CN116009589A - Obstacle avoidance method and system for unmanned aerial vehicles suitable for flying in trenches - Google Patents

Abstract

The present disclosure provides an obstacle avoidance method and system for unmanned aerial vehicles suitable for flying in a channel, wherein the unmanned aerial vehicle is provided with a flight controller, a laser dot matrix ranging sensor, an obstacle avoidance controller and an infrared supplementary light, The method includes: responding to the unmanned aerial vehicle entering the ditch, using an infrared supplementary light to supplement the light; using a laser dot matrix ranging sensor to collect obstacle lattice information in the ditch; using a laser dot matrix ranging sensor to send information to the obstacle avoidance controller Transmit the obstacle lattice information so that the obstacle avoidance controller can process the obstacle lattice information to obtain the processed obstacle information; send the processed obstacle information to the flight controller through the obstacle avoidance controller; use the flight controller Based on the processed obstacle information to control the flight of the UAV, the comprehensive measurement of the obstacles in all directions of the UAV in a larger range can be achieved through the above, and the problem of obstacle avoidance in complex environments can be effectively solved.

Description

Obstacle avoidance method and system for unmanned aerial vehicles suitable for flying in trenches

technical field

The present disclosure relates to the technical field of unmanned aerial vehicles, and more specifically, relates to an obstacle avoidance method and system for an unmanned aerial vehicle flying in a channel.

Background technique

With the continuous improvement of the level of urbanization, the construction of power cable trenches continues to accelerate, but due to the prolonged use of time, changes in influencing factors, and unreasonable prevention methods, there are more and more internal problems in the trenches, and the destructive power of these problems continues increase, which in turn affects the normal operation of the power cable trench, and at the same time puts forward higher requirements for the maintenance of the cable trench. Many urban areas are located along the coast and along the river, so the water level below the surface is relatively high. Power cable trenches are generally built underground, so water leakage accidents often occur inside the trenches, making it difficult for maintenance personnel to enter.

Nowadays, drones are more and more applied to the field of cable trench maintenance, but they often face the following problems in actual use. First: there is no GPS positioning information in the cable trench, and there is no With visible light, the UAV cannot use conventional GPS positioning methods; second, the space in the cable channel is narrow, and the cable brackets are vertical and horizontal, which requires the maintenance of the UAV to have a small space and sufficient obstacle avoidance capabilities to ensure that the UAV There will be no damage or crash caused by collisions during the flight; third, the interior of the cable channel is narrow, and the UAV goes deep into it. The strong blade wind may cause debris such as sand and gravel to fall, which may cause the UAV to The obstacle avoidance sensor of the UAV makes a misjudgment, and then produces an overreaction and collides with other obstacles; fourth, under the limitation of the size of the UAV, if the UAV wants to improve the detection time as much as possible, it needs to further reduce its own weight, so the binocular camera and Heavy sensors such as millimeter wave radar are not suitable for obstacle avoidance and positioning solutions under this condition.

Contents of the invention

In view of this, the embodiments of the present disclosure provide an obstacle avoidance method and system for a UAV flying in a channel.

An aspect of an embodiment of the present disclosure provides an obstacle avoidance method for a drone suitable for flying in a channel, wherein the above drone is equipped with a flight controller, a laser dot matrix ranging sensor, an obstacle avoidance controller and an infrared Fill light, the above methods include:

In response to the above-mentioned drone entering the ditch, using the above-mentioned infrared supplementary light to perform supplementary light;

Use the laser dot matrix ranging sensor to collect the obstacle dot matrix information in the above-mentioned channel;

transmitting the obstacle lattice information to the obstacle avoidance controller through the laser lattice ranging sensor, so that the obstacle avoidance controller processes the obstacle lattice information to obtain processed obstacle information;

sending the processed obstacle information to the flight controller through the obstacle avoidance controller;

Utilizing the above-mentioned flight controller to control the flight of the above-mentioned unmanned aerial vehicle based on the above-mentioned processed obstacle information.

According to an embodiment of the present disclosure, the above-mentioned drone is also provided with an optical flow sensor, and the above-mentioned method also includes:

collecting optical flow positioning information in the channel by using the optical flow sensor;

The optical flow positioning information is sent to the flight controller through the optical flow sensor, so that the drone can be positioned in the channel.

According to an embodiment of the present disclosure, the above-mentioned unmanned aerial vehicle is also provided with a laser ranging sensor, and the above-mentioned method also includes:

Using the above-mentioned laser ranging sensor to collect the distance information between the top of the above-mentioned trench and the above-mentioned UAV;

The distance information is sent to the flight controller through the laser ranging sensor, so that the position of the drone in the channel remains stable.

According to an embodiment of the present disclosure, the above-mentioned obstacle avoidance controller processes the above-mentioned obstacle lattice information, and the obtained obstacle information includes:

Comparing the above-mentioned obstacle lattice information with a preset value to obtain a comparison result, wherein the above-mentioned obstacle lattice information represents the distance between the above-mentioned UAV and the detection object;

When the above comparison result shows that there is at most one point in the above obstacle lattice information that is smaller than the above preset value, it is determined that there is no obstacle in the target direction;

When the above comparison result shows that there are at least two points in the above obstacle lattice information that are smaller than the above preset value and there are adjacent points among the above points that are smaller than the preset value, it is determined that there is an obstacle in the above target direction;

The dot matrix information corresponding to the above-mentioned adjacent points is determined as the above-mentioned processed obstacle information.

According to an embodiment of the present disclosure, the above-mentioned flight controller and the above-mentioned obstacle avoidance controller are placed inside the drone body.

According to an embodiment of the present disclosure, the above-mentioned laser dot-matrix ranging sensors include six, and each of the above-mentioned laser dot-matrix ranging sensors is respectively placed directly in front, directly behind, directly to the left, directly to the right, and directly to the front of the UAV body. above and directly below to obtain obstacle information in all directions.

According to an embodiment of the present disclosure, the above-mentioned laser ranging sensor and the above-mentioned optical flow sensor are placed directly above the body of the drone, so as to obtain positioning information.

According to an embodiment of the present disclosure, the above-mentioned laser dot matrix ranging sensors placed in the above-mentioned front, the above-mentioned back, the above-mentioned left side and the above-mentioned right side are on the same horizontal plane and the angle between them is 90 degrees;

The horizontal measurement angle of each laser dot matrix ranging sensor is 45 degrees, and the vertical measurement angle is 45 degrees.

According to an embodiment of the present disclosure, the above-mentioned infrared supplementary lights include four, which are respectively placed at the four corners of the fuselage of the drone, and a 120-degree transparent scattering lens is installed outside each of the above-mentioned infrared supplementary lights.

Another aspect of the embodiments of the present disclosure provides an obstacle avoidance system for a drone suitable for flying in a channel, including:

UAV, flight controller, laser dot matrix ranging sensor, obstacle avoidance controller and infrared fill light;

Wherein, the above-mentioned flight controller, the above-mentioned laser dot matrix ranging sensor, the above-mentioned obstacle avoidance controller and the above-mentioned infrared supplementary light are arranged on the above-mentioned unmanned aerial vehicle;

The above-mentioned infrared supplementary light is used for supplementary light when the above-mentioned drone enters the channel;

The above-mentioned laser dot-matrix ranging sensor is used to collect the obstacle dot matrix information in the above-mentioned channel, and transmit the above-mentioned obstacle dot-matrix information to the above-mentioned obstacle avoidance controller;

The above-mentioned obstacle avoidance controller is used to process the above-mentioned obstacle lattice information, obtain the processed obstacle information, and send the above-mentioned processed obstacle information to the flight controller;

The above-mentioned flight controller is used for controlling the flight of the above-mentioned unmanned aerial vehicle based on the above-mentioned processed obstacle information.

Another aspect of the embodiments of the present disclosure provides an obstacle avoidance device for a drone suitable for flying in a channel, including:

The supplementary light module is used for supplementing the light with an infrared supplementary light lamp in response to the above-mentioned unmanned aerial vehicle entering the channel;

The information acquisition module is used to collect the obstacle lattice information in the channel by using the laser lattice ranging sensor;

A transmission module, configured to transmit the obstacle lattice information to the obstacle avoidance controller through the laser lattice ranging sensor, so that the obstacle avoidance controller processes the obstacle lattice information to obtain processed obstacle information ;

An information sending module, configured to send the above-mentioned processed obstacle information to the flight controller through the above-mentioned obstacle avoidance controller;

A control module, configured to use the flight controller to control the flight of the UAV based on the processed obstacle information.

Another aspect of the embodiments of the present disclosure provides an electronic device, including: one or more processors; a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more When executed by multiple processors, the one or more processors are made to implement the method as described above.

Another aspect of the embodiments of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, and the instructions are used to implement the above method when executed.

Another aspect of embodiments of the present disclosure provides a computer program product comprising computer-executable instructions for implementing the method as described above when executed.

According to the embodiment of the present disclosure, because the laser dot matrix ranging sensor is used to collect the obstacle information in the channel to obtain the obstacle lattice information, at least partially overcome the obstacle measurement around the drone that exists in other sensors Insufficient comprehensive problem, and then achieved a comprehensive measurement of obstacles in all directions of the UAV in a larger range; the obstacle avoidance controller is used to process the obstacle lattice information collected by the laser lattice ranging sensor After that, sending it to the flight controller can solve the problem of obstacle avoidance in complex environments, and effectively avoid the phenomenon of misjudgment by the UAV obstacle avoidance sensor due to the falling of debris such as sand and gravel caused by the strong blade wind. In turn, the problem of sending collisions with other obstacles caused by the drone's overreaction is reduced.

Description of drawings

The above and other objects, features and advantages of the present disclosure will be more clearly described through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

FIG. 1 schematically shows a flow chart of an obstacle avoidance method for a UAV flying in a channel according to an embodiment of the present disclosure;

FIG. 2 schematically shows a flow chart of a method for positioning an optical flow sensor according to an embodiment of the present disclosure;

FIG. 3 schematically shows a flow chart of a laser dot matrix ranging sensor positioning method according to an embodiment of the present disclosure;

Fig. 4 schematically shows a schematic diagram of a UAV obstacle avoidance system suitable for flying in a channel according to an embodiment of the present disclosure;

Fig. 5 schematically shows a schematic diagram of a UAV obstacle avoidance device suitable for flying in a channel according to an embodiment of the present disclosure; and

Fig. 6 schematically shows a block diagram of an electronic device according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be understood, however, that these descriptions are exemplary only, and are not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting of the present disclosure. The terms "comprising", "comprising", etc. used herein indicate the presence of stated features, steps, operations and/or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

All terms (including technical and scientific terms) used herein have the meaning commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted to have a meaning consistent with the context of this specification, and not be interpreted in an idealized or overly rigid manner.

Where expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted as those skilled in the art would normally understand the expression (for example, "having A, B, and C A system of at least one of "shall include, but not be limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or A, B, C, etc. ). Where expressions such as "at least one of A, B, or C, etc." are used, they should generally be interpreted as those skilled in the art would normally understand the expression (for example, "having A, B, or C A system of at least one of "shall include, but not be limited to, systems with A alone, B alone, C alone, A and B, A and C, B and C, and/or A, B, C, etc. ).

In the process of realizing this application, it is found that there is no visible GPS positioning information in the trench, no visible light illumination, and common GPS positioning methods cannot be used; The man-machine is large in size and does not have sufficient obstacle avoidance capabilities, so it will be difficult to fly smoothly; the cable channel is narrow, and the drone goes deep into it, and the strong wind from the blades may cause debris such as sand and gravel to fall. Human-machines do not have sufficient obstacle avoidance capabilities, which can easily lead to misjudgment; in the case where a larger size cannot be designed for the drone, if you want to increase the flight speed of the drone, you need to reduce the weight of the drone itself, so in obstacle avoidance For positioning and positioning, binocular cameras or millimeter-wave radars cannot be used.

Embodiments of the present disclosure provide an obstacle avoidance method for unmanned aerial vehicles suitable for flying in a channel, wherein the unmanned aerial vehicle is provided with a flight controller, a laser dot matrix ranging sensor, an obstacle avoidance controller and an infrared supplementary light , the UAV obstacle avoidance method includes: in response to the UAV entering the ditch, using an infrared supplementary light to supplement the light; using a laser dot matrix ranging sensor to collect obstacle lattice information in the ditch; The distance sensor transmits the obstacle lattice information to the obstacle avoidance controller, so that the obstacle avoidance controller can process the obstacle lattice information and obtain the processed obstacle information; the obstacle avoidance controller sends the processed obstacle information to the flight controller Object information; use the flight controller to control the flight of the UAV based on the processed obstacle information.

Fig. 1 schematically shows a flow chart of an obstacle avoidance method for a UAV flying in a channel according to an embodiment of the present disclosure.

As shown in Fig. 1, the method includes operations S101-S105.

In operation S101, in response to the drone entering the ditch, an infrared supplementary light is used for supplementary light.

In the related technology, because the trenches are generally built underground and the internal water seepage and leakage are relatively serious, it is difficult for maintenance personnel to enter and exit, so it is necessary to use drones for detection, and the underground is usually dark, so it is necessary to fill the trenches with light. When the UAV enters the trench, the infrared supplementary light is turned on to supplement the light in the trench. The trench can be a power cable trench, and the infrared supplementary light will be automatically turned on when entering the trench.

In some embodiments, the infrared supplementary light includes four, which are respectively placed at the four corners of the drone fuselage, and a 120-degree transparent scattering lens is installed outside each infrared supplementary light.

According to an embodiment of the present disclosure, the installation method of the infrared supplementary light includes installing one at the four corners directly above the fuselage of the drone, and installing a 120-degree transparent diffuser on the outside of each infrared supplementary light Lenses, in order to achieve a better fill light effect.

In operation S102, the laser dot matrix ranging sensor is used to collect obstacle dot matrix information in the channel.

According to the embodiment of the present disclosure, the obstacle avoidance controller is used to send an acquisition obstacle information command to the laser dot matrix ranging sensor, and then the laser dot matrix ranging sensor is used to collect the obstacle information in the channel to obtain the obstacle dot matrix information , where the obstacle lattice information may be an 8*8 distance lattice between the UAV and the detection object.

In the above process, compared with using other sensors, the laser dot matrix ranging sensor is used to measure the obstacles of the UAV body in the channel, and the measurement of obstacles in all directions around the UAV will be more comprehensive. The scope is also wider.

In some embodiments, the laser dot matrix ranging sensor may include six, and each laser dot matrix ranging sensor is respectively placed directly in front, directly behind, directly to the left, directly to the right, directly above and directly to the drone body. below to obtain obstacle information in all directions.

In some embodiments, the laser dot matrix ranging sensors placed directly in front, directly behind, directly on the left and directly on the right are on the same horizontal plane and the angle between each pair is 90 degrees; each laser dot matrix ranging sensor The sensor measures 45 degrees horizontally and 45 degrees vertically.

According to an embodiment of the present disclosure, a laser dot matrix ranging sensor is respectively installed in six directions of the UAV body, directly in front, directly behind, directly to the left, directly to the right, directly above and directly below, and the laser dot matrix sensor is used to Obstacle information in six directions is obtained separately, which can comprehensively collect all obstacle information around the drone.

In some embodiments, the laser dot matrix ranging sensors directly in front of, directly behind, directly on the left and directly on the right of the UAV body need to be arranged on the same horizontal plane with an angle of 90 degrees between them. In addition, each The horizontal measurement angle of a laser dot matrix ranging sensor is 45 degrees, and the vertical measurement angle is 45 degrees.

According to the placement position and angle setting of the above-mentioned laser dot matrix ranging sensor, the occurrence of measurement dead angles can be avoided as much as possible, ensuring that all directions of the UAV body can be detected.

In operation S103, transmit the obstacle lattice information to the obstacle avoidance controller through the laser lattice ranging sensor, so that the obstacle avoidance controller can process the obstacle lattice information to obtain the processed obstacle information.

According to an embodiment of the present disclosure, the laser dot matrix ranging sensor transmits the obstacle dot matrix information to the obstacle avoidance controller through the serial port, and the obstacle avoidance controller processes the obstacle dot matrix information to obtain the processed obstacle information.

In some embodiments, the obstacle avoidance controller processes the obstacle lattice information, and obtaining the processed obstacle information includes: comparing the obstacle lattice information with a preset value to obtain a comparison result, wherein the obstacle point The array information represents the distance between the UAV and the detection object; when the comparison result shows that there is at most one point in the obstacle lattice information less than the preset value, it is determined that there is no obstacle in the target direction; when the comparison result shows that the obstacle point When there are at least two points in the array information that are smaller than the preset value and there are adjacent points in the points that are smaller than the preset value, it is determined that there is an obstacle in the target direction; the lattice information corresponding to the adjacent point is determined as the processed obstacle item information.

In specific implementation, when the comparison result shows that there are at least two points in the obstacle lattice information that are less than the preset value and when there is no obstacle in the point that is less than the preset value, it is determined that there is no obstacle in the target direction, wherein the preset The set value is set according to specific conditions, for example, the preset value is 20 cm.

In the above operation, the obstacle avoidance controller processes the obstacle lattice information to obtain whether there is an obstacle in the target direction. If there are more than two points in the obstacle lattice information that are smaller than the preset value, and the If the point with the preset value contains adjacent points, it is determined that there is an obstacle in the direction of the target. The obstacle point, that is, the obstacle lattice information corresponding to the adjacent point, is used to determine the specific orientation and distance of the obstacle relative to the UAV. According to The above method can solve the problem of UAV obstacle avoidance in a complex environment, and effectively avoid the misjudgment of the UAV obstacle avoidance sensor due to the narrow channel space and the falling of debris such as sand and gravel caused by the strong wind force of the blades. phenomenon, which in turn leads to the problem that the UAV overreacts and collides with other obstacles.

In operation S104, the processed obstacle information is sent to the flight controller through the obstacle avoidance controller.

If the obstacle avoidance controller recognizes that there is an obstacle in the target direction, it will send the processed obstacle information to the flight controller. If the obstacle avoidance controller recognizes that there is no obstacle in the target direction, the reaction mode can be set according to the specific situation , the instruction that there is no obstacle in the target direction can be sent to the flight controller, or the distance between the UAV and the obstacle in the target direction can be sent to the flight controller, or no information can be sent to the flight controller. The distance between the drone and the obstacle in the target direction refers to the distance between the drone and the detection object greater than the preset value in a certain direction.

In some embodiments, the flight controller and the obstacle avoidance controller are placed inside the drone body.

Both the flight controller and the obstacle avoidance controller are installed inside the drone body, and the flight controller and the obstacle avoidance controller communicate through the serial port.

The use of the flight controller is not specifically limited, for example: you can use the Pixhawk open source UAV flight control hardware, which runs the APM open source flight control system inside; the chip of the obstacle avoidance controller is not specifically limited, for example: you can use the STM32F407 chip, In the STM32F407 chip program, a 1200-byte ring receiving buffer is set, and the distance point matrix information with a large amount of information is received by means of serial port DMA and idle interrupt.

In operation S105, the flight controller is used to control the flight of the drone based on the processed obstacle information.

In the above operation, the flight of the UAV is controlled according to the processed obstacle information, and the obstacles near the aircraft can be avoided without dead ends. At the same time, the obstacle avoidance controller can process the obstacle lattice information by using the preset value. The method can complete the obstacle avoidance problem in a complex environment, effectively eliminate the interference caused by the strong blade wind caused by falling debris such as sand and gravel, and accurately avoid obstacles, so that the UAV can achieve comprehensive and accurate avoidance in the trench. barrier effect.

In some embodiments, in response to the acquisition of obstacle information by the first laser dot matrix ranging sensor, and according to the method of S101-S105, the UAV completes the obstacle avoidance in the direction of the first laser dot matrix ranging sensor, then Continue to make the second laser dot matrix ranging sensor acquire obstacle information, and make the UAV complete the obstacle avoidance in the second direction according to the method of S101-S105 until the UAV completes the obstacle avoidance in all directions.

Fig. 2 schematically shows a flowchart of a method for positioning an optical flow sensor according to an embodiment of the present disclosure.

According to an embodiment of the present application, the drone is further provided with an optical flow sensor, and the method for locating the optical flow sensor includes operations S201-S202.

In operation S201, an optical flow sensor is used to collect optical flow positioning information in a channel.

In operation S202, the optical flow positioning information is sent to the flight controller through the optical flow sensor, so that the drone can be positioned in the channel.

In the specific implementation, the optical flow sensor and the flight controller transmit the optical flow positioning information through the serial port. The specific use of the optical flow sensor is not limited, and it can be an UPixels optical flow sensor. Among them, the quality of the UPixels optical flow sensor is relatively small, and the The product quality can reach only 3 grams.

Fig. 3 schematically shows a flowchart of a positioning method for a laser dot matrix ranging sensor according to an embodiment of the present disclosure.

According to an embodiment of the present application, the drone is further provided with a laser ranging sensor, and the positioning method for the laser dot matrix ranging sensor includes operations S301-S302.

In operation S301, a laser ranging sensor is used to collect distance information between the top of the trench and the drone.

In operation S302, the distance information is sent to the flight controller through the laser ranging sensor, so that the position of the drone in the channel remains stable.

In actual implementation, the laser ranging sensor transmits the distance information from the UAV to the top of the channel to the flight controller through the serial port. The specific use of the laser ranging sensor is not limited. For example, it can be a TF-LUNA sensor, where TF-LUNA The mass of the sensor is small, and the mass of products on the market can reach only 3 grams.

In some embodiments, the laser ranging sensor and the optical flow sensor are placed directly above the body of the drone, so as to obtain positioning information.

In the above operation, the positioning problem in the trench without GPS and serious water accumulation is solved by using the optical flow sensor facing upward, the laser ranging sensor and the infrared supplementary light, and the laser ranging sensor with small size and light weight and light The flow sensor can effectively reduce the overall volume of the drone, reduce its own gravity, and increase the flight speed, thereby improving the detection efficiency of the drone in the channel.

Fig. 4 schematically shows a schematic diagram of an obstacle avoidance system for a drone suitable for flying in a channel according to an embodiment of the present disclosure.

As shown in FIG. 4 , the UAV obstacle avoidance system 400 suitable for flying in a channel includes a UAV 410 , a flight controller 420 , a laser dot matrix ranging sensor 430 , an obstacle avoidance controller 440 and an infrared supplementary light 450 .

Among them, the flight controller 420, the laser dot matrix ranging sensor 430, the obstacle avoidance controller 440 and the infrared supplementary light 450 are arranged on the UAV 410;

Infrared supplementary light 450, used for supplementary light when the drone enters the channel;

Laser dot matrix ranging sensor 430, used to collect the obstacle dot matrix information in the channel, and transmit the obstacle dot matrix information to the obstacle avoidance controller;

The obstacle avoidance controller 440 is configured to process the obstacle lattice information, obtain the processed obstacle information, and send the processed obstacle information to the flight controller;

The flight controller 420 is configured to control the flight of the UAV based on the processed obstacle information.

It should be noted that the part of the UAV obstacle avoidance system suitable for flying in the channel in the embodiment of the present disclosure corresponds to the part of the obstacle avoidance method of the UAV suitable for flying in the channel in the embodiment of the present disclosure , for the description of the part of the obstacle avoidance system for UAVs flying in trenches, please refer to the part of the obstacle avoidance method for UAVs flying in trenches, and will not repeat them here.

Fig. 5 schematically shows a block diagram of an obstacle avoidance device for a drone suitable for flying in a channel according to an embodiment of the present disclosure.

As shown in FIG. 5 , the UAV obstacle avoidance device 500 suitable for flying in a channel includes a supplementary light module 510 , an information acquisition module 520 , a transmission module 530 , an information sending module 540 and a control module 550 .

The supplementary light module 510 is used for supplementing the light with an infrared supplementary light in response to the UAV entering the channel;

An information acquisition module 520, configured to use a laser dot matrix ranging sensor to collect obstacle dot matrix information in the channel;

The transmission module 530 is used to transmit the obstacle lattice information to the obstacle avoidance controller through the laser lattice ranging sensor, so that the obstacle avoidance controller can process the obstacle lattice information to obtain the processed obstacle information;

An information sending module 540, configured to send the processed obstacle information to the flight controller through the obstacle avoidance controller;

The control module 550 is configured to use the flight controller to control the flight of the UAV based on the processed obstacle information.

Modules, sub-modules, units, any multiple of sub-units according to the embodiments of the present disclosure, or at least part of the functions of any multiple of them may be implemented in one module. Any one or more of modules, submodules, units, and subunits according to the embodiments of the present disclosure may be implemented by being divided into multiple modules. Any one or more of modules, submodules, units, and subunits according to embodiments of the present disclosure may be at least partially implemented as hardware circuits, such as Field Programmable Gate Array (Field Programmable Gate Array, FPGA), programmable logic Arrays (Programmable LogicArrays, PLA), system-on-chip, system-on-substrate, system-on-package, Application Specific Integrated Circuit (ASIC), or any other reasonable means of hardware or firmware, or any one of software, hardware, and firmware, or an appropriate combination of any of them. Alternatively, one or more of the modules, submodules, units, and subunits according to the embodiments of the present disclosure may be at least partially implemented as computer program modules, and when the computer program modules are executed, corresponding functions may be performed.

It should be noted that, in the embodiment of the present disclosure, the part of the UAV obstacle avoidance device suitable for flying in the channel corresponds to the part of the UAV obstacle avoidance method suitable for flying in the channel in the embodiment of the present disclosure , for the description of the part of the obstacle avoidance device for drones suitable for flying in the trench, refer to the part of the obstacle avoidance method for drones suitable for flying in the trench, and will not repeat them here.

Fig. 6 schematically shows a block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present disclosure. The electronic device shown in FIG. 6 is only an example, and should not limit the functions and application scope of the embodiments of the present disclosure.

As shown in FIG. 6, an electronic device 600 according to an embodiment of the present disclosure includes a processor 601, which can be loaded into a random access memory according to a program stored in a read-only memory (Read-Only Memory, ROM) 602 or from a storage section 508. (Random Access Memory, RAM) 603 to perform various appropriate actions and processing. Processor 601 may include, for example, a general-purpose microprocessor (eg, a CPU), an instruction set processor and/or related chipsets, and/or a special-purpose microprocessor (eg, an application-specific integrated circuit (ASIC)), and the like. Processor 601 may also include on-board memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for executing different actions of the method flow according to the embodiments of the present disclosure.

In the RAM 603, various programs and data necessary for the operation of the electronic device 600 are stored. The processor 601, ROM 602, and RAM 603 are connected to each other through a bus 604. The processor 601 executes various operations according to the method flow of the embodiment of the present disclosure by executing programs in the ROM 602 and/or RAM 603. It should be noted that the program can also be stored in one or more memories other than ROM602 and RAM603. The processor 601 may also perform various operations according to the method flow of the embodiments of the present disclosure by executing programs stored in one or more memories.

According to an embodiment of the present disclosure, the electronic device 600 may further include an input/output (I/O) interface 605 which is also connected to the bus 604 . The system 600 may also include one or more of the following components connected to the I/O interface 605: an input section 606 including a keyboard, mouse, etc.; including a cathode ray tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD) ) and the like and an output section 607 of speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, and the like. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc. is mounted on the drive 610 as necessary so that a computer program read therefrom is installed into the storage section 608 as necessary.

According to the embodiments of the present disclosure, the method flow according to the embodiments of the present disclosure can be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable storage medium, where the computer program includes program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication portion 609 and/or installed from removable media 611 . When the computer program is executed by the processor 601, the above-mentioned functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiments of the present disclosure, the above-described systems, devices, devices, modules, units, etc. may be implemented by computer program modules.

The present disclosure also provides a computer-readable storage medium. The computer-readable storage medium may be included in the device/apparatus/system described in the above embodiments; it may also exist independently without being assembled into the device/system device/system. The above-mentioned computer-readable storage medium carries one or more programs, and when the above-mentioned one or more programs are executed, the method according to the embodiment of the present disclosure is realized.

According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but not limited to: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM (Erasable Programmable Read Only Memory, EPROM) or flash memory), Portable compact disk read-only memory (Computer Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include one or more memories other than the above-described ROM 602 and/or RAM 603 and/or ROM 602 and RAM 603.

Embodiments of the present disclosure also include a computer program product, which includes a computer program, and the computer program includes program codes for executing the method provided by the embodiments of the present disclosure. When the computer program product is run on an electronic device, the program The code is used to enable the electronic device to implement the obstacle avoidance method suitable for the drone flying in the channel provided by the embodiment of the present disclosure.

When the computer program is executed by the processor 601, the above-mentioned functions defined in the system/device of the embodiment of the present disclosure are performed. According to the embodiments of the present disclosure, the above-described systems, devices, modules, units, etc. may be implemented by computer program modules.

In one embodiment, the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program can also be transmitted and distributed in the form of a signal on a network medium, downloaded and installed through the communication part 609, and/or installed from the removable medium 611. The program code contained in the computer program can be transmitted by any appropriate network medium, including but not limited to: wireless, wired, etc., or any appropriate combination of the above.

According to the embodiments of the present disclosure, the program codes for executing the computer programs provided by the embodiments of the present disclosure can be written in any combination of one or more programming languages, specifically, high-level procedural and/or object-oriented programming language, and/or assembly/machine language to implement these computing programs. Programming languages include, but are not limited to, programming languages such as Java, C++, python, "C" or similar programming languages. The program code can execute entirely on the user computing device, partly on the user device, partly on the remote computing device, or entirely on the remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider). business to connect via the Internet).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that includes one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block in the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a A combination of dedicated hardware and computer instructions. Those skilled in the art can understand that various combinations and/or combinations can be made in the various embodiments of the present disclosure and/or the features described in the claims, even if such combinations or combinations are not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the various embodiments of the present disclosure and/or the features described in the claims can be combined and/or combined in various ways. All such combinations and/or combinations fall within the scope of the present disclosure.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the various embodiments have been described separately above, this does not mean that the measures in the various embodiments cannot be advantageously used in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the present disclosure, and these substitutions and modifications should all fall within the scope of the present disclosure.

Claims (10)

1. An unmanned aerial vehicle obstacle avoidance method suitable for flying in a trench, wherein the unmanned aerial vehicle is provided with a flight controller, a laser lattice ranging sensor, an obstacle avoidance controller and an infrared light supplement lamp, the method comprising:

responding to the unmanned aerial vehicle entering a channel, and performing light filling by using the infrared light filling lamp;

acquiring obstacle lattice information in the channel by using a laser lattice ranging sensor;

transmitting the obstacle point array information to the obstacle avoidance controller through the laser point array ranging sensor so that the obstacle avoidance controller processes the obstacle point array information to obtain processed obstacle information;

transmitting the processed obstacle information to the flight controller through the obstacle avoidance controller;

and controlling the unmanned aerial vehicle to fly based on the processed obstacle information by using the flight controller.

2. The method of claim 1, wherein the drone is further provided with an optical flow sensor, the method further comprising:

acquiring optical flow positioning information in the channel by utilizing the optical flow sensor;

and sending the optical flow positioning information to the flight controller through the optical flow sensor so that the unmanned aerial vehicle is positioned in the channel.

3. The method of claim 1, wherein the drone is further provided with a laser ranging sensor, the method further comprising:

acquiring distance information between the top of the channel and the unmanned aerial vehicle by using the laser ranging sensor;

and sending the distance information to the flight controller through the laser ranging sensor so that the position of the unmanned aerial vehicle in the channel is kept stable.

4. The method of claim 1, wherein the obstacle avoidance controller processing the obstacle lattice information to obtain processed obstacle information comprises:

comparing the obstacle lattice information with a preset value to obtain a comparison result, wherein the obstacle lattice information characterizes the distance between the unmanned aerial vehicle and the detection object;

when the comparison result shows that at most one point in the obstacle point array information is smaller than the preset value, determining that no obstacle exists in the target direction;

determining that an obstacle exists in the target direction when the comparison result shows that at least two points in the obstacle lattice information are smaller than the preset value and adjacent points exist in the points smaller than the preset value;

and determining lattice information corresponding to the adjacent points as the processed barrier information.

5. The method of claim 1, wherein the flight controller and the obstacle avoidance controller are placed inside an unmanned aerial vehicle.

6. The method of claim 1, wherein the laser lattice ranging sensors comprise six, each of which is placed directly in front of, behind, to the left of, to the right of, above and below the unmanned aerial vehicle body, respectively, so as to obtain obstacle information of each direction.

7. A method according to claim 2 or 3, wherein the laser ranging sensor and the optical flow sensor are placed directly above the unmanned aerial vehicle body in order to obtain positioning information.

8. The method of claim 6, wherein the laser lattice ranging sensors placed directly in front of, directly behind, directly to the left of and directly to the right are in the same horizontal plane and have an included angle of 90 degrees between each other;

the horizontal measurement angle of each laser lattice distance measuring sensor is 45 degrees, and the vertical measurement angle is 45 degrees.

9. The method of claim 1, wherein the infrared light supplement lamps comprise four infrared light supplement lamps respectively placed at four corners right above the unmanned aerial vehicle body, and 120-degree transparent diffusion lenses are installed outside each infrared light supplement lamp.

10. An unmanned aerial vehicle obstacle avoidance system adapted to fly in a trench, comprising:

the system comprises an unmanned aerial vehicle, a flight controller, a laser lattice distance measuring sensor, an obstacle avoidance controller and an infrared light supplementing lamp;

the flight controller, the laser lattice ranging sensor, the obstacle avoidance controller and the infrared light supplementing lamp are arranged on the unmanned aerial vehicle;

the infrared light supplementing lamp is used for supplementing light when the unmanned aerial vehicle enters a channel;

the laser lattice distance measuring sensor is used for collecting obstacle lattice information in the channel and transmitting the obstacle lattice information to the obstacle avoidance controller;

the obstacle avoidance controller is used for processing the obstacle point array information to obtain processed obstacle information, and sending the processed obstacle information to the flight controller;

and the flight controller is used for controlling the unmanned aerial vehicle to fly based on the processed obstacle information.

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