional obstacle avoidance device 70, which is applied to an unmanned aerial vehicle. Please refer to FIG. 6, the omnidirectional obstacle avoidance device 70 includes: a flight speed information acquisition module 71, an image frame rate adjustment module 72, and an image frame rate adjustment module 73.

The flight speed information acquisition module 71 is used to acquire flight speed information of the unmanned aerial vehicle.

The image frame rate adjustment module 72 is configured to adjust the image frame rates of the cameras in multiple different directions according to the flight speed information.

The overall obstacle avoidance control module 73 is configured to perform omnidirectional obstacle avoidance on the UAV according to the adjusted image frame rate of the camera.

Therefore, in this embodiment, by first acquiring the flight speed information of the unmanned aerial vehicle, and then adjusting the image frame rate of the cameras in multiple different directions according to the acquired flight speed information, the image frame rates of the cameras in different directions can be adjusted accordingly. After the image frame rate of the camera, omnidirectional obstacle avoidance is performed on the UAV. Through the above-mentioned adjusted image frame rate of the camera, the image frame rate of the camera corresponding to the flight direction information is greatly improved, thereby improving the accuracy of long-distance obstacle avoidance, and the visual obstacle avoidance processing performance is constant. Under the circumstances, the UAV can better avoid obstacles in all directions.

Wherein, in some embodiments, the image frame rate adjustment module includes a flight direction information acquisition unit and an image frame rate control unit;

The flight direction information acquiring unit is configured to obtain flight direction information of the unmanned aerial vehicle according to the flight speed information;

The graphic frame rate control unit is configured to adjust the image frame rates of the cameras in multiple different directions according to the flight direction information.

Wherein, in some embodiments, a number of cameras are provided in each flight direction of the UAV; the graphics frame rate control unit includes a current flight direction extraction subunit, an image frame rate increase subunit, and an image frame Rate reduction sub-unit;

The current flight direction extraction subunit is used to extract the current flight direction of the unmanned aerial vehicle according to the flight direction information;

The image frame rate increasing subunit is used to increase the image frame rate of the camera corresponding to the current flight direction;

The image frame rate reduction subunit is used to reduce the image frame rate of the camera corresponding to other directions.

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle 10 provided by an embodiment of the present application. The unmanned aerial vehicle 10 may be any type of unmanned vehicle and can execute the omnidirectional obstacle avoidance method provided by the corresponding method embodiment above. Or, run the omnidirectional obstacle avoidance device 70 provided by the corresponding device embodiment above. The unmanned aerial vehicle includes: a fuselage, an arm, a power unit, an infrared transmitting device, a flight control module 110, a memory 120, and a communication module 130.

The arm is connected to the fuselage; the power device is provided on the arm for providing flight power to the unmanned aerial vehicle; the infrared emitting device is provided in the fuselage for Send infrared access information and receive infrared control instructions from the remote control device;

The flight control module has the ability to monitor, calculate and manipulate the flight and mission of the unmanned aerial vehicle, and includes a set of equipment for controlling the launch and recovery of the unmanned aerial vehicle. The flight control module can also modulate the binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.

The flight control module 110, the memory 120, and the communication module 130 establish a communication connection between any two through a bus.

The flight control module 110 can be of any type and has one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and issuing operation processing results.

As a non-transitory computer-readable storage medium, the memory 120 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions corresponding to the omnidirectional obstacle avoidance method in the embodiment of the present invention / Module (for example, the flight speed information acquisition module 71, the image frame rate adjustment module 72, and the overall obstacle avoidance control module 73 shown in FIG. 6). The flight control module 110 executes various functional applications and data processing of the omnidirectional obstacle avoidance device 70 by running the non-transient software programs, instructions, and modules stored in the memory 120, that is, realizes all of the above-mentioned method embodiments. To the obstacle avoidance method.

The memory 120 may include a storage program area and a storage data area. The storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the omnidirectional obstacle avoidance device 70, etc. . In addition, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the storage 120 may optionally include storage remotely provided with respect to the flight control module 110, and these remote storages may be connected to the UAV 10 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The memory 120 stores instructions that can be executed by the at least one flight control module 110; the at least one flight control module 110 is used to execute the instructions to implement the omnidirectional obstacle avoidance method in any of the foregoing method embodiments For example, the steps 10, 20, 30, etc. of the method described above are executed to realize the functions of the modules 71-73 in FIG. 6.

The communication module 130 is a functional module used to establish a communication connection and provide a physical channel. The communication module 130 may be any type of wireless or wired communication module 130, including but not limited to a WiFi module or a Bluetooth module.

Further, the embodiment of the present invention also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are controlled by one or more flight controllers. The execution of the module 110, for example, executed by one of the flight control modules 110 in FIG. 7, can cause the above-mentioned one or more flight control modules 110 to execute the omnidirectional obstacle avoidance method in any of the above-mentioned method embodiments, for example, execute the above description The method steps 10, 20, 30, etc. realize the functions of the modules 71-73 in FIG. 6.

The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Through the description of the above implementation manners, those of ordinary skill in the art can clearly understand that each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by instructing relevant hardware by a computer program in a computer program product. The computer program can be stored in a non-transitory computer. In the read storage medium, the computer program includes program instructions, and when the program instructions are executed by a related device, the related device can execute the flow of the foregoing method embodiments. Wherein, the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above products can execute the omnidirectional obstacle avoidance method provided by the embodiment of the present invention, and have the corresponding functional modules and beneficial effects for executing the omnidirectional obstacle avoidance method. For technical details not described in detail in this embodiment, refer to the omnidirectional obstacle avoidance method provided in the embodiment of the present invention.

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so that the computer or other programmable equipment is executed The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above. For the sake of brevity, they are not provided in details; although the present invention has been described in detail with reference to the foregoing embodiments, the ordinary person in the art The skilled person should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the implementations of the present invention. Examples of the scope of technical solutions.

Claims (10)

1. An omnidirectional obstacle avoidance method applied to an unmanned aerial vehicle, the unmanned aerial vehicle including a plurality of cameras in different directions, characterized in that it includes:

   Acquiring flight speed information of the unmanned aerial vehicle;

   Adjusting the image frame rates of the cameras in multiple different directions according to the flight speed information;

   According to the adjusted image frame rate of the camera, the UAV is omnidirectionally avoiding obstacles.
2. The method according to claim 1, wherein the adjusting the image frame rate of the cameras in multiple different directions according to the flight speed information comprises:

   Obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information;

   According to the flight direction information, image frame rates of the cameras in multiple different directions are adjusted.
3. The method according to claim 2, wherein the flight speed information includes flight speeds corresponding to different directions;

   The obtaining the flight direction information of the unmanned aerial vehicle according to the flight speed information includes:

   Comparing the flight speeds corresponding to different directions with a preset speed threshold;

   If one of the flight speeds is greater than the preset speed threshold, the flight direction corresponding to the one of the flight speeds is used as the flight direction information.
4. The method according to claim 3, wherein a plurality of cameras are arranged in each flight direction of the UAV;

   The adjusting the image frame rate of the cameras in multiple different directions according to the flight direction information includes:

   According to the flight direction information, extract the current flight direction of the unmanned aerial vehicle;

   Increasing the image frame rate of the camera corresponding to the current flight direction;

   The image frame rate of the camera corresponding to other directions is reduced.
5. The method according to claim 4 or 5, wherein the increasing the image frame rate of the camera corresponding to the current flight direction comprises:

   Increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;

   The reducing the image frame rate of the camera corresponding to other directions includes:

   The image frame rate of the camera corresponding to the other direction is reduced to half of the maximum value.
6. The method according to any one of claims 4 or 5, wherein the increasing the image frame rate of the camera corresponding to the current flight direction comprises:

   Increasing the image frame rate of the camera corresponding to the current flight direction to a maximum value;

   The reducing the image frame rate of the camera corresponding to other directions includes:

   The image frame rate of the camera corresponding to the other direction is reduced to a minimum.
7. An omnidirectional obstacle avoidance device, which is characterized in that it comprises:

   A flight speed information acquisition module for acquiring flight speed information of the unmanned aerial vehicle;

   An image frame rate adjustment module, configured to adjust image frame rates of the cameras in multiple different directions according to the flight speed information;

   The comprehensive obstacle avoidance control module is used to perform omnidirectional obstacle avoidance on the UAV according to the adjusted image frame rate of the camera.
8. The device according to claim 7, wherein the image frame rate adjustment module comprises a flight direction information acquisition unit and an image frame rate control unit;

   The flight direction information acquiring unit is configured to obtain flight direction information of the unmanned aerial vehicle according to the flight speed information;

   The graphic frame rate control unit is configured to adjust the image frame rates of the cameras in multiple different directions according to the flight direction information.
9. The device according to claim 8, wherein a plurality of cameras are arranged in each flight direction of the UAV; the graphic frame rate control unit includes a current flight direction extraction subunit, an image frame rate Increase the sub-unit and image frame rate and reduce the sub-unit;

   The current flight direction extraction subunit is used to extract the current flight direction of the unmanned aerial vehicle according to the flight direction information;

   The image frame rate increasing subunit is used to increase the image frame rate of the camera corresponding to the current flight direction;

   The image frame rate reduction subunit is used to reduce the image frame rate of the camera corresponding to other directions.
10. An unmanned aerial vehicle, characterized in that it comprises:

    body;

    An arm, connected to the fuselage;

    The power device is arranged on the arm and is used to provide power for the unmanned aerial vehicle to fly;

    Flight control module; and

    A memory communicatively connected with the flight control module; wherein the memory stores instructions that can be executed by the flight control module, and the instructions are executed by the flight control module so that the flight control module The group can be used to implement the omnidirectional obstacle avoidance method according to any one of claims 1-6.

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