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CN113253762B - Obstacle avoidance method for safe return flight of unmanned aerial vehicle inspection - Google Patents

Obstacle avoidance method for safe return flight of unmanned aerial vehicle inspection Download PDF

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CN113253762B
CN113253762B CN202110682963.4A CN202110682963A CN113253762B CN 113253762 B CN113253762 B CN 113253762B CN 202110682963 A CN202110682963 A CN 202110682963A CN 113253762 B CN113253762 B CN 113253762B
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central control
control processor
drone
preset
uav
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CN113253762A (en
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黄丰
任欣元
张纪宾
邵校嘉
麦俊佳
高迎锋
刘岚
李彬
吴新桥
王昊
蔡思航
赵继光
郭晓斌
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China Southern Power Grid Digital Grid Technology Guangdong Co ltd
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Foshan Power Supply Bureau of Guangdong Power Grid Corp
Southern Power Grid Digital Grid Research Institute Co Ltd
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract

本发明涉及一种无人机巡检安全返航的避障方法，包括：采集图像信息以判定无人机的实际高度；根据无人机与停靠点之间的绝对距离重新调节最大飞行高度和最大飞行速度；若环境中的物体与无人机的距离小于临界安全距离，中控处理器控制无人机移动；当无人机进入停靠阶段，中控处理器控制无人机降落在停靠点。本发明通过采集无人机周边环境的图像信息，能够快速得到无人机周边的环境信息，从而使中控处理器能够根据实际情况快速得出无人机的飞行高度以及飞行速度，同时，对无人机飞行过程中会出现的障碍物进行提前预测，能够有效避免无人机与障碍物碰撞导致的无人机受到损坏或坠机的情况发生，有效提高了无人机的巡检效率。

Figure 202110682963

The invention relates to an obstacle avoidance method for safe return from drone inspection, comprising: collecting image information to determine the actual height of the drone; re-adjusting the maximum flying height and the maximum Flight speed; if the distance between the object in the environment and the UAV is less than the critical safety distance, the central control processor controls the UAV to move; when the UAV enters the docking stage, the central control processor controls the UAV to land at the docking point. By collecting the image information of the surrounding environment of the UAV, the present invention can quickly obtain the surrounding environment information of the UAV, so that the central control processor can quickly obtain the flying height and flight speed of the UAV according to the actual situation, and at the same time, the The obstacles that will appear during the flight of the drone can be predicted in advance, which can effectively avoid the damage or crash of the drone caused by the collision between the drone and the obstacle, and effectively improve the inspection efficiency of the drone.

Figure 202110682963

Description

Obstacle avoidance method for safe return flight of unmanned aerial vehicle inspection
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an obstacle avoidance method for safe return of unmanned aerial vehicle inspection.
Background
The unmanned plane is an unmanned plane for short, and is also called UAV in English, and is an unmanned plane operated by using a radio remote control device and a self-contained program control device. From a technical point of view, the definition can be divided into: unmanned helicopters, unmanned fixed wing aircraft, unmanned multi-rotor aircraft, unmanned airships, unmanned paragliders, and the like.
Along with the development of society, unmanned aerial vehicle relies on the small and exquisite nimble characteristics of its fuselage, is used widely in all kinds of inspection control, aerial photograph air seeding operation, especially in transmission line inspection process, provides a lot of facilities, and domestic transmission line dispersion, area are wide, and the topography is complicated, and natural environment is abominable. The power line and the pole tower accessories are exposed outdoors for a long time, and are damaged by continuous mechanical tension, lightning flashover, material aging, artificial influence, tower falling, strand breaking, abrasion, corrosion and the like, and must be repaired or replaced in time. The insulator is damaged by lightning stroke, the power transmission line is discharged due to the growth of trees, the tower is stolen, and other accidents are also required to be timely handled. The traditional manual inspection method has large workload and hard conditions, and particularly, the inspection of power transmission lines in mountainous areas and across large rivers and ice disasters, flood disasters, earthquakes, landslides and nights takes long time, has high labor cost, great difficulty and high risk, so that the line inspection of the unmanned aerial vehicle tends to be performed.
Unmanned aerial vehicle receives the threat of circuit, trees, pylon and portable barrier at the in-process of patrolling and examining the back and returning voyage, in case unmanned aerial vehicle hits the barrier and will cause unmanned aerial vehicle damage or even crash, if unmanned aerial vehicle touches the transmission line and will cause the condition such as the short circuit of transmission line, open circuit, seriously influences power transmission and causes great economic loss, patrols and examines inefficiency.
Disclosure of Invention
Therefore, the invention provides an obstacle avoidance method for safe return of unmanned aerial vehicle inspection, which is used for overcoming the problem of low inspection efficiency caused by the fact that an unmanned aerial vehicle cannot automatically avoid obstacles during return.
In order to achieve the purpose, the invention provides an obstacle avoidance method for safe return flight of unmanned aerial vehicle routing inspection, which comprises the following steps:
step s1, when the unmanned aerial vehicle returns, the central control processor in the unmanned aerial vehicle controls the image collector to collect image information right below the unmanned aerial vehicle, the central control processor collects scenery features in the image information, and the size ratio of the scenery feature size in the image information to the actual size of the corresponding scenery feature is calculated to judge the actual height of the unmanned aerial vehicle;
step s2, the central control processor preliminarily determines the maximum flying speed of the unmanned aerial vehicle according to the actual height of the unmanned aerial vehicle, and after the preliminary determination is completed, the central control processor controls the signal transceiver to detect the absolute distance between the unmanned aerial vehicle and the stop point, adjusts the maximum flying height of the unmanned aerial vehicle according to the actual value of the absolute distance and determines the maximum flying speed of the unmanned aerial vehicle again;
step s3, the central control processor sets the critical safety distance between the unmanned aerial vehicle and the surrounding environment as a corresponding value according to the flight height of the unmanned aerial vehicle, when the unmanned aerial vehicle returns, the central control processor controls the image collector to detect the distance between the object in the environment and the unmanned aerial vehicle, if the distance between the object in the environment and the unmanned aerial vehicle is less than the critical safety distance, the central control processor controls the image collector to collect the surrounding environment condition of the unmanned aerial vehicle and controls the unmanned aerial vehicle to move towards the direction without obstacles in the critical safety distance;
step s4, when the distance between the unmanned aerial vehicle and the stop point is lower than a preset interval and the central control processor can directly observe the stop point through the image collector, the central control processor judges that the unmanned aerial vehicle enters a stop stage and controls the unmanned aerial vehicle to land at the stop point;
in step s1, after receiving the image information, the central processing unit obtains shape features of the identifiable obstacle from the image information, selects an obstacle type to which a preset shape feature having a highest similarity with the shape features belongs as an obstacle type of the shape features, obtains an image size C of the obstacle, calculates a size ratio B according to C and an actual size C0 of an object of the type to which the obstacle belongs, and sets B = C/C0;
the central control processor is provided with a first preset ratio B1, a second preset ratio B2, a first preset critical speed V1, a second preset critical speed V2 and a third preset critical speed V3, wherein B1 is less than B2, and V1 is more than V2 and more than V3;
when B is not more than B1, the central control processor judges that the height H of the unmanned aerial vehicle is between 2/3Hmax and sets the maximum flying speed of the unmanned aerial vehicle to be a first preset critical speed V1, wherein Hmax is the maximum flying height which can be reached by the unmanned aerial vehicle;
when B1 is greater than B and less than or equal to B2, the central control processor determines that the height H of the unmanned aerial vehicle is between 1/3Hmax and 2/3Hmax and sets the maximum flying speed of the unmanned aerial vehicle to be a second preset critical speed V2;
when B is larger than B2, the central control processor determines that the height H of the unmanned aerial vehicle is lower than 1/3Hmax and sets the maximum flying speed of the unmanned aerial vehicle to be a third preset critical speed V3;
further, when the central control processor finishes extracting the features in the image information, the central control processor sequentially judges the type of each obstacle according to the shape and the color of each obstacle in the image information, and detects the environment where the unmanned aerial vehicle is located according to the judgment result so as to adjust the flying height or the maximum flying speed of the unmanned aerial vehicle;
the central control processor is internally provided with a first preset type environment A1, a second preset type environment A2, a third preset type environment A3, a first preset flying height adjusting coefficient a1, a second preset flying height adjusting coefficient a2 and a preset shifting speed adjusting coefficient b, wherein a1 is more than 1 and less than 1.5, a2 is more than 1.5 and b is more than 0.5 and less than 1;
when the central control processor determines that the plant feature proportion in the image information is the highest, the central control processor determines that the environment where the unmanned aerial vehicle is located is a first preset type environment A1, and the central control processor adjusts the highest flying height of the unmanned aerial vehicle by using a first preset flying height adjusting coefficient a 1;
when the central control processor determines that the building characteristic proportion is the highest or the building characteristic proportion and the plant characteristic proportion are the same in the image information, the central control processor determines that the environment where the unmanned aerial vehicle is located is a second preset type environment A2, and the central control processor adjusts the highest flying height of the unmanned aerial vehicle by using a second preset flying height adjusting coefficient a 2;
when the central control processor judges that the character features exist in the image information, the central control processor judges that the environment where the unmanned aerial vehicle is located is a third preset type environment A3, the central control processor adjusts the maximum flight speed of the unmanned aerial vehicle by using a preset moving speed adjusting coefficient, and selects a corresponding preset flight height adjusting coefficient according to the plant feature ratio and the building feature ratio to adjust the maximum flight height of the unmanned aerial vehicle;
when the central control processor adjusts the highest flying height of the unmanned aerial vehicle by using the ith preset flying height adjusting coefficient ai, setting i =1, 2, and setting Hmax' = Hmax × ai; when the central control processor adjusts the maximum flying speed of the unmanned aerial vehicle by using the preset shifting speed adjusting coefficient, the adjusted maximum flying speed of the unmanned aerial vehicle is marked as Vj ', and Vj' = Vj × b0 is set, wherein j =1, 2, 3, and b0 are the preset shifting speed adjusting coefficient.
Further, when the unmanned aerial vehicle flies, the central control processor controls the signal transceiver to detect the absolute distance D between the unmanned aerial vehicle and the stop point in real time so as to perform secondary adjustment on the adjusted maximum flying height Hmax' of the unmanned aerial vehicle, and the central control processor is also provided with a first preset distance D1, a second preset distance D2, a first preset height adjustment coefficient e1 and a second preset height adjustment coefficient e2, wherein D1 is greater than D2, and 0.5 < e2 < e1 < 0.8;
when D is larger than D1, the central control processor does not perform secondary adjustment on Hmax';
when D2 is more than D and less than or equal to D1, the central control processor uses a first preset height adjusting coefficient e1 to perform secondary adjustment on Hmax';
when D is not more than D2, the central control processor uses a second preset height adjusting coefficient e2 to perform secondary adjustment on Hmax';
when the central control processor secondarily adjusts Hmax 'by using the ith preset altitude adjustment coefficient ei, i =1, 2 is set, the maximum flying altitude after the secondary adjustment is recorded as Hmax ", and Hmax" = Hmax' × ei is set.
Further, when the unmanned aerial vehicle flies, the central control processor determines a critical safety distance between the unmanned aerial vehicle and the obstacle according to the actual flying speed v of the unmanned aerial vehicle; the central control processor is also provided with a first preset flying speed v1, a second preset flying speed v2, a first preset safety distance L1, a second preset safety distance L2 and a third preset safety distance L3, wherein v1 is more than v2, and L1 is more than L2 and more than L3;
when v is less than or equal to v1, the central control processor sets the critical safety distance between the unmanned aerial vehicle and the obstacle to be L1;
when v is greater than v1 and less than or equal to v2, the central control processor sets the critical safety distance between the unmanned aerial vehicle and the obstacle to be L2;
when v > v2, the central control processor sets the critical safety distance between the drone and the obstacle to L3.
Further, when the central control processor detects that a moving obstacle exists around the unmanned aerial vehicle through the image collector, the central control processor detects the relative moving speed V between the moving obstacle and the unmanned aerial vehicle and the distance L between the moving obstacle and the unmanned aerial vehicle in real time through the visual detector and controls the unmanned aerial vehicle to continuously fly or avoid according to V and L; the central control processor is provided with a preset relative movement speed V0,
when the central control processor detects that the moving barrier and the unmanned aerial vehicle gradually approach each other and the relative movement speed V between the moving barrier and the unmanned aerial vehicle is less than or equal to V0, the central control processor judges that the barrier and the environment are relatively static or the barrier and the unmanned aerial vehicle move in the same direction, the central control processor detects the distance L between the moving barrier and the unmanned aerial vehicle in real time and controls the unmanned aerial vehicle to avoid the barrier when the L is less than or equal to Li, and Li =1, 2, 3 is set;
when the central control processor detects that the moving barrier is gradually close to the unmanned aerial vehicle and the relative moving speed V between the moving barrier and the unmanned aerial vehicle is larger than V0, the central control processor judges that the barrier and the unmanned aerial vehicle move in opposite directions, and the central control processor selects a corresponding avoidance mode according to the surrounding environment of the unmanned aerial vehicle to control the unmanned aerial vehicle to avoid the barrier.
Further, the avoidance mode comprises deceleration, hovering, steering, ascending and descending.
Further, when the unmanned aerial vehicle moves, the central control processor predicts the preset flying speed v0 of the unmanned aerial vehicle according to the rotating speed of the fan blades and obtains the actual moving speed v of the unmanned aerial vehicle according to the image information collected by the image collector,
if v = v0, the central control processor judges that the unmanned aerial vehicle flies in a windless environment;
if v is less than v0, the central control processor judges that the unmanned aerial vehicle flies in the upwind environment, and if v is less than 0.5 x v0, the central control processor judges that the unmanned aerial vehicle cannot fly and controls the unmanned aerial vehicle to search nearby stop points for temporary stop;
if v > v0, the central control processor judges that the unmanned aerial vehicle flies in a downwind environment, and if v > 2 xv 0, the central control processor judges that the unmanned aerial vehicle cannot fly and controls the unmanned aerial vehicle to search nearby stop points for temporary stop.
Further, when the unmanned aerial vehicle flies, the central control processor controls the humidity detector to detect the humidity S of the surrounding environment of the unmanned aerial vehicle so as to judge whether rainfall exists in the surrounding environment of the unmanned aerial vehicle, the central control processor is also provided with preset humidity S0, and when the humidity S is less than or equal to S0, the central control processor judges that the surrounding environment of the unmanned aerial vehicle is a non-rainfall environment;
when S > S0, the central control processor judges that the surrounding environment of the unmanned aerial vehicle is a rainfall environment, if S > 2 multiplied by S0, the central control processor judges that the surrounding environment of the unmanned aerial vehicle is a rainstorm environment, and the central control processor judges that the unmanned aerial vehicle cannot fly and controls the unmanned aerial vehicle to search nearby parking points for temporary parking.
Further, when the central processor controls the unmanned aerial vehicle to avoid, the central processor controls the unmanned aerial vehicle to hover and controls the vision detector to detect the peripheral obstacle information of the unmanned aerial vehicle, if no obstacle exists in one direction in the horizontal direction, the central processor controls the unmanned aerial vehicle to horizontally move along the direction to avoid the obstacle, and if the obstacle exists in the horizontal direction, the central processor controls the unmanned aerial vehicle to vertically ascend or descend to avoid the obstacle.
Compared with the prior art, the unmanned aerial vehicle peripheral environment prediction method has the advantages that the peripheral environment information of the unmanned aerial vehicle can be quickly obtained by collecting the image information of the peripheral environment of the unmanned aerial vehicle, so that the central control processor can quickly obtain the flight height and the flight speed of the unmanned aerial vehicle according to actual conditions, meanwhile, obstacles which can appear in the flight process of the unmanned aerial vehicle can be predicted in advance, the unmanned aerial vehicle can be effectively prevented from being damaged or falling due to collision between the unmanned aerial vehicle and the obstacles, and the inspection efficiency of the unmanned aerial vehicle is effectively improved.
Further, after the central control processor receives the image information, the shape feature of the obstacle which can be identified is obtained from the image information, the obstacle type which belongs to the preset shape feature with the highest similarity to the shape feature is selected as the obstacle type of the shape feature, the image size C of the obstacle is obtained, the size ratio B is calculated according to the C and the actual size C0 of the object of the obstacle type, the height of the unmanned aerial vehicle is quickly determined according to the ratio B, thereby limiting the maximum flying speed of the unmanned aerial vehicle, effectively avoiding the situation that the unmanned aerial vehicle flies too slowly at a high place with less obstacles to cause too high time consumption of return flight and flies too fast at a low place with more obstacles to cause collision with the obstacles, when effectively having improved unmanned aerial vehicle's life, further improved unmanned aerial vehicle's efficiency of patrolling and examining.
Furthermore, when the central control processor finishes extracting the features in the image information, the central control processor sequentially judges the types of the obstacles according to the shapes and the colors of the obstacles in the image information respectively, and detects the environment where the unmanned aerial vehicle is located according to the judgment result to adjust the flight height or the maximum flight speed of the unmanned aerial vehicle.
Furthermore, the central control processor controls the signal transceiver to detect the absolute distance D between the unmanned aerial vehicle and the stop point in real time so as to adjust the maximum flying height Hmax' of the unmanned aerial vehicle after adjustment for the second time.
Furthermore, when the unmanned aerial vehicle flies, the central control processor determines the critical safety distance between the unmanned aerial vehicle and the obstacle according to the actual flying speed v of the unmanned aerial vehicle.
Furthermore, when the central control processor detects that a moving obstacle exists around the unmanned aerial vehicle through the image collector, the central control processor detects the relative moving speed V between the moving obstacle and the unmanned aerial vehicle and the distance L between the moving obstacle and the unmanned aerial vehicle in real time through the vision detector and controls the unmanned aerial vehicle to continuously fly or avoid according to V and L.
Furthermore, when the unmanned aerial vehicle moves, the central control processor predicts the preset flying speed v0 of the unmanned aerial vehicle according to the rotating speed of the fan blades and obtains the actual moving speed v of the unmanned aerial vehicle according to the image information acquired by the image acquisition device.
Furthermore, when the unmanned aerial vehicle flies, the central control processor controls the humidity detector to detect the humidity S of the surrounding environment of the unmanned aerial vehicle so as to judge whether the surrounding environment of the unmanned aerial vehicle has rainfall.
Drawings
Fig. 1 is a block diagram of a drone using the method of the present invention;
fig. 2 is a flow chart of the obstacle avoidance method for the unmanned aerial vehicle inspection safety return.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a block diagram of an unmanned aerial vehicle using the method of the present invention. The unmanned aerial vehicle comprises a central control processor, two image collectors, a signal transceiver and a humidity detector. The image collector is arranged at the bottom and the top of the unmanned aerial vehicle respectively and used for collecting image information of the surrounding environment of the unmanned aerial vehicle. The signal transceiver is arranged at the top of the unmanned aerial vehicle and used for sending signals to a base station at a stop point. Moisture detector sets up at the unmanned aerial vehicle top for detect the humidity of unmanned aerial vehicle hand edge ring border. The central control processor is respectively connected with the image collector, the signal transceiver and the humidity detector and used for receiving data measured by the image collector, the signal transceiver and the humidity detector, analyzing the actual environment of the unmanned aerial vehicle according to the data and controlling the unmanned aerial vehicle to make corresponding flight actions.
Fig. 2 shows a flow chart of an obstacle avoidance method for the unmanned aerial vehicle inspection safety return flight according to the present invention. The invention relates to an obstacle avoidance method for safe return of unmanned aerial vehicle inspection, which comprises the following steps:
step s1, when the unmanned aerial vehicle returns, the central control processor in the unmanned aerial vehicle controls the image collector to collect image information right below the unmanned aerial vehicle, the central control processor collects scenery features in the image information, and the size ratio of the scenery feature size in the image information to the actual size of the corresponding scenery feature is calculated to judge the actual height of the unmanned aerial vehicle;
step s2, the central control processor preliminarily determines the maximum flying speed of the unmanned aerial vehicle according to the actual height of the unmanned aerial vehicle, and after the preliminary determination is completed, the central control processor controls the signal transceiver to detect the absolute distance between the unmanned aerial vehicle and the stop point, adjusts the maximum flying height of the unmanned aerial vehicle according to the actual value of the absolute distance and determines the maximum flying speed of the unmanned aerial vehicle again;
step s3, the central control processor sets the critical safety distance between the unmanned aerial vehicle and the surrounding environment as a corresponding value according to the flight height of the unmanned aerial vehicle, when the unmanned aerial vehicle returns, the central control processor controls the image collector to detect the distance between the object in the environment and the unmanned aerial vehicle, if the distance between the object in the environment and the unmanned aerial vehicle is less than the critical safety distance, the central control processor controls the image collector to collect the surrounding environment condition of the unmanned aerial vehicle and controls the unmanned aerial vehicle to move towards the direction without obstacles in the critical safety distance;
step s4, when the distance between the unmanned aerial vehicle and the stop point is lower than a preset interval and the central control processor can directly observe the stop point through the image collector, the central control processor judges that the unmanned aerial vehicle enters a stop stage and controls the unmanned aerial vehicle to land at the stop point;
in step s1, after receiving the image information, the central processing unit obtains shape features of the recognizable obstacles from the image information, uses an obstacle type to which a preset shape feature having a highest similarity with the shape features belongs as an obstacle type of the shape features, obtains an image size C of the obstacle, calculates a size ratio B according to C and an actual size C0 of an object of the type to which the obstacle belongs, and sets B = C/C0;
the central control processor is provided with a first preset ratio B1, a second preset ratio B2, a first preset critical speed V1, a second preset critical speed V2 and a third preset critical speed V3, wherein B1 is less than B2, and V1 is more than V2 and more than V3;
when B is not more than B1, the central control processor judges that the height H of the unmanned aerial vehicle is between 2/3Hmax and sets the maximum flying speed of the unmanned aerial vehicle to be a first preset critical speed V1, wherein Hmax is the maximum flying height which can be reached by the unmanned aerial vehicle;
when B1 is greater than B and less than or equal to B2, the central control processor determines that the height H of the unmanned aerial vehicle is between 1/3Hmax and 2/3Hmax and sets the maximum flying speed of the unmanned aerial vehicle to be a second preset critical speed V2;
when B is larger than B2, the central control processor determines that the height H of the unmanned aerial vehicle is lower than 1/3Hmax and sets the maximum flying speed of the unmanned aerial vehicle to be a third preset critical speed V3;
according to the unmanned aerial vehicle monitoring system and the unmanned aerial vehicle monitoring method, the image information of the surrounding environment of the unmanned aerial vehicle is acquired, so that the surrounding environment information of the unmanned aerial vehicle can be quickly obtained, the central control processor can quickly obtain the flight height and the flight speed of the unmanned aerial vehicle according to actual conditions, meanwhile, obstacles which can appear in the flight process of the unmanned aerial vehicle are predicted in advance, the situation that the unmanned aerial vehicle is damaged or crashed due to collision between the unmanned aerial vehicle and the obstacles can be effectively avoided, and the inspection efficiency of the unmanned aerial vehicle is effectively improved.
Furthermore, the height of the unmanned aerial vehicle is quickly determined according to the ratio B, so that the maximum flight speed of the unmanned aerial vehicle is limited, the situation that the unmanned aerial vehicle is too high in return flight time due to too slow flight at a high place with few obstacles and collides with the obstacles due to too fast flight at a low place with many obstacles can be effectively avoided, the service life of the unmanned aerial vehicle is effectively prolonged, and meanwhile the inspection efficiency of the unmanned aerial vehicle is further improved.
Specifically, the avoidance modes include deceleration, hovering, steering, ascending and descending. When the central control processor controls the unmanned aerial vehicle to avoid, the central control processor controls the unmanned aerial vehicle to hover and controls the vision detector to detect the peripheral obstacle information of the unmanned aerial vehicle, if no obstacle exists in one direction in the horizontal direction, the central control processor controls the unmanned aerial vehicle to horizontally move along the direction to avoid the obstacle, and if the obstacle exists in the horizontal direction, the central control processor controls the unmanned aerial vehicle to vertically ascend or descend to avoid the obstacle.
Specifically, when the central control processor finishes extracting the features in the image information, the central control processor sequentially judges the type of each obstacle according to the shape and the color of each obstacle in the image information, and detects the environment where the unmanned aerial vehicle is located according to the judgment result to adjust the flying height or the maximum flying speed of the unmanned aerial vehicle;
the central control processor is internally provided with a first preset type environment A1, a second preset type environment A2, a third preset type environment A3, a first preset flying height adjusting coefficient a1, a second preset flying height adjusting coefficient a2 and a preset shifting speed adjusting coefficient b, wherein a1 is more than 1 and less than 1.5, a2 is more than 1.5 and b is more than 0.5 and less than 1;
when the central control processor determines that the plant feature proportion in the image information is the highest, the central control processor determines that the environment where the unmanned aerial vehicle is located is a first preset type environment A1, and the central control processor adjusts the highest flying height of the unmanned aerial vehicle by using a first preset flying height adjusting coefficient a 1;
when the central control processor determines that the building characteristic proportion is the highest or the building characteristic proportion and the plant characteristic proportion are the same in the image information, the central control processor determines that the environment where the unmanned aerial vehicle is located is a second preset type environment A2, and the central control processor adjusts the highest flying height of the unmanned aerial vehicle by using a second preset flying height adjusting coefficient a 2;
when the central control processor judges that the character features exist in the image information, the central control processor judges that the environment where the unmanned aerial vehicle is located is a third preset type environment A3, the central control processor adjusts the maximum flight speed of the unmanned aerial vehicle by using a preset moving speed adjusting coefficient, and selects a corresponding preset flight height adjusting coefficient according to the plant feature ratio and the building feature ratio to adjust the maximum flight height of the unmanned aerial vehicle;
when the central control processor adjusts the highest flying height of the unmanned aerial vehicle by using the ith preset flying height adjusting coefficient ai, setting i =1, 2, and setting Hmax' = Hmax × ai; when the central control processor adjusts the maximum flying speed of the unmanned aerial vehicle by using the preset shifting speed adjusting coefficient, the adjusted maximum flying speed of the unmanned aerial vehicle is marked as Vj ', and Vj' = Vj × b0 is set, wherein j =1, 2, 3, and b0 are the preset shifting speed adjusting coefficient.
According to the invention, the environment type of the unmanned aerial vehicle is accurately determined according to the plant characteristic proportion, the building characteristic proportion and whether the character characteristic exists in the image information, and meanwhile, the probability of collision between the unmanned aerial vehicle and the obstacle can be effectively reduced by adjusting the flight height or the maximum flight height of the unmanned aerial vehicle under different types of environments, so that the inspection efficiency of the unmanned aerial vehicle is further improved.
Specifically, when the unmanned aerial vehicle flies, the central control processor controls the signal transceiver to detect the absolute distance D between the unmanned aerial vehicle and a stop point in real time so as to perform secondary adjustment on the adjusted maximum flying height Hmax' of the unmanned aerial vehicle, and the central control processor is also provided with a first preset distance D1, a second preset distance D2, a first preset height adjustment coefficient e1 and a second preset height adjustment coefficient e2, wherein D1 is more than D2, and 0.5 < e2 < e1 < 0.8;
when D is larger than D1, the central control processor does not perform secondary adjustment on Hmax';
when D2 is more than D and less than or equal to D1, the central control processor uses a first preset height adjusting coefficient e1 to perform secondary adjustment on Hmax';
when D is not more than D2, the central control processor uses a second preset height adjusting coefficient e2 to perform secondary adjustment on Hmax';
when the central control processor secondarily adjusts Hmax 'by using the ith preset altitude adjustment coefficient ei, i =1, 2 is set, the maximum flying altitude after the secondary adjustment is recorded as Hmax ", and Hmax" = Hmax' × ei is set.
According to the invention, the flying speed of the unmanned aerial vehicle is gradually reduced according to the distance relationship between the unmanned aerial vehicle and the stop point, so that the unmanned aerial vehicle can fly more accurately when the distance between the unmanned aerial vehicle and the stop point is lower than a preset value, the collision with an obstacle caused by the excessively high flying speed of the unmanned aerial vehicle can be effectively avoided while accurate landing is ensured, and the inspection efficiency of the unmanned aerial vehicle is further improved.
Specifically, when the unmanned aerial vehicle flies, the central control processor determines a critical safety distance between the unmanned aerial vehicle and an obstacle according to the actual flying speed v of the unmanned aerial vehicle; the central control processor is also provided with a first preset flying speed v1, a second preset flying speed v2, a first preset safety distance L1, a second preset safety distance L2 and a third preset safety distance L3, wherein v1 is more than v2, and L1 is more than L2 and more than L3;
when v is less than or equal to v1, the central control processor sets the critical safety distance between the unmanned aerial vehicle and the obstacle to be L1;
when v is greater than v1 and less than or equal to v2, the central control processor sets the critical safety distance between the unmanned aerial vehicle and the obstacle to be L2;
when v > v2, the central control processor sets the critical safety distance between the drone and the obstacle to L3.
According to the invention, the corresponding safe distance is selected according to different flight speeds of the unmanned aerial vehicle, so that the central control processor can have sufficient response time when the unmanned aerial vehicle flies at different speeds and meets obstacles, thereby further avoiding the collision between the unmanned aerial vehicle and the obstacles and further improving the inspection efficiency of the unmanned aerial vehicle.
Specifically, when the central control processor detects that a moving obstacle exists around the unmanned aerial vehicle through the image collector, the central control processor detects the relative moving speed V between the moving obstacle and the unmanned aerial vehicle and the distance L between the moving obstacle and the unmanned aerial vehicle in real time through the vision detector and controls the unmanned aerial vehicle to continuously fly or avoid according to V and L; the central control processor is provided with a preset relative movement speed V0,
when the central control processor detects that the moving barrier and the unmanned aerial vehicle gradually approach each other and the relative movement speed V between the moving barrier and the unmanned aerial vehicle is less than or equal to V0, the central control processor judges that the barrier and the environment are relatively static or the barrier and the unmanned aerial vehicle move in the same direction, the central control processor detects the distance L between the moving barrier and the unmanned aerial vehicle in real time and controls the unmanned aerial vehicle to avoid the barrier when the L is less than or equal to Li, and Li =1, 2, 3 is set;
when the central control processor detects that the moving barrier is gradually close to the unmanned aerial vehicle and the relative moving speed V between the moving barrier and the unmanned aerial vehicle is larger than V0, the central control processor judges that the barrier and the unmanned aerial vehicle move in opposite directions, and the central control processor selects a corresponding avoidance mode according to the surrounding environment of the unmanned aerial vehicle to control the unmanned aerial vehicle to avoid the barrier.
According to the unmanned aerial vehicle inspection system, the preset relative movement speed is set, so that when the unmanned aerial vehicle encounters a moving obstacle, the moving path of the obstacle is preliminarily analyzed, the situation that the time consumed for return flight is increased due to deceleration or avoidance of the unmanned aerial vehicle caused by the fact that the obstacle does not collide with the unmanned aerial vehicle and the situation that the unmanned aerial vehicle collides with the obstacle caused by the fact that the unmanned aerial vehicle decelerates or avoids the obstacle are avoided, the service life of the unmanned aerial vehicle is further prolonged, and meanwhile, the inspection efficiency of the unmanned aerial vehicle is further improved.
Specifically, when the unmanned aerial vehicle moves, the central control processor predicts the preset flying speed v0 of the unmanned aerial vehicle according to the rotating speed of the fan blades and obtains the actual moving speed v of the unmanned aerial vehicle according to the image information collected by the image collector,
if v = v0, the central control processor judges that the unmanned aerial vehicle flies in a windless environment;
if v is less than v0, the central control processor judges that the unmanned aerial vehicle flies in the upwind environment, and if v is less than 0.5 x v0, the central control processor judges that the unmanned aerial vehicle cannot fly and controls the unmanned aerial vehicle to search nearby stop points for temporary stop;
if v > v0, the central control processor judges that the unmanned aerial vehicle flies in a downwind environment, and if v > 2 xv 0, the central control processor judges that the unmanned aerial vehicle cannot fly and controls the unmanned aerial vehicle to search nearby stop points for temporary stop.
According to the invention, whether the unmanned aerial vehicle is in a windy environment or not is judged by comparing the preset moving speed with the actual moving speed, and if the wind speed is too high, the central control processor controls the unmanned aerial vehicle to land to avoid wind urgently, so that the situation that the unmanned aerial vehicle is damaged by the too high wind speed is prevented, the service life of the unmanned aerial vehicle is further prolonged, and the inspection efficiency of the unmanned aerial vehicle is further improved.
Specifically, when the unmanned aerial vehicle flies, the central control processor controls the humidity detector to detect the humidity S of the surrounding environment of the unmanned aerial vehicle so as to judge whether rainfall exists in the surrounding environment of the unmanned aerial vehicle, the central control processor is also provided with preset humidity S0, and when S is less than or equal to S0, the central control processor judges that the surrounding environment of the unmanned aerial vehicle is a non-rainfall environment;
when S > S0, the central control processor judges that the surrounding environment of the unmanned aerial vehicle is a rainfall environment, if S > 2 multiplied by S0, the central control processor judges that the surrounding environment of the unmanned aerial vehicle is a rainstorm environment, and the central control processor judges that the unmanned aerial vehicle cannot fly and controls the unmanned aerial vehicle to search nearby parking points for temporary parking.
According to the invention, whether the unmanned aerial vehicle is in a rainfall environment is judged by detecting the humidity around the unmanned aerial vehicle, and if the rainfall is too large, the central control processor controls the unmanned aerial vehicle to land to take shelter from rain urgently, so that the damage of rainwater to the interior of the unmanned aerial vehicle is prevented, the service life of the unmanned aerial vehicle is further prolonged, and the inspection efficiency of the unmanned aerial vehicle is further improved.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1.一种无人机巡检安全返航的避障方法，其特征在于，包括：1. an obstacle avoidance method for safe return from drone inspection, is characterized in that, comprising: 步骤s1，当无人机返航时，无人机内的中控处理器控制图像采集器采集无人机正下方的图像信息，中控处理器采集图像信息中的景物特征，计算图像信息中景物特征尺寸与对应景物特征的实际尺寸的尺寸比值以判定无人机实际所处的高度；In step s1, when the UAV returns, the central control processor in the UAV controls the image collector to collect image information directly below the UAV, the central control processor collects the scene features in the image information, and calculates the scene in the image information. The size ratio of the feature size to the actual size of the corresponding scene feature to determine the actual height of the drone; 步骤s2，所述中控处理器根据无人机的实际高度初步确定无人机的最大飞行速度，初步确定完成后，中控处理器控制信号收发器检测无人机与停靠点之间的绝对距离，根据绝对距离的实际值对无人机的最大飞行高度进行调节并重新确定无人机的最大飞行速度；In step s2, the central control processor preliminarily determines the maximum flight speed of the UAV according to the actual height of the UAV. After the preliminary determination is completed, the central control processor controls the signal transceiver to detect the absolute distance between the UAV and the docking point. Distance, adjust the maximum flying height of the drone according to the actual value of the absolute distance and re-determine the maximum flying speed of the drone; 步骤s3，所述中控处理器根据所述无人机的飞行高度将无人机与周边环境的临界安全距离设置为对应值，当无人机返航时，中控处理器控制图像采集器检测环境中物体与无人机之间的距离，若环境中的物体与无人机的距离小于临界安全距离，中控处理器控制图像采集器采集无人机周边的环境状况并控制无人机向临界安全距离内没有障碍物的方向移动；Step s3, the central control processor sets the critical safety distance between the drone and the surrounding environment to a corresponding value according to the flying height of the drone, and when the drone returns, the central control processor controls the image collector to detect. The distance between the object in the environment and the UAV, if the distance between the object in the environment and the UAV is less than the critical safety distance, the central control processor controls the image collector to collect the environmental conditions around the UAV and controls the UAV to Movement in a direction without obstacles within a critical safety distance; 步骤s4，当所述无人机与停靠点的距离低于预设区间且所述中控处理器能够通过所述图像采集器直接观测到停靠点，中控处理器判定无人机进入停靠阶段并控制无人机降落在停靠点；Step s4, when the distance between the drone and the docking point is lower than the preset interval and the central control processor can directly observe the docking point through the image collector, the central control processor determines that the drone enters the docking stage And control the drone to land at the docking point; 在所述步骤s1中，所述中控处理器接收到图像信息后，从图像信息中获取能够识别到的障碍物的形状特征，选取与该形状特征相似度最高的预设形状特征所属的障碍物种类作为该形状特征的障碍物种类，获取该障碍物的图像尺寸C并根据C与该障碍物所属种类物体的实际尺寸C0计算尺寸比值B，设定B=C/C0；In the step s1, after receiving the image information, the central control processor obtains the shape features of the identifiable obstacles from the image information, and selects the obstacle to which the preset shape feature with the highest similarity to the shape feature belongs. The object type is used as the obstacle type of the shape feature, and the image size C of the obstacle is obtained, and the size ratio B is calculated according to C and the actual size C0 of the type of object to which the obstacle belongs, and B=C/C0 is set; 所述中控处理器中设有第一预设比值B1、第二预设比值B2、第一预设临界速度V1、第二预设临界速度V2和第三预设临界速度V3，其中，B1＜B2，V1＞V2＞V3；The central control processor is provided with a first preset ratio B1, a second preset ratio B2, a first preset critical speed V1, a second preset critical speed V2 and a third preset critical speed V3, wherein B1 <B2, V1>V2>V3; 当B≤B1时，所述中控处理器判定无人机所处的高度H位于2/3Hmax和Hmax之间并将无人机的最大飞行速度设置为第一预设临界速度V1，其中，Hmax为无人机能够达到的最大飞行高度；When B≤B1, the central control processor determines that the height H of the drone is between 2/3Hmax and Hmax and sets the maximum flight speed of the drone as the first preset critical speed V1, wherein, Hmax is the maximum flying height that the drone can reach; 当B1＜B≤B2时，所述中控处理器判定无人机所处的高度H位于1/3Hmax和2/3Hmax之间并将无人机的最大飞行速度设置为第二预设临界速度V2；When B1<B≤B2, the central control processor determines that the height H of the UAV is between 1/3Hmax and 2/3Hmax and sets the maximum flight speed of the UAV as the second preset critical speed v2; 当B＞B2时，所述中控处理器判定无人机所处的高度H低于1/3Hmax并将无人机的最大飞行速度设置为第三预设临界速度V3；When B>B2, the central control processor determines that the height H of the drone is lower than 1/3Hmax and sets the maximum flight speed of the drone as the third preset critical speed V3; 当所述中控处理器完成对所述图像信息中的特征提取时，中控处理器分别根据图像信息中各障碍物的形状及颜色依次判定各障碍物的种类，并根据判定结果检测无人机所处环境以调节无人机的飞行高度或最大飞行速度；When the central control processor completes the feature extraction in the image information, the central control processor determines the type of each obstacle in turn according to the shape and color of each obstacle in the image information, and detects no one according to the determination result. The environment in which the drone is located to adjust the flying altitude or maximum flying speed of the drone; 所述中控处理器中设有第一预设种类环境A1、第二预设种类环境A2、第三预设种类环境A3、第一预设飞行高度调节系数a1、第二预设飞行高度调节系数a2和预设移速调节系数b，其中，1＜a1＜1.5，1＜a2＜1.5，0.5＜b＜1；The central control processor is provided with a first preset type environment A1, a second preset type environment A2, a third preset type environment A3, a first preset flight height adjustment coefficient a1, and a second preset flight height adjustment Coefficient a2 and preset moving speed adjustment coefficient b, where 1<a1<1.5, 1<a2<1.5, 0.5<b<1; 当所述中控处理器判定图像信息中植物特征占比最高时，中控处理器判定无人机所处环境为第一预设种类环境A1，中控处理器使用第一预设飞行高度调节系数a1对无人机的最高飞行高度进行调节；When the central control processor determines that the proportion of plant features in the image information is the highest, the central control processor determines that the environment where the drone is located is the first preset type environment A1, and the central control processor uses the first preset flight height to adjust The coefficient a1 adjusts the maximum flying height of the UAV; 当所述中控处理器判定图像信息中建筑特征占比最高或建筑特征占比与植物特征占比相同时，中控处理器判定无人机所处环境为第二预设种类环境A2，中控处理器使用第二预设飞行高度调节系数a2对无人机的最高飞行高度进行调节；When the central control processor determines that the proportion of architectural features in the image information is the highest or the proportion of architectural features and plant features is the same, the central control processor determines that the environment where the drone is located is the second preset type environment A2, and The control processor uses the second preset flight height adjustment coefficient a2 to adjust the highest flight height of the drone; 当所述中控处理器判定图像信息中存在人物特征时，中控处理器判定无人机所处环境为第三预设种类环境A3，中控处理器使用预设移速调节系数对无人机的最大飞行速度进行调节，并根据植物特征占比与建筑特征占比选取对应的预设飞行高度调节系数对无人机的最高飞行高度进行调节；When the central control processor determines that there are human features in the image information, the central control processor determines that the environment where the drone is located is the third preset type environment A3, and the central control processor uses the preset speed adjustment coefficient to adjust the unmanned aerial vehicle. The maximum flight speed of the drone is adjusted, and the corresponding preset flight height adjustment coefficient is selected according to the proportion of plant features and architectural features to adjust the maximum flight height of the drone; 当所述中控处理器使用第i预设飞行高度调节系数ai对无人机的最高飞行高度进行调节时，设定i=1，2，调节后的最高飞行高度记为Hmax’，设定Hmax’=Hmax×ai；当所述中控处理器使用预设移速调节系数对无人机的最大飞行速度进行调节时，调节后的无人机的最大飞行速度记为Vj’，设定Vj’=Vj×b0，其中，j=1，2，3，b0为预设移速调节系数。When the central control processor uses the i-th preset flight height adjustment coefficient ai to adjust the maximum flight height of the UAV, set i=1, 2, and the adjusted maximum flight height is recorded as Hmax', set Hmax'=Hmax×ai; when the central control processor uses the preset speed adjustment coefficient to adjust the maximum flight speed of the UAV, the adjusted maximum flight speed of the UAV is recorded as Vj', set Vj'=Vj×b0, wherein, j=1, 2, 3, b0 is the preset moving speed adjustment coefficient. 2.根据权利要求1所述的无人机巡检安全返航的避障方法，其特征在于，当无人机飞行时，所述中控处理器控制所述信号收发器实时检测无人机与停靠点之间的绝对距离D以对调节后的无人机的最大飞行高度Hmax’进行二次调节，中控处理器中还设有第一预设距离D1、第二预设距离D2、第一预设高度调节系数e1和第二预设高度调节系数e2，其中，D1＞D2，0.5＜e2＜e1＜0.8；2. The obstacle avoidance method for safe return from drone inspection according to claim 1, is characterized in that, when the drone flies, the central control processor controls the signal transceiver to detect the drone and the drone in real time. The absolute distance D between the docking points is used for secondary adjustment of the adjusted maximum flying height Hmax' of the UAV, and the central control processor is further provided with a first preset distance D1, a second preset distance D2, a A preset height adjustment coefficient e1 and a second preset height adjustment coefficient e2, wherein D1>D2, 0.5<e2<e1<0.8; 当D＞D1时，所述中控处理器不对Hmax’进行二次调节；When D>D1, the central control processor does not perform secondary adjustment on Hmax'; 当D2＜D≤D1时，所述中控处理器使用第一预设高度调节系数e1对Hmax’进行二次调节；When D2<D≤D1, the central control processor uses the first preset height adjustment coefficient e1 to perform secondary adjustment on Hmax'; 当D≤D2时，所述中控处理器使用第二预设高度调节系数e2对Hmax’进行二次调节；When D≤D2, the central control processor uses the second preset height adjustment coefficient e2 to perform secondary adjustment on Hmax'; 当所述中控处理器使用第i预设高度调节系数ei对Hmax’进行二次调节时，设定i=1，2，二次调节后的最大飞行高度记为Hmax”，设定Hmax”=Hmax’×ei。When the central control processor uses the i-th preset height adjustment coefficient ei to perform secondary adjustment on Hmax', set i=1, 2, the maximum flight altitude after the secondary adjustment is recorded as Hmax", and set Hmax" =Hmax'×ei. 3.根据权利要求2所述的无人机巡检安全返航的避障方法，其特征在于，当所述无人机飞行时，所述中控处理器根据无人机的实际飞行速度v确定无人机与障碍物之间的临界安全距离；所述中控处理器中还设有第一预设飞行速度v1、第二预设飞行速度v2、所述中控处理器中设有第一预设安全距离L1、第二预设安全距离L2和第三预设安全距离L3，其中，v1＜v2，L1＜L2＜L3；3. The obstacle avoidance method for safe return from drone inspection according to claim 2, wherein when the drone flies, the central control processor determines according to the actual flight speed v of the drone The critical safety distance between the drone and the obstacle; the central control processor is also provided with a first preset flight speed v1, a second preset flight speed v2, and the central control processor is provided with a first preset flight speed v1 and a second preset flight speed v2. the preset safety distance L1, the second preset safety distance L2 and the third preset safety distance L3, where v1<v2, L1<L2<L3; 当v≤v1时，所数中控处理器将无人机与障碍物之间的临界安全距离设置为L1；When v≤v1, all central control processors set the critical safety distance between the UAV and the obstacle to L1; 当v1＜v≤v2时，所数中控处理器将无人机与障碍物之间的临界安全距离设置为L2；When v1<v≤v2, all the central control processors set the critical safety distance between the UAV and the obstacle to L2; 当v＞v2时，所数中控处理器将无人机与障碍物之间的临界安全距离设置为L3。When v>v2, all central control processors set the critical safety distance between the UAV and the obstacle to L3. 4.根据权利要求3所述的无人机巡检安全返航的避障方法，其特征在于，当所述中控处理器通过所述图像采集器检测到无人机周边有移动的障碍物时，中控处理器通过视觉检测器实时检测该移动的障碍物与无人机之间的相对移动速度V以及该移动的障碍物与无人机之间的距离L并根据V与L控制无人机继续飞行或避让；所述中控处理器中设有预设相对移动速度V0，4. The obstacle avoidance method for safe return from drone inspection according to claim 3, wherein when the central control processor detects a moving obstacle around the drone through the image collector , the central control processor detects the relative moving speed V between the moving obstacle and the drone and the distance L between the moving obstacle and the drone in real time through the visual detector, and controls the drone according to V and L The aircraft continues to fly or avoid; the central control processor is provided with a preset relative movement speed V0, 当所述中控处理器测得移动障碍物与无人机逐渐靠近且移动障碍物与无人机之间的相对移动速度V≤V0时，中控处理器判定障碍物与环境相对静止或障碍物与无人机沿相同方向移动，中控处理器实时检测移动障碍物与无人机之间的距离L并在L≤Li时控制无人机对障碍物进行避让，设定Li=1，2，3；When the central control processor detects that the moving obstacle and the UAV are gradually approaching and the relative moving speed between the moving obstacle and the UAV is V≤V0, the central control processor determines that the obstacle and the environment are relatively stationary or an obstacle When the object and the UAV move in the same direction, the central control processor detects the distance L between the moving obstacle and the UAV in real time, and controls the UAV to avoid the obstacle when L≤Li, set Li=1, 2, 3; 当所述中控处理器测得移动障碍物与无人机逐渐靠近且移动障碍物与无人机之间的相对移动速度V＞V0时，中控处理器判定障碍物与无人机沿相反方向移动，中控处理器根据无人机周边的环境选用对应的避让方式以控制无人机对障碍物进行避让。When the central control processor detects that the moving obstacle and the UAV are gradually approaching and the relative moving speed between the moving obstacle and the UAV is V>V0, the central control processor determines that the obstacle and the UAV are in opposite directions When the direction moves, the central control processor selects the corresponding avoidance method according to the surrounding environment of the drone to control the drone to avoid obstacles. 5.根据权利要求4所述的无人机巡检安全返航的避障方法，其特征在于，所述避让方式包括减速、悬停、转向、上升和下降。5 . The obstacle avoidance method for safe return from drone inspection according to claim 4 , wherein the avoidance methods include deceleration, hovering, turning, ascending and descending. 6 . 6.根据权利要求4所述的无人机巡检安全返航的避障方法，其特征在于，当所述无人机移动时，中控处理器根据扇叶的转速以预估无人机的预设飞行速度v0并根据图像采集器采集到的图像信息求得无人机的实际移动速度v，6. The obstacle avoidance method for safe return from drone inspection according to claim 4, is characterized in that, when the drone moves, the central control processor estimates the speed of the drone according to the rotating speed of the fan blade. Preset the flight speed v0 and obtain the actual moving speed v of the UAV according to the image information collected by the image collector, 若v=v0，中控处理器判定无人机在无风环境下飞行；If v=v0, the central control processor determines that the drone is flying in a windless environment; 若v＜v0，中控处理器判定无人机在逆风环境下飞行，若v＜0.5×v0，中控处理器判定无人机无法飞行并控制无人机搜寻附近的停靠点以临时停靠；If v<v0, the central control processor determines that the UAV is flying in a headwind environment; if v<0.5×v0, the central control processor determines that the UAV cannot fly and controls the UAV to search for nearby stops to temporarily stop; 若v＞v0，中控处理器判定无人机在顺风环境下飞行，若v＞2×v0，中控处理器判定无人机无法飞行并控制无人机搜寻附近的停靠点以临时停靠。If v>v0, the central control processor determines that the UAV is flying in a downwind environment. If v>2×v0, the central control processor determines that the UAV cannot fly and controls the UAV to search for nearby docking points to temporarily stop. 7.根据权利要求6所述的无人机巡检安全返航的避障方法，其特征在于，当所述无人机飞行时，所数中控处理器控制湿度检测器检测无人机周边环境湿度S以判定无人机周边环境是否存在降雨，所述中控处理器中还设有预设湿度S0，当S≤S0时，中控处理器判定无人机周边环境为未降雨环境；7. The obstacle avoidance method for safe return from drone inspection according to claim 6, is characterized in that, when the drone flies, all central control processors control the humidity detector to detect the surrounding environment of the drone The humidity S is used to determine whether there is rainfall in the surrounding environment of the drone, and the central control processor is also provided with a preset humidity S0. When S≤S0, the central control processor determines that the surrounding environment of the drone is an environment without rainfall; 当S＞S0时，中控处理器判定无人机周边环境为降雨环境，若S＞2×S0，中控处理器判定无人机周边环境为暴雨环境，中控处理器判定无人机无法飞行并控制无人机搜寻附近的停靠点以临时停靠。When S>S0, the central control processor determines that the surrounding environment of the drone is a rainy environment. If S>2×S0, the central control processor determines that the surrounding environment of the drone is a rainstorm environment, and the central control processor determines that the drone cannot be Fly and control the drone to search for nearby stops for temporary stops. 8.根据权利要求6所述的无人机巡检安全返航的避障方法，其特征在于，当所述中控处理器控制无人机进行避让时，中控处理器控制无人机悬停并控制所述视觉检测器检测无人机周边的障碍物信息，若水平方向上有一个方向不存在障碍物，中控处理器控制无人机沿该方向水平移动以对障碍物进行避让，若水平方向均存在障碍物，中控处理器控制无人机垂直上升或下降以对障碍物进行避让。8. The obstacle avoidance method for safe return from drone inspection according to claim 6, wherein when the central control processor controls the drone to avoid, the central control processor controls the drone to hover And control the visual detector to detect the obstacle information around the drone. If there is no obstacle in one direction in the horizontal direction, the central control processor controls the drone to move horizontally in this direction to avoid obstacles. There are obstacles in all directions, and the central control processor controls the drone to vertically ascend or descend to avoid obstacles.
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