The invention discloses a flight obstacle avoidance method and system for an unmanned aircraft and a readable storage medium, and the method comprises the steps: obtaining flight path information, and analyzing obstacle data in a non-advancing road section of the unmanned aircraft based on the flight path information; performing fixed-point and fixed-segment control on the unmanned aerial vehicle based on the obstacle data to perform obstacle avoidance; acquiring panoramic image data in the flight process of the unmanned aerial vehicle; and determining an avoidance angle of the unmanned aircraft based on the head-on data, and controlling the unmanned aircraft to perform obstacle avoidance based on the avoidance angle. According to the invention, in the flight process of the unmanned aircraft, the established flight path can be tracked in real time, the flight path can be reasonably optimized to avoid obstacles, and the air obstacles can be timely found and emergently avoided in the flight process, so that the flight safety of the unmanned aircraft can be protected, and the flight failure rate of the unmanned aircraft can be reduced.

    本发明公开的一种无人驾驶航空器飞行避障方法、系统和可读存储介质,其中方法包括:获取飞行路径信息,基于所述飞行路径信息分析所述无人驾驶航空器未行进路段中的障碍数据;基于所述障碍数据对所述无人驾驶航空器进行定点定段控制以进行避障;获取无人驾驶航空器飞行过程中的全景图像数据;基于迎面数据判断所述无人驾驶航空器的避让角度,基于所述避让角度控制所述无人驾驶航空器进行避障。本发明可以在无人驾驶航空器飞行过程中,对既定的飞行轨迹实时追踪,合理优化飞行路径以进行避障,并且可以在飞行过程中及时发现并紧急避让空中障碍物,能够起到保护无人驾驶航空器的飞行安全,减少无人驾驶航空器飞行故障率。


    Access

    Download


    Export, share and cite



    Title :

    Unmanned aircraft flight obstacle avoidance method and system and readable storage medium


    Additional title:

    无人驾驶航空器飞行避障方法、系统和可读存储介质


    Contributors:
    HU HUAZHI (author) / LIU CHANG (author) / CHEN HAODONG (author) / SONG CHENHUI (author)

    Publication date :

    2023-01-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    Unmanned aircraft obstacle avoidance

    SCHULTZ STEPHEN L / MONACO JOHN | European Patent Office | 2019

    Free access

    UNMANNED AIRCRAFT OBSTACLE AVOIDANCE

    SCHULTZ STEPHEN L / MONACO JOHN | European Patent Office | 2018

    Free access

    Obstacle avoidance method of unmanned forklift, unmanned forklift and storage medium

    HUANG LISHA / FANG MU / LU YUJIE et al. | European Patent Office | 2023

    Free access

    LIDAR Obstacle Warning and Avoidance System for Unmanned Aircraft

    Roberto Sabatini / Alessandro Gardi / Mark A. Richardson and Ermanno Roviaro | BASE | 2013

    Free access

    LIDAR Obstacle Warning and Avoidance System for Unmanned Aircraft

    Roberto Sabatini / Alessandro Gardi / Mark A. Richardson | BASE | 2014

    Free access