The invention provides a method and a device for realizing dynamic obstacle avoidance of an unmanned aerial vehicle by using a monocular camera, and the unmanned aerial vehicle. The method comprises the following steps: measuring the distance between a dynamic obstacle and the unmanned aerial vehicle through a millimeter wave radar module; a monocular vision module collects a video to obtain coordinate information of a dynamic obstacle in a pixel coordinate system; obtaining position information of the dynamic obstacle relative to the unmanned aerial vehicle; obtaining the speed of the dynamic obstacle relative to the unmanned aerial vehicle; obtaining the speed of the dynamic obstacle; calculating the motion trail of the dynamic obstacle; the motion trail of the dynamic obstacle is compared with the motion trail of the unmanned aerial vehicle, and whether collision occurs or not is judged; and selecting whether to adjust the flight path according to the judgment result of whether the collision occurs. According to the invention, the unmanned aerial vehicle can automatically avoid dynamic obstacles in a complex environment, the safety monitoring of the flight process of the unmanned aerial vehicle is realized, the hardware cost is reduced, and the flight safety of the unmanned aerial vehicle is improved.
本发明提供一种利用单目摄像头实现无人机动态避障方法、装置及无人机,其中方法包括:通过毫米波雷达模块测量动态障碍物与无人机之间的距离;由单目视觉模块采集视频,获得动态障碍物在像素坐标系下的坐标信息;得到动态障碍物相对于无人机的位置信息;得到动态障碍物相对于无人机的速度;得出动态障碍物自身的速度;推算出动态障碍物的运动轨迹;将动态障碍物的运动轨迹同无人机自身的运动轨迹对比,判断是否发生碰撞;根据是否发生碰撞的判断结果,选择是否调整飞行路径。本发明可达到无人机在复杂环境中对动态障碍物自动规避,实现无人机飞行过程安全监控,降低硬件成本,提高无人机的飞行安全性。
Method and device for realizing dynamic obstacle avoidance of unmanned aerial vehicle by using monocular camera, and unmanned aerial vehicle
利用单目摄像头实现无人机动态避障方法、装置及无人机
2022-11-04
Patent
Elektronische Ressource
Chinesisch
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