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WO2018086032A1 - 飞行控制方法、装置及飞行器 - Google Patents

飞行控制方法、装置及飞行器 Download PDF

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Publication number
WO2018086032A1
WO2018086032A1 PCT/CN2016/105339 CN2016105339W WO2018086032A1 WO 2018086032 A1 WO2018086032 A1 WO 2018086032A1 CN 2016105339 W CN2016105339 W CN 2016105339W WO 2018086032 A1 WO2018086032 A1 WO 2018086032A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
distance
flight
reference object
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/105339
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English (en)
French (fr)
Inventor
周游
谢鹏
杜劼熹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201680012946.7A priority Critical patent/CN107636550A/zh
Priority to PCT/CN2016/105339 priority patent/WO2018086032A1/zh
Publication of WO2018086032A1 publication Critical patent/WO2018086032A1/zh
Priority to US16/406,716 priority patent/US20190265733A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/723—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present disclosure relates to the field of communication technologies, and in particular, to a flight control method, apparatus, and aircraft.
  • the aircraft can identify obstacles by means of radar or ultrasonic waves. For example, when the aircraft faces the application scene such as a window or a forest, the aircraft transmits ultrasonic waves through the ultrasonic device and receives reflected ultrasonic waves such as window frames or branches, then the aircraft will Windows or trees are identified as obstacles, which in turn control the aircraft to hover, resulting in the aircraft not being able to pass through applications such as windows or trees, and it is impossible to effectively avoid obstacles.
  • the aircraft can identify obstacles by means of radar or ultrasonic waves. For example, when the aircraft faces the application scene such as a window or a forest, the aircraft transmits ultrasonic waves through the ultrasonic device and receives reflected ultrasonic waves such as window frames or branches, then the aircraft will Windows or trees are identified as obstacles, which in turn control the aircraft to hover, resulting in the aircraft not being able to pass through applications such as windows or trees, and it is impossible to effectively avoid obstacles.
  • the present disclosure provides a flight control method, device and aircraft, which can effectively achieve obstacle avoidance.
  • the first aspect provides a flight control method, the method being applied to an aircraft, the method comprising:
  • the aircraft is controlled to fly based on the flight strategy.
  • a second aspect of the present disclosure provides a flight control method, the method being applied to an aircraft, the method comprising:
  • the obstacle avoidance mode is turned off in response to the close command.
  • a third aspect of the present disclosure provides a flight control device, characterized in that the device comprises:
  • a reference determination module for determining a reference in a flight environment in which the aircraft is located
  • a distance acquisition module configured to acquire a distance between the aircraft and the reference object
  • a flight strategy acquisition module configured to acquire a flight strategy corresponding to the distance according to a pre-established correspondence between a distance between the aircraft and the reference object and a flight strategy
  • a flight control module for controlling the aircraft to fly based on the flight strategy.
  • a fourth aspect of the present disclosure provides an aircraft, the aircraft including a first input device, a second input device, an output device, a processor, and a memory, wherein the memory stores program instructions, and the processor calls the memory Program instructions stored in: for:
  • the aircraft is controlled to fly based on the flight strategy.
  • a fifth aspect of the present disclosure provides a flight control device, characterized in that the device comprises:
  • a communication connection establishing module configured to establish a communication connection with the control device
  • a shutdown instruction receiving module configured to receive, by a communication connection with the control device, a shutdown instruction for the obstacle avoidance mode sent by the control device, where the shutdown instruction is that the control device detects that the user controls the control device Generated during the click operation of the preset button;
  • the obstacle avoidance mode closing module is configured to close the obstacle avoidance mode in response to the closing instruction.
  • a sixth aspect of the present disclosure provides an aircraft, the aircraft including an input device, an output device, a processor, and a memory, the program instructions being stored in the memory, and the processor invoking program instructions stored in the memory for:
  • the obstacle avoidance mode is turned off in response to the close command.
  • the aircraft determines a reference object in a flight environment in which the aircraft is located, acquires a distance between the aircraft and the reference object, and acquires according to a correspondence between a distance between the pre-established aircraft and the reference object and a flight speed.
  • the distance corresponding to the flight strategy, and controlling the aircraft to fly based on the flight strategy, can effectively achieve obstacle avoidance.
  • FIG. 1 is a schematic flow chart of a flight control method provided in an embodiment of the present disclosure
  • FIG. 2 is a schematic flow chart of a flight control method according to another embodiment of the present disclosure.
  • FIG. 3 is a schematic flow chart of a flight control method according to another embodiment of the present disclosure.
  • FIG. 4 is a schematic flow chart of a flight control method according to another embodiment of the present disclosure.
  • FIG. 5 is a schematic flowchart diagram of a flight control method according to another embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of an image interface provided in an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of an interface of a bilateral filtering function provided in an embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a flight control device according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of an aircraft provided in an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a flight control device according to another embodiment of the present disclosure.
  • FIG. 11 is a schematic structural diagram of an aircraft provided in another embodiment of the present disclosure.
  • FIG. 1 is a schematic flowchart of a flight control method according to an embodiment of the present disclosure, where the flight control method in the embodiment of the present disclosure is at least Can include:
  • the aircraft can determine the reference in the flight environment in which the aircraft is located.
  • the flight environment in which the aircraft is located can fly at low altitudes on rough terrain, drill windows or door frames, and shuttle in narrow spaces.
  • a narrow space refers to a limited space with small dimensions and channel restrictions, such as a void portion in a forest or a group of buildings. References may include floors, windows, door frames, trees or buildings, and the like.
  • the reference object in the flight environment when the aircraft is in a low-altitude environment, the reference object in the flight environment may be the ground; when the aircraft is in the environment of drilling a window or a door frame, the reference in the flight environment may be a window or a door frame; When the aircraft is in an environment where the shuttle is in a narrow space, the reference in the flight environment may be a tree or a building.
  • the distance between the aircraft and the reference can be obtained.
  • the aircraft may obtain the flying height of the aircraft relative to the ground, or the longitudinal distance between the aircraft and the door frame or window, or the lateral distance between the aircraft and the trees or buildings.
  • the aircraft may acquire the first image by using the first camera, wherein the first image may include the ground, and the collected first image is analyzed to obtain a flying height of the aircraft relative to the ground.
  • the aircraft analyzes and processes the collected first image to obtain an aircraft relative to the ground.
  • the flying height may be specifically: determining a ground reference line and an end line thereof in the collected first image, and obtaining a distance between the reference line and the ending line, according to a distance between the pre-established reference line and the ending line Corresponding relationship with the flying height, obtaining the flying height corresponding to the distance, and using the flying height corresponding to the distance as the flying height of the aircraft relative to the ground.
  • the first camera may be located directly under the aircraft, and the aircraft analyzes the first image to obtain the flying height of the aircraft relative to the ground, which may be: acquiring the flight attitude of the aircraft through the preset attitude sensor, based on the aircraft The flight attitude analyzes the acquired image and calculates the flight height of the aircraft relative to the ground.
  • the distance between the aircraft and the reference object is obtained by the aircraft, which may be: calculating a historical distance between the aircraft and the reference object collected in the preset time period, and processing the historical distance by using a preset bilateral filter, Get the current distance between the aircraft and the reference.
  • the aircraft processes the historical distance through the preset bilateral filter to obtain the current distance between the aircraft and the reference object
  • the historical filtering result and the current velocity vector of the aircraft are obtained, based on the historical filtering result and the velocity vector.
  • the predicted value is calculated, and the preset bilateral filtering function is offset, wherein the confidence probability corresponding to the predicted value in the offset preset bilateral filtering function is the maximum confidence probability.
  • the aircraft processes the historical distance by using a preset bilateral filter to obtain a current distance between the aircraft and the reference object, specifically: obtaining an expected value between each historical distance and the predicted value, according to the preset after the offset
  • the bilateral filtering function obtains the confidence probability corresponding to each expected value, and normalizes the confidence probability corresponding to each expected value to obtain the current distance between the aircraft and the reference object.
  • the aircraft may acquire a lateral distance between the aircraft and the reference by a preset sensor in response to detecting that the aircraft is in a shuttle state.
  • the aircraft before the aircraft acquires the distance between the aircraft and the reference object, it can be determined that the aircraft is in the obstacle avoidance mode.
  • the aircraft can pre-establish the correspondence between the distance and the flight strategy.
  • the flight strategy can include flight speed or flight attitude.
  • the aircraft can pre-establish the correspondence between the distance and the flight speed.
  • the distance between the distance and the flight speed can be linear. , exemplary, distance and flight speed
  • the slope between the aircraft is 0.5m. If the distance between the aircraft and the reference object acquired by the aircraft is 1m, the aircraft can obtain a flight speed corresponding to the distance of 2m/s.
  • the aircraft may obtain the corresponding flight height according to a correspondence between the pre-established flight height of the aircraft and the ground speed and the flight speed. Flight speed.
  • the distance between the aircraft and the reference object and the flight speed may be determined according to a pre-established relationship between the aircraft and the reference object. Correspondence relationship, the flight speed corresponding to the current distance is obtained.
  • the flight speed corresponding to the lateral distance may be acquired according to a correspondence between the pre-established lateral distance and the flight speed.
  • the aircraft may control the aircraft to fly based on the determined flight strategy, such as controlling the aircraft to fly based on the determined flight speed, or controlling the aircraft to fly based on the determined flight attitude, and the like.
  • the aircraft may be within a preset distance range in response to the distance between the aircraft and the reference object, and reduce a Field of View (FOV) of the second camera in the aircraft, so that the reduced second camera is
  • the FOV matches the size of the aircraft, and acquires a second image based on the reduced FOV of the second camera by the second camera, controls the aircraft to stop flying in response to the second image including the reference; does not include the reference in response to the second image , control the aircraft to maintain flight status.
  • the second camera can be disposed directly in front of the aircraft, and the second camera can be used to view the front of the aircraft.
  • the aircraft reduces the FOV of the second camera in the aircraft, and may specifically: obtain the FOV corresponding to the distance according to the pre-established correspondence between the distance between the aircraft and the reference object and the FOV, and select the FOV of the second camera. Update so that the updated FOV is the same as the acquired FOV.
  • the aircraft can establish a communication connection with the control device, and receive, by the communication connection with the control device, a shutdown command sent by the control device for the obstacle avoidance mode, wherein the shutdown command is that the control device detects the user in the control device.
  • the preset button is generated when the click operation is performed, and the response is closed. Turn off the obstacle avoidance mode.
  • the aircraft may generate a shutdown command for the obstacle avoidance mode in response to detecting that the aircraft is in a shuttle state, and close the obstacle avoidance mode in response to the closing command.
  • a reference object in a flight environment in which the aircraft is located is determined, and a distance between the aircraft and the reference object is obtained, according to a distance between the pre-established distance between the aircraft and the reference object and the flight strategy.
  • obtaining the flight strategy corresponding to the distance, and controlling the aircraft to fly based on the flight strategy can effectively achieve obstacle avoidance.
  • Another embodiment of the present disclosure further provides a flight control method.
  • the flight control method can be applied to an application scenario of a low-altitude ground flight.
  • FIG. 2 which is provided in the embodiment of the present disclosure.
  • a schematic flowchart of a flight control method, as shown in the figure, the flight control method in the embodiment of the present disclosure may at least include:
  • S201 Determine a reference object in a flight environment where the aircraft is located, and the reference object is a ground.
  • the aircraft when the aircraft is flying at a low altitude on the rough ground, the aircraft can determine that the reference object in the flight environment in which the aircraft is located is the ground below the water level where the aircraft is located.
  • the first camera can be used for framing the aircraft directly below.
  • the first camera can be disposed directly below the aircraft, the left wing or the right wing, etc.
  • the aircraft can also configure the tilt angle of the aircraft, and the aircraft is located in the same In the position, the first image collected by the first camera at different tilt angles includes different ground areas.
  • the first image can be acquired by the first camera, and the first image 601 can be collected as shown in FIG. 6, wherein the first image can include the ground.
  • the ground area 602 included in the first image may be as shown in FIG. 6.
  • the aircraft before the aircraft acquires the first image through the first camera, it may be determined that the aircraft is in the obstacle avoidance mode.
  • the aircraft may determine a reference line of the ground and its end line in the first image, and obtain a distance between the reference line and the end line, according to a distance between the pre-established reference line and the end line and the flight height. Relationship, obtain the flight height corresponding to the distance, and make the flight height corresponding to the distance The flying height of the aircraft relative to the ground.
  • the reference line may be a critical line between the ground and the object in the first image, and the end line may be an edge line of the first image.
  • the ground reference line 603 and its termination line 604 may be determined in the first image, wherein the reference line 603 may be the first A critical line between the ground and the trees in the image, the end line 604 may be the edge line of the first image 601, and the aircraft may acquire the distance between the reference line 603 and the end line 604, between the reference line 603 and the end line 604 When the distance is 1 m (m), the aircraft can obtain the current flying height of the aircraft by 10 m according to the correspondence between the pre-established distance and the flying height.
  • the aircraft may determine the tilt angle of the first camera, and after the aircraft obtains the distance between the baseline and the ending line, the tilt angle may be established according to a preset angle.
  • the corresponding relationship between the distance between the lower reference line and the ending line and the flying height is obtained, and the flying height corresponding to the distance is obtained, and the flying height corresponding to the distance is taken as the flying height of the aircraft relative to the ground.
  • the first camera may be located directly under the aircraft, and the aircraft may acquire the flight attitude of the aircraft through the preset attitude sensor, analyze and process the first image based on the flight attitude of the aircraft, and calculate the flight height of the aircraft relative to the ground.
  • the flight attitude may include an inclination angle of the aircraft or a flight speed or the like.
  • the aircraft may pre-establish a correspondence between the flying height of the aircraft and the ground speed of the aircraft, and after acquiring the flying height of the aircraft relative to the ground, the aircraft may acquire the flying speed corresponding to the flying height.
  • the flying height and the flying speed can be proportional to each other. For example, when the flying height is 10 m, the corresponding flying speed is 10 m/s, and when the flying height is 5 m, the corresponding flying speed is 5 m/s, that is, the aircraft
  • the aircraft can acquire the current flying height of the aircraft relative to the ground by acquiring images in real time, and then adjust the current flying speed of the aircraft according to the corresponding relationship between the pre-established flying height of the aircraft and the flying speed of the aircraft, and the flying speed can be realized.
  • the smooth transition avoids the sharp acceleration or sharp deceleration of the aircraft during flight, improving the safety of the aircraft during flight.
  • the flight speed of the aircraft can be adjusted to control the aircraft to fly based on the flight speed.
  • the conventional flight control method after the first image is acquired by the first camera, the ground area in the first image is deleted, and the height of the aircraft relative to the ground obtained by analyzing the first image by the aircraft is higher than the actual height, and the aircraft is The flying speed is fast, and the protruding ground cannot be effectively avoided when flying at low altitude.
  • the flying speed can be automatically reduced when the aircraft is at a lower altitude relative to the ground, and the flight control efficiency of the aircraft can be improved without user adjustment.
  • the aircraft can establish a communication connection with the control device, and receive, by the communication connection with the control device, a shutdown command sent by the control device for the obstacle avoidance mode, wherein the shutdown command is that the control device detects the user in the control device.
  • the obstacle avoidance mode is turned off in response to the close command generated by the click operation of the preset button.
  • the control device may include a remote controller or a mobile phone, and the control device is used to control the aircraft.
  • the closing of the obstacle avoidance mode may specifically be: the aircraft stops acquiring the first image through the first camera, and stops controlling the aircraft to fly based on the acquired flight speed.
  • the user can click a button with the function of closing the obstacle avoidance mode in the control device.
  • the control device receives the shutdown command for the obstacle avoidance mode
  • the shutdown command of the obstacle avoidance mode may be sent to the aircraft through a communication connection with the aircraft, and the aircraft may close the obstacle avoidance mode in response to the shutdown command.
  • the aircraft may generate a shutdown command for the obstacle avoidance mode in response to detecting that the aircraft is in a shuttle state, and close the obstacle avoidance mode in response to the closing command.
  • the aircraft when the aircraft is flying in a narrow space, the aircraft may determine that the shuttle is currently in a shuttle state, thereby generating a shutdown command for the obstacle avoidance mode, and closing the obstacle avoidance mode in response to the closing command.
  • the narrow space can be a forest or a group of buildings.
  • the reference object in the flight environment in which the aircraft is located is determined, the reference object is the ground, the image is collected by the first camera, and the first image is analyzed and processed to obtain the flying height of the aircraft relative to the ground.
  • the flight speed corresponding to the flight altitude is acquired, and the aircraft is controlled to fly based on the flight speed, and the obstacle avoidance can be effectively realized.
  • FIG. 3 is a schematic diagram provided in the embodiment of the present disclosure.
  • a schematic flowchart of a flight control method as shown in the figure, the flight control method in the embodiment of the present disclosure may at least include:
  • the reference object in the flight environment where the aircraft is located may be determined, wherein the reference object may include a window or a door frame or the like.
  • the FOV of the second camera in the aircraft may be reduced in response to the distance between the aircraft and the reference object being within a preset distance range, so that the reduced The FOV of the two cameras matches the size of the aircraft, and the second image is acquired by the second camera based on the FOV of the reduced second camera, and the aircraft is controlled to stop flying in response to the second image including the reference; in response to the second image Includes reference to control the aircraft to remain in flight.
  • the preset distance range may be a preset distance interval, for example, [10m, 20m] or [5m, 15m].
  • the second camera can be disposed directly in front of the aircraft, and the second camera can be used to view the front of the aircraft.
  • the FOV of the second camera after the aircraft control is reduced matches the size of the aircraft, that is, the aircraft ensures that the FOV of the reduced second camera matches the size of the aircraft, that is, the second camera sees
  • the range of viewing angles is the range of drones that pass through the door frame or window.
  • the aircraft when the aircraft flies near a reference object such as a window or a door frame, it can detect whether the distance between the aircraft and the reference object is within a preset distance range, when the distance between the aircraft and the reference object is within a preset distance range, The aircraft can reduce the FOV of the second camera in the aircraft to ensure that the FOV of the reduced second camera matches the size of the aircraft, that is, the range of viewing angle seen by the second camera is the range of the drone passing through the door frame or window.
  • the second camera may detect whether the second image includes a reference frame such as a door frame or a window, and when the second image includes the reference object, the aircraft may determine the window or the door frame. If the size is small, the aircraft cannot pass through the window or the door frame, the aircraft can control the aircraft to stop flying; when the second image does not contain the reference object, the aircraft can determine that the size of the window or the door frame is large, and the aircraft can pass through the window or the door frame. , you can control the aircraft to keep flying.
  • a reference frame such as a door frame or a window
  • the aircraft reduces the FOV of the second camera in the aircraft, and may specifically: obtain the FOV corresponding to the distance according to the pre-established correspondence between the distance between the aircraft and the reference object and the FOV, and select the FOV of the second camera. Update so that the updated FOV is the same as the acquired FOV.
  • the aircraft may pre-establish the correspondence between the distance between the aircraft and the reference object and the FOV based on the size of the aircraft. For example, when the distance between the aircraft and the reference object is 10 m, the corresponding FOV is 60°; the aircraft and the reference object When the distance between the aircraft is 15m and the corresponding FOV is 30°, the aircraft is within a preset distance in response to the distance between the aircraft and the reference object, which may be based on the distance between the pre-established aircraft and the reference object and the FOV. Corresponding relationship, the FOV corresponding to the distance is obtained, and the FOV of the second camera is updated, so that the updated FOV is the same as the acquired FOV.
  • the aircraft before the aircraft acquires the distance between the aircraft and the reference object, it can be determined that the aircraft is in the obstacle avoidance mode.
  • the aircraft can count the historical distance between the aircraft and the reference object collected in the preset time period, wherein the preset time period can be a preset time length, for example, the current system time interval is less than or equal to 3 s.
  • S303 Process the historical distance by using a preset bilateral filter to obtain a current distance between the aircraft and the reference object.
  • the historical filtering result and the current velocity vector of the aircraft are obtained, based on the historical filtering result and the velocity vector.
  • the predicted value is calculated and the preset bilateral filtering function is offset.
  • the confidence probability corresponding to the predicted value in the offset preset bilateral filtering function is the maximum confidence probability.
  • the preset bilateral filtering function may be a Skew normal distribution, ie Where x is the observed value, that is, the distance between the aircraft and the reference object, f(x) is the confidence probability, the left side of the preset bilateral filtering function is relatively flat, and the difference in confidence between adjacent two points is small; The right side of the bilateral filter function is steep, and the confidence probability between the two adjacent points is large.
  • the aircraft may offset the preset bilateral filtering function such that the confidence probability corresponding to the predicted value in the offset preset bilateral filtering function is the maximum confidence probability.
  • the aircraft may acquire multiple observation interval intervals and sampling intervals of the preset bilateral filtering function, and sample the observation values in the observation interval according to the sampling interval corresponding to the observation interval for any observation interval. Obtaining at least one observation value, obtaining a confidence probability corresponding to each of the observed observation values, and offsetting the preset bilateral filtering function based on the observation value corresponding to the maximum confidence probability.
  • the interface diagram of the bilateral filtering function shown in FIG. 7 as an example, when the observation interval is [-3, -0.18], the difference in confidence between adjacent points is small, and the aircraft can configure the corresponding interval of the observation value.
  • the sampling interval is large.
  • the observation value in the observation interval is sampled at a sampling interval of 0.01 to obtain at least one observation value; when the observation interval is [-0.18, 0.5], the confidence difference between adjacent points is different.
  • the aircraft can configure the observation interval corresponding to the interval of the observation to be small.
  • the observation value in the observation interval is sampled at a sampling interval of 0.003 to obtain at least one observation value, and the aircraft determines the observation value obtained by sampling.
  • the aircraft processes the historical distance by using a preset bilateral filter to obtain a current distance between the aircraft and the reference object, which may be: obtaining an expected value between each historical distance and the predicted value, according to the pre-shifted pre-
  • the bilateral filtering function is set to obtain the confidence probability corresponding to each expected value, and the confidence probability corresponding to each expected value is normalized to obtain the current distance between the aircraft and the reference object.
  • the aircraft can obtain an estimated current distance between the aircraft and the reference object according to the distance between the aircraft and the reference object obtained last time, the flight speed, and the time interval between the collection of the historical distances, and obtain the historical distance and the pre-predetermined distance. Estimating the difference between the current distances, according to the preset bilateral filtering function after the offset, obtaining the confidence probability corresponding to each difference, normalizing the confidence probability corresponding to each historical distance and its difference, and obtaining the aircraft and The current distance between the references. For example, the distance between the aircraft and the reference object obtained last time is 5m, the flight speed is 1m/s, and the time interval is 1s.
  • the aircraft can obtain a difference of -1 m between the first historical distance and the estimated current distance, and the difference between the second historical distance and the estimated current distance is 1 m, and between the third historical distance and the estimated current distance
  • the difference is 3m, wherein the first confidence probability corresponding to the difference between the first historical distance and the estimated current distance is 0.7, and the second confidence probability corresponding to the difference between the second historical distance and the estimated current distance
  • the third confidence probability corresponding to the difference between the third historical distance and the estimated current distance is 0.1
  • the aircraft may use the average value of the historical distance between the aircraft acquired from the previous n times and the reference object as the last time obtained.
  • the distance between the aircraft and the reference where n is a positive integer.
  • the acquired observation value is located on the left side of the observation value corresponding to the maximum confidence probability in the preset bilateral filtering function, and the curve is relatively flat, and the obtained filtering result approximates the aircraft and the reference object.
  • the distance between the aircraft and the reference object is located on the right side of the observation value corresponding to the maximum confidence probability in the preset bilateral filter function. The confidence probability decreases sharply, and the obtained filtering result approximates the aircraft and the reference object. the distance between.
  • the aircraft statistically collects the historical distance between the aircraft and the reference object in the preset time period, and processes the historical distance through the preset bilateral filter to obtain the current distance between the aircraft and the reference object. According to the correspondence between the distance between the pre-established aircraft and the reference object and the flight speed, the flight speed corresponding to the current distance is acquired, and the aircraft is controlled to fly based on the flight speed, thereby avoiding a sharp increase in the flight speed of the aircraft and improving Safety during flight.
  • the aircraft can also establish a communication connection with the control device, and the control device
  • the communication connection between the receiving device receives a shutdown command for the obstacle avoidance mode sent by the control device, wherein the shutdown command is generated when the control device detects the click operation of the preset button in the control device by the user, and closes the obstacle avoidance mode in response to the closing command.
  • the closing of the obstacle avoidance mode may specifically be: the aircraft stops processing the historical distance through the preset bilateral filter, obtains the current distance between the aircraft and the reference object, and stops controlling the aircraft to fly based on the acquired flight speed.
  • the aircraft determines that the size of the window or the door frame is small, and the aircraft cannot pass through the window or the door frame, and the user
  • the user can click a button in the control device with the function of closing the obstacle avoidance mode, and after the control device receives the closing command for the obstacle avoidance mode, the communication between the aircraft and the aircraft can be The connection sends a shutdown command to the aircraft for the obstacle avoidance mode, and the aircraft can turn off the obstacle avoidance mode in response to the closing command.
  • the aircraft may also generate a shutdown command for the obstacle avoidance mode in response to detecting that the aircraft is in a shuttle state, and close the obstacle avoidance mode in response to the closing command.
  • the reference object in the flight environment in which the aircraft is located is determined, and the historical distance between the aircraft and the reference object collected in the preset time period is counted, and the historical distance is set by the preset bilateral filter.
  • Processing, obtaining a current distance between the aircraft and the reference object, obtaining a flight speed corresponding to the current distance according to a correspondence between the distance between the aircraft and the reference object and the flight speed, and controlling the aircraft to perform the flight speed based on the flight speed Flying can effectively avoid obstacles.
  • FIG. 4 is a schematic diagram provided in an embodiment of the present disclosure.
  • a schematic flowchart of a flight control method as shown in the figure, the flight control method in the embodiment of the present disclosure may at least include:
  • the reference object in the flight environment where the aircraft is located is a forest or a building group.
  • the aircraft determines that the lateral distance between the aircraft and the reference object is obtained by the preset sensor Previously, it was determined that the aircraft was in obstacle avoidance mode.
  • the preset sensor may include an ultrasonic transmitter, a laser emitter, or a radar.
  • the aircraft may pre-establish a correspondence between the lateral distance between the aircraft and the reference object and the flight speed.
  • the lateral distance between the aircraft and the reference object and the flight speed may be proportional to each other, for example, for example.
  • the corresponding flight speed is 2m/s; when the lateral distance between the aircraft and the reference is 5m, the corresponding flight speed is 5m/s, and then according to the pre-established horizontal
  • the correspondence between the distance and the flight speed acquires the flight speed corresponding to the lateral distance.
  • the aircraft can also set a maximum flight speed of 10m/s, so that the aircraft can fly faster in a narrow space flight, and there is no reference deceleration in the front when there is a reference object with a small lateral distance, which can improve the safety during flight.
  • the aircraft may further establish a communication connection with the control device, and receive, by the communication connection with the control device, a shutdown command sent by the control device for the obstacle avoidance mode, wherein the shutdown command is that the control device detects the user to the control device.
  • the obstacle avoidance mode is turned off in response to the closing instruction generated by the click operation of the preset button.
  • the closing of the obstacle avoidance mode may specifically be: the aircraft stops acquiring the lateral distance between the aircraft and the reference object through the preset sensor, and stops controlling the aircraft to fly based on the acquired flight speed.
  • the user wants the aircraft to decelerate immediately to ensure safety, and the user can click control.
  • the button having the function of closing the obstacle avoidance mode in the device after the control device receives the closing command for the obstacle avoidance mode, the closing command of the obstacle avoidance mode can be sent to the aircraft through the communication connection with the aircraft, and the aircraft can respond to the Turn off the command and turn off the obstacle avoidance mode.
  • the aircraft may also generate a shutdown command for the obstacle avoidance mode in response to detecting that the aircraft is in a shuttle state, and close the obstacle avoidance mode in response to the closing command.
  • determining a reference object in a flight environment in which the aircraft is located in response to detecting that the aircraft is in a shuttle state, acquiring a lateral distance between the aircraft and the reference object by using a preset sensor, according to a pre-established Correspondence between lateral distance and flight speed to obtain lateral distance From the corresponding flight speed, the control aircraft can fly based on the flight speed, which can effectively achieve obstacle avoidance.
  • FIG. 5 is a schematic flowchart of a flight control method according to an embodiment of the present disclosure, and the flight in the embodiment of the present disclosure is illustrated.
  • the control method can at least include:
  • the aircraft can establish a communication connection with the control device through a ground station or a 2.4 g radio.
  • the control device detects that the user clicks on the preset button in the control device to generate a shutdown command for the obstacle avoidance mode, and sends the shutdown command to the aircraft through a communication connection with the aircraft.
  • the user can click a button with the function of closing the obstacle avoidance mode in the control device to control
  • the aircraft can send a shutdown command to the aircraft through the communication connection with the aircraft, and the aircraft can close the obstacle avoidance mode in response to the shutdown command.
  • the aircraft determines that the size of the window or the door frame is small, the aircraft cannot pass through the window or the door frame, and the user passes It is empirically determined that the aircraft can smoothly pass through the window or the door frame, and the user can click a button in the control device with the function of closing the obstacle avoidance mode, and after the control device receives the closing command for the obstacle avoidance mode, the communication connection with the aircraft can be performed.
  • a shutdown command to the obstacle avoidance mode is sent to the aircraft, and the aircraft can turn off the obstacle avoidance mode in response to the close command.
  • the user wants the aircraft to decelerate immediately to ensure safety, and the user can click on the control device.
  • the button having the function of closing the obstacle avoidance mode after the control device receives the closing command for the obstacle avoidance mode, the closing command of the obstacle avoidance mode can be sent to the aircraft through the communication connection with the aircraft, and the aircraft can respond to the closing Command to close the obstacle avoidance mode.
  • the aircraft may also generate a shutdown command for the obstacle avoidance mode in response to detecting that the aircraft is in a shuttle state, and close the obstacle avoidance mode in response to the closing command.
  • a communication connection is established with the control device, and a shutdown command for the obstacle avoidance mode sent by the control device is received through a communication connection with the control device, and the obstacle avoidance is closed in response to the shutdown command.
  • the mode can determine whether to close the obstacle avoidance mode based on different application scenarios, and the operation is convenient.
  • the embodiment of the present disclosure further provides a computer storage medium, wherein the computer storage medium can store a program, and the program includes some or all of the steps in the method embodiment shown in FIG. 1 to FIG. 5 when executed.
  • FIG. 8 is a schematic structural diagram of a flight control apparatus according to an embodiment of the present disclosure.
  • the flight control apparatus 800 may be used to implement a part of the method embodiment shown in FIG. 1 to FIG. 4 or In all steps, the flight control device 800 can include at least a reference determination module 801, a distance acquisition module 802, a flight strategy acquisition module 803, and a flight control module 804, where:
  • the reference determination module 801 is configured to determine a reference in the flight environment in which the aircraft is located.
  • the distance obtaining module 802 is configured to acquire a distance between the aircraft and the reference object.
  • the flight strategy acquisition module 803 is configured to acquire a flight strategy corresponding to the distance according to a pre-established correspondence between the distance between the aircraft and the reference object and a flight strategy.
  • a flight control module 804 is configured to control the aircraft to fly based on the flight strategy.
  • the distance obtaining module 802 is specifically configured to:
  • a first image is acquired by the first camera, the first image comprising the ground.
  • the flight speed acquisition module 603 is specifically configured to acquire a flight speed corresponding to the flight height according to a correspondence between a pre-established flight altitude and a flight speed.
  • the distance obtaining module 802 performs an analysis process on the first image to obtain a flying height of the aircraft relative to the ground, specifically for:
  • a reference line of the ground and its end line are determined in the first image.
  • the flying height corresponding to the distance is obtained according to a correspondence between the distance between the reference line and the ending line and the flying height.
  • the flying height corresponding to the distance is taken as the flying height of the aircraft relative to the ground.
  • the first camera is located directly below the aircraft, and the distance acquiring module 802 performs an analysis process on the first image to obtain a flying height of the aircraft relative to the ground, specifically for:
  • the flight attitude of the aircraft is acquired by a preset attitude sensor.
  • the first image is analyzed and processed based on the flight attitude of the aircraft, and the flying height of the aircraft relative to the ground is calculated.
  • the flight control module 804 is specifically configured to:
  • the aircraft is controlled to stop flying in response to the second image including the reference.
  • the aircraft is controlled to remain in flight in response to the second image not including the reference.
  • the flight control module 804 reduces the FOV of the second camera in the aircraft, specifically for:
  • the FOV of the second camera is updated such that the updated FOV is the same as the acquired FOV.
  • the distance obtaining module 802 is specifically configured to:
  • the historical distance between the aircraft and the reference object collected during the preset time period is counted.
  • the historical distance is processed by a preset bilateral filter to obtain a current distance between the aircraft and the reference object.
  • the flight strategy acquisition module 803 is specifically configured to be based on a pre-established aircraft A flight speed corresponding to the current distance is acquired by a correspondence between a distance between the reference object and a flight speed.
  • the flight control apparatus 800 in the embodiment of the present invention may further include:
  • the data obtaining module 805 is configured to obtain a historical filtering result before the distance acquiring module 802 processes the historical distance by using a preset bilateral filter to obtain a current distance between the aircraft and the reference object, and The current speed vector of the aircraft.
  • the predicted value calculation module 806 is configured to calculate a predicted value based on the historical filtered result and the velocity vector.
  • the offset module 807 is configured to perform offset on the preset bilateral filtering function, wherein a confidence probability corresponding to the predicted value in the offset preset bilateral filtering function is a maximum confidence probability.
  • the distance obtaining module 802 processes the historical distance by using a preset bilateral filter to obtain a current distance between the aircraft and the reference object, specifically for:
  • the confidence probability corresponding to each of the expected values is obtained.
  • the confidence probability corresponding to each of the expected values is normalized to obtain a current distance between the aircraft and the reference object.
  • the distance obtaining module 802 is specifically configured to acquire a lateral distance between the aircraft and the reference object by using a preset position sensor in response to detecting that the aircraft is in a shuttle state;
  • the flight strategy acquisition module 803 is specifically configured to acquire a flight speed corresponding to the lateral distance according to a correspondence between a lateral distance between the aircraft and the reference object and a flight speed.
  • the flight control device 800 further includes:
  • the determining module 808 is configured to determine that the aircraft is in an obstacle avoidance mode before the distance acquiring module 602 acquires a distance between the aircraft and the reference object.
  • the flight control device 800 further includes:
  • the communication connection establishing module 809 is configured to establish a communication connection with the control device.
  • the closing instruction receiving module 810 is configured to receive, by the communication connection with the control device, a closing instruction for the obstacle avoidance mode sent by the control device, where the closing instruction is that the control device detects the user's control Generated when a preset button is clicked on the device.
  • the obstacle avoidance mode closing module 811 is configured to close the obstacle avoidance mode in response to the closing instruction.
  • the flight control device 800 further includes:
  • the close instruction receiving module 810 is configured to generate a close instruction for the obstacle avoidance mode in response to detecting that the aircraft is in a shuttle state.
  • the obstacle avoidance mode closing module 811 is configured to close the obstacle avoidance mode in response to the closing instruction.
  • the reference object determination module 801 determines a reference object in the flight environment in which the aircraft is located, the distance acquisition module 802 acquires the distance between the aircraft and the reference object, and the flight speed acquisition module 803 is pre-established according to the The corresponding relationship between the distance and the flight strategy acquires the flight strategy corresponding to the distance, and the flight control module 804 controls the aircraft to fly based on the flight strategy, which can effectively achieve obstacle avoidance.
  • FIG. 9 is a schematic structural diagram of an aircraft according to an embodiment of the present disclosure.
  • the aircraft 900 provided by the embodiment of the present disclosure may be used to implement the method implemented by the embodiments of the present disclosure shown in FIG. 1 to FIG. 4 .
  • FIGS. 1 to 4 For the convenience of description, only parts related to the embodiments of the present disclosure are shown, and the specific technical details are not disclosed. Please refer to the embodiments of the present disclosure shown in FIGS. 1 to 4.
  • the aircraft 900 includes: at least one processor 701, such as a CPU, at least one first input device 903, at least one second input device 904, at least one output device 905, a memory 906, at least one communication bus 902. .
  • the communication bus 902 is used to implement connection communication between these components.
  • the first input device 903 can be a first camera, specifically for acquiring a first image.
  • the second input device 904 can also be a second camera for acquiring a second image.
  • the output device 905 can be a display screen, specifically for displaying an image or the like.
  • the memory 906 may include a high speed RAM memory and may also include a non-volatile memory such as at least one disk memory.
  • the memory 906 can optionally include at least one storage device located remotely from the aforementioned processor 901. Program instructions are stored in memory 906, and processor 901 calls program instructions stored in memory 906 for:
  • a reference in the flight environment in which the aircraft is located is determined.
  • the aircraft is controlled to fly based on the flight strategy.
  • the processor 901 acquires a distance between the aircraft and the reference object, specifically for:
  • a first image is acquired by the first input device 903, the first image including the ground.
  • the first image is subjected to an analysis process to obtain a flying height of the aircraft relative to the ground.
  • the processor 901 acquires a flight strategy corresponding to the distance according to a correspondence between the pre-established distance and the flight speed, specifically for:
  • the flight speed corresponding to the flight height is obtained according to a correspondence between the previously established flight altitude and the flight speed.
  • the processor 901 performs an analysis process on the first image to obtain a flying height of the aircraft relative to the ground, specifically for:
  • a reference line of the ground and its end line are determined in the first image.
  • the flying height corresponding to the distance is obtained according to a correspondence between the distance between the reference line and the ending line and the flying height.
  • the flying height corresponding to the distance is taken as the flying height of the aircraft relative to the ground.
  • the first input device is located directly below the aircraft;
  • the processor performs an analysis process on the first image to obtain a flying height of the aircraft relative to the ground, including:
  • the first image is analyzed and processed based on the flight attitude of the aircraft, and the flying height of the aircraft relative to the ground is calculated.
  • the processor 901 controls the aircraft to perform flight based on the flight strategy, including:
  • the FOV of 904 matches the size of the aircraft.
  • a second image is acquired by the second input device 904 based on the reduced FOV of the second input device 904.
  • the aircraft is controlled to stop flying in response to the second image including the reference.
  • the aircraft is controlled to remain in flight in response to the second image not including the reference.
  • the processor 901 reduces the FOV of the second input device 904 in the aircraft, including:
  • the FOV of the second input device 904 is updated such that the updated FOV is the same as the acquired FOV.
  • the processor 901 acquires a distance between the aircraft and the reference object, specifically for:
  • the historical distance between the aircraft and the reference object collected during the preset time period is counted.
  • the historical distance is processed by a preset bilateral filter to obtain a current distance between the aircraft and the reference object.
  • the processor 901 acquires a flight speed corresponding to the distance according to a correspondence between a pre-established distance and a flight speed, specifically for:
  • the flight speed corresponding to the current distance is acquired according to a correspondence between the pre-established distance and the flight speed.
  • the processor 901 processes the historical distance by using a preset bilateral filter to obtain a current distance between the aircraft and the reference object, and is further configured to:
  • the historical filtering result is obtained, as well as the current velocity vector of the aircraft.
  • a predicted value is calculated based on the historical filtering result and the velocity vector.
  • the preset bilateral filtering function is offset, wherein a confidence probability corresponding to the predicted value in the offset preset bilateral filtering function is a maximum confidence probability.
  • the processor 901 processes the historical distance by using a preset bilateral filter to obtain a current distance between the aircraft and the reference object, specifically for:
  • the confidence probability corresponding to each of the expected values is obtained.
  • the confidence probability corresponding to each of the expected values is normalized to obtain a current distance between the aircraft and the reference object.
  • the processor 901 acquires a distance between the aircraft and the reference object, including:
  • a lateral distance between the aircraft and the reference is acquired by a preset position sensor.
  • the processor 901 acquires a flight strategy corresponding to the distance according to a pre-established correspondence between the distance between the aircraft and the reference object and a flight strategy, including:
  • the device before the processor 901 acquires a distance between the aircraft and the reference object, the device further includes:
  • processor 901 is further configured to:
  • the obstacle avoidance mode is turned off in response to the close command.
  • processor 901 is further configured to:
  • a shutdown command to the obstacle avoidance mode is generated.
  • the obstacle avoidance mode is turned off in response to the close command.
  • FIG. 10 is a schematic structural diagram of a flight control device according to another embodiment of the present disclosure.
  • the flight control device 1000 may be used to implement some or all of the method embodiments shown in FIG.
  • the flight control device 1000 may at least include a communication connection establishing module 1001, a closing instruction receiving module 1002, and an obstacle avoidance mode closing module 1003, wherein:
  • the communication connection establishing module 1001 is configured to establish a communication connection with the control device.
  • the closing instruction receiving module 1002 is configured to receive, by using a communication connection with the control device, a closing instruction for the obstacle avoidance mode sent by the control device, where the closing instruction is that the control device detects the control device Generated when a preset button is clicked.
  • the obstacle avoidance mode closing module 1003 is configured to close the obstacle avoidance mode in response to the closing instruction.
  • the flight control device 1000 further includes:
  • the close instruction generation module 1004 is configured to generate a close instruction to the obstacle avoidance mode in response to detecting that the aircraft is in a shuttle state.
  • the obstacle avoidance mode closing module 1003 is further configured to close the obstacle avoidance mode in response to the closing instruction.
  • the communication connection establishing module 1001 establishes a communication connection with the control device
  • the shutdown command receiving module 1002 receives the obstacle avoidance mode transmitted by the control device through a communication connection with the control device.
  • the obstacle avoidance mode shutdown module 1003 closes the obstacle avoidance mode in response to the shutdown instruction, and determines whether to close the obstacle avoidance mode based on different application scenarios, and the operation is convenient.
  • FIG. 11 is a schematic structural diagram of an aircraft according to another embodiment of the present disclosure.
  • the aircraft 1100 provided by the embodiment of the present disclosure may be used to implement the method implemented by the embodiments of the present disclosure shown in FIG. 5 .
  • FIG. 5 For ease of explanation, only parts related to the embodiments of the present disclosure are shown, and the specific technical details are not disclosed. Please refer to the embodiments of the present disclosure shown in FIG.
  • the aircraft 1100 includes at least one processor 1101, such as a CPU, at least one input device 1103, at least one output device 1104, a memory 1105, and at least one communication bus 1102.
  • the communication bus 1102 is used to implement connection communication between these components.
  • the input device 1103 can be a network interface or the like.
  • Output device 1104 can be a network interface or the like.
  • the memory 1105 may include a high speed RAM memory, and may also include a non-volatile memory such as at least one disk memory.
  • the memory 1105 can optionally include at least one storage device located remotely from the aforementioned processor 1101.
  • a program instruction is stored in the memory 1105, and the processor 1101 calls a program instruction stored in the memory 1105 for:
  • the input device 1103 receives a shutdown command for the obstacle avoidance mode sent by the control device by using a communication connection with the control device, where the shutdown command is that the control device detects a preset button in the control device. Generated when the action is clicked.
  • the obstacle avoidance mode is turned off in response to the close command.
  • processor 1101 is further configured to:
  • a shutdown command to the obstacle avoidance mode is generated.
  • the obstacle avoidance mode is turned off in response to the close command.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the present disclosure can be implemented in hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. While the embodiments of the present disclosure have been shown and described above, it is understood that the foregoing embodiments are illustrative and are not to be construed as limiting the scope of the disclosure The embodiments are subject to variations, modifications, substitutions and variations.

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Abstract

一种飞行控制方法、装置及飞行器。该飞行控制方法应用于飞行器，该方法包括：确定飞行器该飞行环境中的参考物（S101）；获取飞行器与该参考物之间的距离（S102）；根据预先建立的飞行器与参考物之间的距离和飞行策略之间的对应关系，获取距离对应的飞行策略（S103）；控制飞行器基于飞行策略进行飞行（S104）；通过该飞行控制方法、装置及飞行器，可有效实现避障。

Description

飞行控制方法、装置及飞行器
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。
技术领域
本公开涉及通信技术领域，尤其涉及飞行控制方法、装置及飞行器。
背景技术
飞行器在飞行过程中可以通过雷达或者超声波等方式对障碍物进行识别，例如飞行器面向窗户或者树林等应用场景时，飞行器通过超声波装置发射超声波，并接收窗户门框或者树枝等反射的超声波，则飞行器将窗户或者树林等识别为障碍物，进而控制飞行器保持悬停，导致飞行器无法穿过窗户或者树林等应用场景，无法有效实现避障。
发明内容
本公开提供一种飞行控制方法、装置及飞行器，可有效实现避障。
第一方面提供了一种飞行控制方法，所述方法应用于飞行器，所述方法包括：
确定所述飞行器所处飞行环境中的参考物；
获取所述飞行器与所述参考物之间的距离；
根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略；
控制所述飞行器基于所述飞行策略进行飞行。
本公开第二方面提供一种飞行控制方法，所述方法应用于飞行器，所述方法包括：
与所述控制设备之间建立通信连接；
通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
响应于所述关闭指令，关闭所述避障模式。
本公开第三方面提供一种飞行控制装置，其特征在于，所述装置包括：
参考物确定模块，用于确定所述飞行器所处飞行环境中的参考物；
距离获取模块，用于获取所述飞行器与所述参考物之间的距离；
飞行策略获取模块，用于根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略；
飞行控制模块，用于控制所述飞行器基于所述飞行策略进行飞行。
本公开第四方面提供一种飞行器，所述飞行器包括第一输入设备、第二输入设备、输出设备、处理器以及存储器，所述存储器中存储有程序指令，且所述处理器调用所述存储器中存储的程序指令以用于：
确定所述飞行器所处飞行环境中的参考物；
获取所述飞行器与所述参考物之间的距离；
根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略；
控制所述飞行器基于所述飞行策略进行飞行。
本公开第五方面提供一种飞行控制装置，其特征在于，所述装置包括：
通信连接建立模块，用于与所述控制设备之间建立通信连接；
关闭指令接收模块，用于通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
避障模式关闭模块，用于响应于所述关闭指令，关闭所述避障模式。
本公开第六方面提供一种飞行器，所述飞行器包括输入设备、输出设备、处理器以及存储器，存储器中存储有程序指令，且处理器调用存储器中存储的程序指令以用于：
与所述控制设备之间建立通信连接；
通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
响应于所述关闭指令，关闭所述避障模式。
本公开实施例中，飞行器确定飞行器所处飞行环境中的参考物，获取飞行器与参考物之间的距离，根据预先建立的飞行器与参考物之间的距离和飞行速度之间的对应关系，获取该距离对应的飞行策略，并控制飞行器基于该飞行策略进行飞行，可有效实现避障。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例中提供的一种飞行控制方法的流程示意图；
图2为本公开另一实施例中提供的一种飞行控制方法的流程示意图；
图3为本公开另一实施例中提供的一种飞行控制方法的流程示意图；
图4为本公开另一实施例中提供的一种飞行控制方法的流程示意图；
图5为本公开另一实施例中提供的一种飞行控制方法的流程示意图；
图6为本公开实施例中提供的一种图像界面示意图；
图7为本公开实施例中提供的一种双边滤波函数的界面示意图；
图8为本公开实施例中提供的一种飞行控制装置的结构示意图；
图9为本公开实施例中提供的一种飞行器的结构示意图；
图10为本公开另一实施例中提供的一种飞行控制装置的结构示意图；
图11为本公开另一实施例中提供的一种飞行器的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开实施例提供了一种飞行控制方法，请参见图1，图1为本公开实施例中提供的一种飞行控制方法的流程示意图，如图所示本公开实施例中的飞行控制方法至少可以包括：
S101，确定飞行器所处飞行环境中的参考物。
飞行器可以确定飞行器所处飞行环境中的参考物。其中，飞行器所处的飞行环境可以为崎岖地面低空飞行，钻窗户或者门框等以及在狭窄空间穿梭等。狭窄空间指的是尺度小并有通道限制的有限空间，例如树林或者建筑群等中的空隙部分。参考物可以包括地面、窗户、门框、树木或者建筑物等。示例性的，飞行器所处环境为崎岖地面低空飞行时，该飞行环境中的参考物可以为地面；飞行器所处环境为钻窗户或者门框时，该飞行环境中的参考物可以为窗户或者门框；飞行器所处环境为在狭窄空间穿梭时，该飞行环境中的参考物可以为树木或者建筑物等。
S102，获取飞行器与参考物之间的距离。
飞行器确定飞行器所处飞行环境中的参考物之后，可以获取飞行器与参考物之间的距离。例如，飞行器可以获取飞行器相对地面的飞行高度，或者飞行器与门框或者窗户之间的纵向距离，或者飞行器与树木或者建筑物之间的横向距离。
可选的，飞行器可以通过第一摄像头采集第一图像，其中第一图像可以包括地面，并对采集到的第一图像进行分析处理，得到飞行器相对地面的飞行高度。
可选的，飞行器对采集到的第一图像进行分析处理，得到飞行器相对地面 的飞行高度，具体可以为：在采集到的第一图像中确定地面的基准线及其终止线，获取基准线与终止线之间的距离，根据预先建立的基准线与终止线之间的距离和飞行高度的对应关系，获取该距离对应的飞行高度，并将该距离对应的飞行高度作为飞行器相对地面的飞行高度。
可选的，第一摄像头可以位于飞行器的正下方，则飞行器对第一图像进行分析处理，得到飞行器相对地面的飞行高度，具体可以为：通过预置姿态传感器获取飞行器的飞行姿态，基于飞行器的飞行姿态对采集到的图像进行分析处理，计算得出飞行器相对地面的飞行高度。
可选的，飞行器获取飞行器与参考物之间的距离，具体可以为：统计预设时间段内采集到的飞行器与参考物之间的历史距离，通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离。
可选的，飞行器通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离之前，可以获取历史滤波结果，以及飞行器当前的速度矢量，基于历史滤波结果和速度矢量，计算得到预测值，对预置双边滤波函数进行偏移，其中偏移后的预置双边滤波函数中预测值对应的置信概率为最大置信概率。
可选的，飞行器通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离，具体为：获取各个历史距离与预测值之间的期望值，根据偏移后的预置双边滤波函数，得到各个期望值对应的置信概率，对各个期望值对应的置信概率进行归一化处理，得到飞行器与参考物之间的当前距离。
可选的，飞行器可以响应于检测到飞行器处于穿梭状态，通过预置传感器获取飞行器与参考物之间的横向距离。
可选的，飞行器获取飞行器与参考物之间的距离之前，可以确定飞行器处于避障模式。
S103，根据预先建立的飞行器与参考物之间的距离和飞行策略之间的对应关系，获取距离对应的飞行策略。
飞行器可以预先建立距离和飞行策略之间的对应关系，飞行策略可以包括飞行速度或者飞行姿态等，例如飞行器可以预先建立距离和飞行速度之间的对应关系，距离和飞行速度之间可以呈线性关系，示例性的，距离和飞行速度之 间的斜率为0.5m，如果飞行器获取到的飞行器与参考物之间的距离为1m，则飞行器可以获取到该距离对应的飞行速度为2m/s。
可选的，飞行器对采集到的第一图像进行分析处理，得到飞行器相对地面的飞行高度之后，可以根据预先建立的飞行器相对地面的飞行高度和飞行速度之间的对应关系，获取该飞行高度对应的飞行速度。
可选的，飞行器通过预置双边滤波器对所述历史距离进行处理，得到飞行器与参考物之间的当前距离之后，可以根据预先建立的飞行器与参考物之间的距离和飞行速度之间的对应关系，获取当前距离对应的飞行速度。
可选的，飞行器通过预置传感器获取飞行器与参考物之间的横向距离之后，可以根据预先建立的横向距离和飞行速度之间的对应关系，获取横向距离对应的飞行速度。
S104，控制飞行器基于飞行策略进行飞行。
飞行器可以控制飞行器基于确定得到的飞行策略进行飞行，例如控制飞行器基于确定得到的飞行速度进行飞行，或者控制飞行器基于确定得到的飞行姿态进行飞行，等等。
可选的，飞行器可以响应于飞行器与参考物之间的距离位于预设距离范围内，缩小飞行器中第二摄像头的视场角(Field of View，FOV)，以使缩小后的第二摄像头的FOV与飞行器的尺寸相匹配，并通过第二摄像头基于缩小后的第二摄像头的FOV采集第二图像，响应于第二图像包括参考物，控制飞行器停止飞行；响应于第二图像不包括参考物，控制飞行器保持飞行状态。其中，第二摄像头可以配置于飞行器的正前方，第二摄像头可以用于对飞行器正前方进行取景。
可选的，飞行器缩小飞行器中第二摄像头的FOV，具体可以为：根据预先建立的飞行器与参考物之间的距离和FOV的对应关系，获取该距离对应的FOV，并对第二摄像头的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
可选的，飞行器可以与控制设备之间建立通信连接，通过与控制设备之间的通信连接接收控制设备发送的对避障模式的关闭指令，其中关闭指令是控制设备检测到用户对控制设备中预置按键的点击操作时生成的，响应关闭指令， 关闭该避障模式。
可选的，飞行器可以响应于检测到飞行器处于穿梭状态，生成对避障模式的关闭指令，响应于关闭指令，关闭该避障模式。
在图1所示的飞行控制方法中，确定飞行器所处飞行环境中的参考物，获取飞行器与参考物之间的距离，根据预先建立的飞行器与参考物之间的距离和飞行策略之间的对应关系，获取该距离对应的飞行策略，并控制飞行器基于该飞行策略进行飞行，可有效实现避障。
本公开另一实施例还提供了一种飞行控制方法，示例性的，该飞行控制方法可应用于崎岖地面低空飞行的应用场景中，请参见图2，图2为本公开实施例中提供的一种飞行控制方法的流程示意图，如图所示本公开实施例中的飞行控制方法至少可以包括：
S201，确定飞行器所处飞行环境中的参考物，参考物为地面。
具体实现中，当飞行器在崎岖地面低空飞行时，飞行器可以确定飞行器所处飞行环境中的参考物为位于飞行器所处水平面下方的地面。
S202，通过第一摄像头采集第一图像，第一图像包括地面。
具体实现中，第一摄像头可以用于对飞行器正下方进行取景，例如第一摄像头可以配置于飞行器的正下方、左翼或者右翼等，可选的，飞行器还可以配置飞行器的倾斜角度，飞行器位于同一位置时，第一摄像头在不同倾斜角度下采集到的第一图像所包含的地面区域各不相同。以图6所示的图像界面示意图为例，飞行器在飞行过程中，可以通过第一摄像头采集第一图像，采集到的第一图像601可以如图6所示，其中第一图像可以包括地面，第一图像包含的地面区域602可以如图6所示。
可选的，飞行器通过第一摄像头采集第一图像之前，可以确定飞行器处于避障模式。
S203，对第一图像进行分析处理，得到飞行器相对地面的飞行高度。
可选的，飞行器可以在第一图像中确定地面的基准线及其终止线，获取基准线与终止线之间的距离，根据预先建立的基准线与终止线之间的距离和飞行高度的对应关系，获取该距离对应的飞行高度，并将该距离对应的飞行高度作 为飞行器相对地面的飞行高度。其中，基准线可以为第一图像中地面与物体之间的临界线，终止线可以为第一图像的边缘线。以图6所示的图像界面示意图为例，飞行器通过第一摄像头采集到第一图像之后，可以在第一图像中确定地面的基准线603及其终止线604，其中基准线603可以为第一图像中地面和树木之间的临界线，终止线604可以为第一图像601的边缘线，飞行器可以获取基准线603与终止线604之间的距离，当基准线603与终止线604之间的距离为1米(m)时，飞行器可以根据预先建立的距离和飞行高度的对应关系，获取飞行器当前的飞行高度为10m。可选的，不同倾斜角度下距离和飞行高度的对应关系不相同，则飞行器可以确定第一摄像头的倾斜角度，飞行器获取基准线与终止线之间的距离之后，可以根据预先建立的该倾斜角度下的基准线与终止线之间的距离和飞行高度的对应关系，获取该距离对应的飞行高度，并将该距离对应的飞行高度作为飞行器相对地面的飞行高度。
可选的，第一摄像头可以位于飞行器的正下方，飞行器可以通过预置姿态传感器获取飞行器的飞行姿态，基于飞行器的飞行姿态对第一图像进行分析处理，计算得出飞行器相对地面的飞行高度。其中，飞行姿态可以包括飞行器的倾斜角度或者飞行速度等。
S204，根据预先建立的飞行器相对地面的飞行高度和飞行速度之间的对应关系，获取飞行高度对应的飞行速度。
飞行器可以预先建立飞行器相对地面的飞行高度和飞行速度之间的对应关系，在获取到飞行器相对地面的飞行高度之后，飞行器可以获取该飞行高度对应的飞行速度。示例性的，飞行高度和飞行速度之间可以呈正比例关系，例如飞行高度为10m时对应的飞行速度为10m/s，飞行高度为5m时对应的飞行速度为5m/s，也就是说，飞行器当前所处飞行高度越低，则飞行器的飞行速度越慢，可提高飞行器在崎岖地面低空飞行时的安全性；飞行器当前所处飞行高度越高，则飞行器的飞行速度越快，可提高飞行器的飞行效率。另外，飞行器通过实时采集图像可获取飞行器当前相对地面的飞行高度，进而根据预先建立的飞行器相对地面的飞行高度和飞行速度之间的对应关系，对飞行器当前的飞行速度进行调整，可实现飞行速度的平滑过渡，避免飞行器在飞行过程中急剧加速或者急剧减速，提高飞行器在飞行过程中的安全性。
S205，控制飞行器基于该飞行速度进行飞行。
飞行器获取飞行高度对应的飞行速度之后，可以调整飞行器的飞行速度，以便控制飞行器基于该飞行速度进行飞行。传统的飞行控制方法中，飞行器通过第一摄像头采集第一图像之后，删除第一图像中的地面区域，则飞行器对第一图像进行分析处理得到的飞行器相对地面的高度高于实际高度，飞行器的飞行速度较快，在低空飞行时无法有效避开突起的地面，本发明实施例在飞行器相对地面较低高度时可以自动降低飞行速度，无需用户调节，可提高飞行器的飞行控制效率。
可选的，飞行器可以与控制设备之间建立通信连接，通过与控制设备之间的通信连接接收控制设备发送的对避障模式的关闭指令，其中关闭指令是控制设备检测到用户对控制设备中预置按键的点击操作时生成的，响应于关闭指令，关闭该避障模式。其中，控制设备可以包括遥控器或者手机等设备，控制设备用于对飞行器进行控制。关闭该避障模式具体可以为：飞行器停止通过第一摄像头采集第一图像，并停止控制飞行器基于获取到的飞行速度进行飞行。具体实现中，当飞行器通过采集到的第一图像分析得到飞行器相对地面的飞行速度较低，而用户希望飞行器的飞行速度保持不变时，用户可以点击控制设备中具有关闭避障模式功能的按键，控制设备接收到对避障模式的关闭指令之后，可以通过与飞行器之间的通信连接向飞行器发送对避障模式的关闭指令，则飞行器可以响应于该关闭指令，关闭避障模式。
可选的，飞行器可以响应于检测到飞行器处于穿梭状态，生成对避障模式的关闭指令，响应于关闭指令，关闭该避障模式。具体实现中，当飞行器在狭窄空间飞行时，飞行器可以确定当前处于穿梭状态，进而生成对避障模式的关闭指令，响应于关闭指令，关闭该避障模式。其中，狭窄空间可以为树林或者建筑群等。
在图2所示的飞行控制方法中，确定飞行器所处飞行环境中的参考物，参考物为地面，通过第一摄像头采集图像，对第一图像进行分析处理，得到飞行器相对地面的飞行高度，根据预先建立的飞行高度和飞行速度之间的对应关系，获取飞行高度对应的飞行速度，控制飞行器基于飞行速度进行飞行，可有效实现避障。
本公开另一实施例还提供了一种飞行控制方法，示例性的，该飞行控制方法可应用于钻窗户或者门框等应用场景，请参见图3，图3为本公开实施例中提供的一种飞行控制方法的流程示意图，如图所示本公开实施例中的飞行控制方法至少可以包括：
S301，确定飞行器所处飞行环境中的参考物。
具体实现中，飞行器在钻窗户或者门框时，可以确定飞行器所处飞行环境中的参考物，其中参考物可以包括窗户或者门框等。
可选的，飞行器确定飞行器所处飞行环境中的参考物之后，可以响应于飞行器与参考物之间的距离位于预设距离范围内，缩小飞行器中第二摄像头的FOV，以使缩小后的第二摄像头的FOV与飞行器的尺寸相匹配，并通过第二摄像头基于缩小后的第二摄像头的FOV采集第二图像，响应于第二图像包括参考物，控制飞行器停止飞行；响应于第二图像不包括参考物，控制飞行器保持飞行状态。其中，预设距离范围可以是预先设定的距离区间，例如[10m，20m]或者[5m，15m]等。其中，第二摄像头可以配置于飞行器的正前方，第二摄像头可以用于对飞行器正前方进行取景。需要说明的是，飞行器控制缩小后的第二摄像头的FOV与飞行器的尺寸相匹配，也就是说，飞行器确保缩小后的第二摄像头的FOV与飞行器的尺寸相匹配，即第二摄像头看到的视角范围是无人机穿过门框或者窗户的范围。
具体实现中，飞行器飞近窗户或者门框等参考物时，可以检测飞行器与参考物之间的距离是否位于预设距离范围内，当飞行器与参考物之间的距离位于预设距离范围内时，飞行器可以缩小飞行器中第二摄像头的FOV，以确保缩小后的第二摄像头的FOV与飞行器的尺寸相匹配，即第二摄像头看到的视角范围是无人机穿过门框或者窗户的范围。飞行器通过第二摄像头基于缩小后的第二摄像头的FOV采集第二图像之后，可以检测第二图像是否包含门框或者窗户等参考物，当第二图像包含参考物时，飞行器可以确定窗户或者门框的尺寸较小，飞行器无法穿过该窗户或者门框，则飞行器可以控制飞行器停止飞行；当第二图像不包含参考物时，飞行器可以确定窗户或者门框的尺寸较大，飞行器可以穿过该窗户或者门框，则可以控制飞行器保持飞行状态。
可选的，飞行器缩小飞行器中第二摄像头的FOV，具体可以为：根据预先建立的飞行器与参考物之间的距离和FOV的对应关系，获取该距离对应的FOV，并对第二摄像头的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
具体实现中，飞行器可以基于飞行器的尺寸预先建立飞行器与参考物之间的距离和FOV的对应关系，例如飞行器与参考物之间的距离为10m时，对应的FOV为60°；飞行器与参考物之间的距离为15m时，对应的FOV为30°，则飞行器响应于飞行器与参考物之间的距离位于预设距离范围内，可以根据预先建立的飞行器与参考物之间的距离和FOV的对应关系，获取该距离对应的FOV，并对第二摄像头的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
可选的，飞行器获取飞行器与参考物之间的距离之前，可以确定飞行器处于避障模式。
S302，统计预设时间段内采集到的飞行器与参考物之间的历史距离。
飞行器可以统计预设时间段内采集到的飞行器与参考物之间的历史距离，其中预设时间段可以是预设时长，例如与当前系统时间间隔时长小于或者等于3s等。
S303，通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离。
可选的，飞行器通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离之前，可以获取历史滤波结果，以及飞行器当前的速度矢量，基于历史滤波结果和速度矢量，计算得到预测值，并对预置双边滤波函数进行偏移，其中偏移后的预置双边滤波函数中预测值对应的置信概率为最大置信概率。
示例性的，预置双边滤波函数可以为偏正态分布函数(Skew normal distribution)，即
Figure PCTCN2016105339-appb-000001
其中x为观测值，即飞行器与参考物之间的距离，f(x)为置信概率，预置双边滤波函数的左侧较为平缓，相邻两点之间的置信概率差异较小；预置双边滤波函数的右侧较为陡峭，相邻两 点之间的置信概率差异较大。示例性的，飞行器确定最近一次获取到的历史滤波结果为5m，飞行器当前速度为1m/s，获取滤波结果的时间间隔为1s，则飞行器可以将飞行器当前速度与时间间隔相乘，并将历史滤波结果减去相乘结果，得到预测值，即5-1*1＝4m。飞行器可以对预置双边滤波函数进行偏移，使得偏移后的预置双边滤波函数中该预测值对应的置信概率为最大置信概率。
可选的，飞行器可以获取对预置双边滤波函数的多个观测值区间及其采样间隔，针对任一观测值区间，按照观测值区间对应的采样间隔对观测值区间中的观测值进行采样，得到至少一个观测值，获取采样得到的各个观测值对应的置信概率，并基于最大置信概率对应的观测值对预置双边滤波函数进行偏移。以图7所示的双边滤波函数的界面示意图为例，观测值区间为[-3，-0.18]时，相邻点之间的置信概率差异较小，则飞行器可以配置该观测值区间对应的采样间隔较大，例如按0.01的采样间隔对该观测值区间中的观测值进行采样，得到至少一个观测值；观测值区间为[-0.18，0.5]时，相邻点之间的置信概率差异较大，则飞行器可以配置该观测值区间对应的采样间隔较小，例如按0.003的采样间隔对该观测值区间中的观测值进行采样，得到至少一个观测值，飞行器确定采样得到的观测值中最大置信概率对应的观测值为-0.24，则飞行器可以将预置双边滤波函数进行偏移，即取ξ＝-0.24可实现预置双边滤波函数右移。
可选的，飞行器通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离，具体可以为：获取各个历史距离与预测值之间的期望值，根据偏移后的预置双边滤波函数，得到各个期望值对应的置信概率，对各个期望值对应的置信概率进行归一化处理，得到飞行器与参考物之间的当前距离。
可选的，飞行器可以根据上一次得到的飞行器与参考物之间的距离、飞行速度以及采集各个历史距离的时间间隔，得到飞行器与参考物之间的预估当前距离，获取各个历史距离与预估当前距离之间的差值，根据偏移后的预置双边滤波函数，得到各个差值对应的置信概率，对各个历史距离及其差值对应的置信概率进行归一化处理，得到飞行器与参考物之间的当前距离。例如，上一次得到的飞行器与参考物之间的距离为5m，飞行速度为1m/s，时间间隔为1s， 则飞行器可以确定飞行器与参考物之间的预估当前距离为：5-1*1＝4m，其中采集到的第一历史距离为3m，第二历史距离为5m，第三历史距离为7m，则飞行器可以获取第一历史距离与预估当前距离之间的差值为-1m，第二历史距离与预估当前距离之间的差值为1m，第三历史距离与预估当前距离之间的差值为3m，其中第一历史距离与预估当前距离之间的差值对应的第一置信概率为0.7，第二历史距离与预估当前距离之间的差值对应的第二置信概率为0.3，第三历史距离与预估当前距离之间的差值对应的第三置信概率为0.1，飞行器得到飞行器与参考物之间的当前距离为：(3*0.7+5*0.3+7*0.1)/(0.7+0.3+0.1)＝3.91m。
可选的，当初始化时，不存在上一次得到的飞行器与参考物之间的距离，则飞行器可以将前n次采集到的飞行器与参考物之间的历史距离的平均值作为上一次得到的飞行器与参考物之间的距离，其中n为正整数。
本发明实施例中，飞行器飞近参考物时，采集到的观测值位于预置双边滤波函数中最大置信概率对应的观测值的左侧，曲线较为平缓，得到的滤波结果近似于飞行器与参考物之间的距离；飞行器远离参考物时，采集到的观测值位于预置双边滤波函数中最大置信概率对应的观测值的右侧，置信概率急剧下降，则得到的滤波结果近似于飞行器与参考物之间的距离。
S304，根据预先建立的飞行器与参考物之间的距离和飞行速度之间的对应关系，获取当前距离对应的飞行速度。
传统的飞行控制方法中，飞行器在钻窗户或者门框的过程中，由于第二摄像头的FOV有限，无法检测到两侧的窗户或者门框，则飞行器误认为当前不存在障碍物，飞行速度急剧增大，导致安全性较低，则飞行器统计预设时间段内采集到的飞行器与参考物之间的历史距离，通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离，根据预先建立的飞行器与参考物之间的距离和飞行速度之间的对应关系，获取当前距离对应的飞行速度，控制飞行器基于该飞行速度进行飞行，可避免飞行器的飞行速度急剧增大，提高飞行过程中的安全性。
S305，控制飞行器基于该飞行速度进行飞行。
可选的，飞行器还可以与控制设备之间建立通信连接，通过与控制设备之 间的通信连接接收控制设备发送的对避障模式的关闭指令，其中关闭指令是控制设备检测到用户对控制设备中预置按键的点击操作时生成的，响应于关闭指令，关闭避障模式。关闭该避障模式具体可以为：飞行器停止通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离，并停止控制飞行器基于获取到的飞行速度进行飞行。具体实现中，当飞行器通过第二摄像头基于缩小后的第二摄像头的FOV采集到的第二图像包含参考物时，飞行器确定窗户或者门框的尺寸较小，飞行器无法穿过窗户或者门框，而用户通过经验确定飞行器可以顺利穿过该窗户或者门框，则用户可以点击控制设备中具有关闭避障模式功能的按键，控制设备接收到对避障模式的关闭指令之后，可以通过与飞行器之间的通信连接向飞行器发送对避障模式的关闭指令，则飞行器可以响应于该关闭指令，关闭避障模式。
可选的，飞行器还可以响应于检测到飞行器处于穿梭状态，生成对避障模式的关闭指令，并响应于关闭指令，关闭避障模式。
在图3所示的飞行控制方法中，确定飞行器所处飞行环境中的参考物，统计预设时间段内采集到的飞行器与参考物之间的历史距离，通过预置双边滤波器对历史距离进行处理，得到飞行器与参考物之间的当前距离，根据预先建立的飞行器与参考物之间的距离和飞行速度之间的对应关系，获取当前距离对应的飞行速度，控制飞行器基于该飞行速度进行飞行，可有效实现避障。
本公开另一实施例还提供了一种飞行控制方法，示例性的，该飞行控制方法可应用于在狭窄空间穿梭的应用场景，请参见图4，图4为本公开实施例中提供的一种飞行控制方法的流程示意图，如图所示本公开实施例中的飞行控制方法至少可以包括：
S401，确定飞行器所处飞行环境中的参考物。
具体实现中，飞行器在狭窄空间穿梭的过程中，可以确定飞行器所处飞行环境中的参考物为树林或者建筑群等。
S402，响应于检测到飞行器处于穿梭状态，通过预置传感器获取飞行器与参考物之间的横向距离。
可选的，飞行器确定通过预置传感器获取飞行器与参考物之间的横向距离 之前，可以确定飞行器处于避障模式。
其中，预置传感器可以包括超声波发射器、激光发射器或者雷达等。
S403，根据预先建立的横向距离和飞行速度之间的对应关系，获取横向距离对应的飞行速度。
具体实现中，飞行器可以预先建立飞行器与参考物之间的横向距离和飞行速度之间的对应关系，示例性的，飞行器与参考物之间的横向距离和飞行速度之间可以呈正比例关系，例如飞行器与参考物之间的横向距离为2m时，对应的飞行速度为2m/s；飞行器与参考物之间的横向距离为5m时，对应的飞行速度为5m/s，进而根据预先建立的横向距离和飞行速度之间的对应关系，获取横向距离对应的飞行速度。飞行器还可以设置最大飞行速度为10m/s，以便飞行器在狭窄空间飞行过程中飞行速度较快，而前方存在横向距离较小的参考物时无法及时减速，可提高飞行过程中的安全性。
S404，控制飞行器基于飞行速度进行飞行。
可选的，飞行器还可以与控制设备之间建立通信连接，通过与控制设备之间的通信连接接收控制设备发送的对避障模式的关闭指令，其中关闭指令是控制设备检测到用户对控制设备中预置按键的点击操作时生成的，响应于关闭指令，关闭避障模式。关闭该避障模式具体可以为：飞行器停止通过预置传感器获取飞行器与参考物之间的横向距离，并停止控制飞行器基于获取到的飞行速度进行飞行。具体实现中，当飞行器通过预置传感器获取飞行器与参考物之间的横向距离较大，而前方存在横向距离较小的参考物时，用户希望飞行器立即减速，以保证安全，则用户可以点击控制设备中具有关闭避障模式功能的按键，控制设备接收到对避障模式的关闭指令之后，可以通过与飞行器之间的通信连接向飞行器发送对避障模式的关闭指令，则飞行器可以响应于该关闭指令，关闭避障模式。
可选的，飞行器还可以响应于检测到飞行器处于穿梭状态，生成对避障模式的关闭指令，并响应于关闭指令，关闭避障模式。
在图4所示的飞行控制方法中，确定飞行器所处飞行环境中的参考物，响应于检测到飞行器处于穿梭状态，通过预置传感器获取飞行器与参考物之间的横向距离，根据预先建立的横向距离和飞行速度之间的对应关系，获取横向距 离对应的飞行速度，控制飞行器基于飞行速度进行飞行，可有效实现避障。
本公开另一实施例还提供了一种飞行控制方法，请参见图5，图5为本公开实施例中提供的一种飞行控制方法的流程示意图，如图所示本公开实施例中的飞行控制方法至少可以包括：
S501，与控制设备之间建立通信连接。
具体实现中，飞行器可以通过地面站或者2.4g无线电等方式与控制设备之间建立通信连接。
S502，通过与控制设备之间的通信连接接收控制设备发送的对避障模式的关闭指令。
具体实现中，控制设备检测到用户对控制设备中预置按键的点击操作时生成对避障模式的关闭指令，并通过与飞行器之间的通信连接将该关闭指令发送给飞行器。例如，当飞行器通过采集到的第一图像分析得到飞行器相对地面的飞行速度较低，而用户希望飞行器的飞行速度保持不变时，用户可以点击控制设备中具有关闭避障模式功能的按键，控制设备接收到对避障模式的关闭指令之后，可以通过与飞行器之间的通信连接向飞行器发送对避障模式的关闭指令，则飞行器可以响应于该关闭指令，关闭避障模式。又如，当飞行器通过第二摄像头基于缩小后的第二摄像头的FOV采集到的第二图像包含参考物时，飞行器确定窗户或者门框的尺寸较小，飞行器无法穿过窗户或者门框，而用户通过经验确定飞行器可以顺利穿过该窗户或者门框，则用户可以点击控制设备中具有关闭避障模式功能的按键，控制设备接收到对避障模式的关闭指令之后，可以通过与飞行器之间的通信连接向飞行器发送对避障模式的关闭指令，则飞行器可以响应于该关闭指令，关闭避障模式。又如，当飞行器通过预置传感器获取飞行器与参考物之间的横向距离较大，而前方存在横向距离较小的参考物时，用户希望飞行器立即减速，以保证安全，则用户可以点击控制设备中具有关闭避障模式功能的按键，控制设备接收到对避障模式的关闭指令之后，可以通过与飞行器之间的通信连接向飞行器发送对避障模式的关闭指令，则飞行器可以响应于该关闭指令，关闭避障模式。
S503，响应于关闭指令，关闭避障模式。
可选的，飞行器还可以响应于检测到飞行器处于穿梭状态，生成对避障模式的关闭指令，并响应于关闭指令，关闭避障模式。
在图5所示的飞行控制方法中，与控制设备之间建立通信连接，通过与控制设备之间的通信连接接收控制设备发送的对避障模式的关闭指令，响应于关闭指令，关闭避障模式，可基于不同应用场景确定是否关闭避障模式，操作便捷。
本公开实施例还提供了一种计算机存储介质，其中，所述计算机存储介质可存储有程序，该程序执行时包括上述图1～图5所示的方法实施例中的部分或全部步骤。
请参见图8，图8为本公开实施例中提供的一种飞行控制装置的结构示意图，所述飞行控制装置800可以用于实施结合图1～图4所示的方法实施例中的部分或全部步骤，所述飞行控制装置800至少可以包括参考物确定模块801、距离获取模块802、飞行策略获取模块803以及飞行控制模块804，其中：
参考物确定模块801，用于确定所述飞行器所处飞行环境中的参考物。
距离获取模块802，用于获取所述飞行器与所述参考物之间的距离。
飞行策略获取模块803，用于根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略。
飞行控制模块804，用于控制所述飞行器基于所述飞行策略进行飞行。
可选的，所述距离获取模块802，具体用于：
通过第一摄像头采集第一图像，所述第一图像包括地面。
对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度。
进一步的，所述飞行速度获取模块603，具体用于根据预先建立的飞行高度和飞行速度之间的对应关系，获取所述飞行高度对应的飞行速度。
可选的，所述距离获取模块802对第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，具体用于：
在所述第一图像中确定所述地面的基准线及其终止线。
获取所述基准线与所述终止线之间的距离。
根据预先建立的所述基准线与所述终止线之间的距离和飞行高度的对应关系，获取所述距离对应的飞行高度。
将所述距离对应的飞行高度作为所述飞行器相对所述地面的飞行高度。
可选的，所述第一摄像头位于所述飞行器的正下方，则距离获取模块802对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，具体用于：
通过预置姿态传感器获取所述飞行器的飞行姿态。
基于所述飞行器的飞行姿态对所述第一图像进行分析处理，计算得出所述飞行器相对所述地面的飞行高度。
可选的，飞行控制模块804，具体用于：
响应于所述飞行器与所述参考物之间的距离位于预设距离范围内，缩小所述飞行器中第二摄像头的视场角FOV，以使缩小后的所述第二摄像头的FOV与所述飞行器的尺寸相匹配。
通过所述第二摄像头基于所述缩小后的所述第二摄像头的FOV采集第二图像。
响应于所述第二图像包括所述参考物，控制所述飞行器停止飞行。
响应于所述第二图像不包括所述参考物，控制所述飞行器保持飞行状态。
可选的，飞行控制模块804缩小所述飞行器中第二摄像头的FOV，具体用于：
根据预先建立的所述飞行器与所述参考物之间的距离和FOV的对应关系，获取所述距离对应的FOV。
对所述第二摄像头的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
可选的，所述距离获取模块802，具体用于：
统计预设时间段内采集到的所述飞行器与所述参考物之间的历史距离。
通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离。
进一步的，所述飞行策略获取模块803，具体用于根据预先建立的飞行器 与参考物之间距离和飞行速度之间的对应关系，获取所述当前距离对应的飞行速度。
可选的，本发明实施例中的飞行控制装置800还可以包括：
数据获取模块805，用于在所述距离获取模块802通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离之前，获取历史滤波结果，以及所述飞行器当前的速度矢量。
预测值计算模块806，用于基于所述历史滤波结果和所述速度矢量，计算得到预测值。
偏移模块807，用于对所述预置双边滤波函数进行偏移，其中偏移后的所述预置双边滤波函数中所述预测值对应的置信概率为最大置信概率。
可选的，所述距离获取模块802通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离，具体用于:
获取各个所述历史距离与所述预测值之间的期望值。
根据偏移后的预置双边滤波函数，得到各个所述期望值对应的置信概率。
对各个所述期望值对应的置信概率进行归一化处理，得到所述飞行器与所述参考物之间的当前距离。
可选的，所述距离获取模块802具体用于响应于检测到所述飞行器处于穿梭状态，通过预置位置传感器获取所述飞行器与所述参考物之间的横向距离；
所述飞行策略获取模块803，具体用于根据预先建立的所述飞行器与所述参考物之间的横向距离和飞行速度之间的对应关系，获取所述横向距离对应的飞行速度。
可选的，所述飞行控制装置800还包括：
确定模块808，用于所述距离获取模块602获取所述飞行器与所述参考物之间的距离之前，确定所述飞行器处于避障模式。
可选的，所述飞行控制装置800还包括：
通信连接建立模块809，用于与所述控制设备之间建立通信连接。
关闭指令接收模块810，用于通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的。
避障模式关闭模块811，用于响应于所述关闭指令，关闭所述避障模式。
可选的，所述飞行控制装置800还包括：
关闭指令接收模块810，用于响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令。
避障模式关闭模块811，用于响应于所述关闭指令，关闭所述避障模式。
在图8所示的飞行控制装置800中，参考物确定模块801确定飞行器所处飞行环境中的参考物，距离获取模块802获取飞行器与参考物之间的距离，飞行速度获取模块803根据预先建立的距离和飞行策略之间的对应关系，获取距离对应的飞行策略，飞行控制模块804控制飞行器基于飞行策略进行飞行，可有效实现避障。
请参见图9，图9为本公开实施例提供的一种飞行器的结构示意图，本公开实施例提供的飞行器900可以用于实施上述图1～图4所示的本公开各实施例实现的方法，为了便于说明，仅示出了与本公开实施例相关的部分，具体技术细节未揭示的，请参照图1～图4所示的本公开各实施例。
如图9所示，该飞行器900包括：至少一个处理器701，例如CPU，至少一个第一输入设备903，至少一个第二输入设备904，至少一个输出设备905，存储器906，至少一个通信总线902。其中，通信总线902用于实现这些组件之间的连接通信。其中，第一输入设备903可以为第一摄像头，具体用于采集第一图像。第二输入设备904还可以为第二摄像头，用于采集第二图像。输出设备905可以为显示屏，具体用于显示图像等。其中，存储器906可能包含高速RAM存储器，也可能还包括非易失存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器906可选的可以包含至少一个位于远离前述处理器901的存储装置。存储器906中存储有程序指令，且处理器901调用存储器906中存储的程序指令以用于：
确定所述飞行器所处飞行环境中的参考物。
获取所述飞行器与所述参考物之间的距离。
根据预先建立的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略。
控制所述飞行器基于所述飞行策略进行飞行。
可选的，所述处理器901获取所述飞行器与所述参考物之间的距离，具体用于：
通过第一输入设备903采集第一图像，所述第一图像包括地面。
对第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度。
进一步的，所述处理器901根据预先建立的距离和飞行速度之间的对应关系，获取所述距离对应的飞行策略，具体用于：
根据预先建立的飞行高度和飞行速度之间的对应关系，获取所述飞行高度对应的飞行速度。
可选的，所述处理器901对第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，具体用于：
在所述第一图像中确定所述地面的基准线及其终止线。
获取所述基准线与所述终止线之间的距离。
根据预先建立的所述基准线与所述终止线之间的距离和飞行高度的对应关系，获取所述距离对应的飞行高度。
将所述距离对应的飞行高度作为所述飞行器相对所述地面的飞行高度。
所述第一输入设备位于所述飞行器的正下方；
所述处理器对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，包括：
通过预置姿态传感器获取所述飞行器的飞行姿态；
基于所述飞行器的飞行姿态对所述第一图像进行分析处理，计算得出所述飞行器相对所述地面的飞行高度。
可选的，所述处理器901控制所述飞行器基于所述飞行策略进行飞行，包括：
响应于所述飞行器与所述参考物之间的距离位于预设距离范围内，缩小所述飞行器中所述第二输入设备904的视场角FOV，以使缩小后的所述第二输入设备904的FOV与所述飞行器的尺寸相匹配。
通过所述第二输入设备904基于所述缩小后的所述第二输入设备904的FOV采集第二图像。
响应于所述第二图像包括所述参考物，控制所述飞行器停止飞行。
响应于所述第二图像不包括所述参考物，控制所述飞行器保持飞行状态。
可选的，所述处理器901缩小所述飞行器中所述第二输入设备904的FOV，包括：
根据预先建立的所述飞行器与所述参考物之间的距离和FOV的对应关系，获取所述距离对应的FOV。
对所述第二输入设备904的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
可选的，所述处理器901获取所述飞行器与所述参考物之间的距离，具体用于：
统计预设时间段内采集到的所述飞行器与所述参考物之间的历史距离。
通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离。
进一步的，所述处理器901根据预先建立的距离和飞行速度之间的对应关系，获取所述距离对应的飞行速度，具体用于：
根据预先建立的距离和飞行速度之间的对应关系，获取所述当前距离对应的飞行速度。
可选的，所述处理器901通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离之前，还用于：
获取历史滤波结果，以及所述飞行器当前的速度矢量。
基于所述历史滤波结果和所述速度矢量，计算得到预测值。
对所述预置双边滤波函数进行偏移，其中偏移后的所述预置双边滤波函数中所述预测值对应的置信概率为最大置信概率。
可选的，所述处理器901通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离，具体用于:
获取各个所述历史距离与所述预测值之间的期望值。
根据偏移后的预置双边滤波函数，得到各个所述期望值对应的置信概率。
对各个所述期望值对应的置信概率进行归一化处理，得到所述飞行器与所述参考物之间的当前距离。
可选的，所述处理器901获取所述飞行器与所述参考物之间的距离，包括：
响应于检测到所述飞行器处于穿梭状态，通过预置位置传感器获取所述飞行器与所述参考物之间的横向距离。
进一步的，所述处理器901根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略，包括：
根据预先建立的所述飞行器与所述参考物之间的横向距离和飞行速度之间的对应关系，获取所述横向距离对应的飞行速度。
可选的，所述处理器901获取所述飞行器与所述参考物之间的距离之前，所述装置还包括：
确定所述飞行器处于避障模式。
可选的，所述处理器901还用于执行以下操作：
与所述控制设备之间建立通信连接。
通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的。
响应于所述关闭指令，关闭所述避障模式。
可选的，所述处理器901还用于执行以下操作：
响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令。
响应于所述关闭指令，关闭所述避障模式。
请参见图10，图10为本公开另一实施例中提供的一种飞行控制装置的结构示意图，所述飞行控制装置1000可以用于实施结合图5所示的方法实施例中的部分或全部步骤，所述飞行控制装置1000至少可以包括通信连接建立模块1001、关闭指令接收模块1002以及避障模式关闭模块1003，其中：
通信连接建立模块1001，用于与所述控制设备之间建立通信连接。
关闭指令接收模块1002，用于通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到对所述控制设备中预置按键的点击操作时生成的。
避障模式关闭模块1003，用于响应于所述关闭指令，关闭所述避障模式。
可选的，所述飞行控制装置1000还包括：
关闭指令生成模块1004，用于响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令。
所述避障模式关闭模块1003，还用于响应于所述关闭指令，关闭所述避障模式。
在图10所示的飞行控制装置1000中，通信连接建立模块1001与控制设备之间建立通信连接，关闭指令接收模块1002通过与控制设备之间的通信连接接收控制设备发送的对避障模式的关闭指令，避障模式关闭模块1003响应于关闭指令，关闭避障模式，可基于不同应用场景确定是否关闭避障模式，操作便捷。
请参见图11，图11为本公开另一实施例提供的一种飞行器的结构示意图，本公开实施例提供的飞行器1100可以用于实施上述图5所示的本公开各实施例实现的方法，为了便于说明，仅示出了与本公开实施例相关的部分，具体技术细节未揭示的，请参照图5所示的本公开各实施例。
如图11所示，该飞行器1100包括：至少一个处理器1101，例如CPU，至少一个输入设备1103，至少一个输出设备1104，存储器1105，至少一个通信总线1102。其中，通信总线1102用于实现这些组件之间的连接通信。其中，输入设备1103可以为网络接口等。输出设备1104可以为网络接口等。其中，存储器1105可能包含高速RAM存储器，也可能还包括非易失存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器1105可选的可以包含至少一个位于远离前述处理器1101的存储装置。存储器1105中存储有程序指令，且处理器1101调用存储器1105中存储的程序指令以用于：
与所述控制设备之间建立通信连接。
输入设备1103通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到对所述控制设备中预置按键的点击操作时生成的。
响应于所述关闭指令，关闭所述避障模式。
可选的，所述处理器1101还用于：
响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令。
响应于所述关闭指令，关闭所述避障模式。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不是必须针对相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本公开的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本公开的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的程序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。 计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本公开的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本公开各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本公开的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本公开的限制，本领域的普通技术人员在本公开的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (45)

  1. 一种飞行控制方法，其特征在于，所述方法应用于飞行器，所述方法包括：
    确定所述飞行器所处飞行环境中的参考物；
    获取所述飞行器与所述参考物之间的距离；
    根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略；
    控制所述飞行器基于所述飞行策略进行飞行。
  2. 如权利要求1所述的方法，其特征在于，所述获取所述飞行器与所述参考物之间的距离，包括：
    通过第一摄像头采集第一图像，所述第一图像包括地面；
    对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度；
    所述根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略，包括：
    根据预先建立的所述飞行器相对所述地面的飞行高度和飞行速度之间的对应关系，获取所述飞行高度对应的飞行速度。
  3. 如权利要求2所述的方法，其特征在于，所述对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，包括：
    在所述第一图像中确定所述地面的基准线及其终止线；
    获取所述基准线与所述终止线之间的距离；
    根据预先建立的所述基准线与所述终止线之间的距离和飞行高度的对应关系，获取所述距离对应的飞行高度；
    将所述距离对应的飞行高度作为所述飞行器相对所述地面的飞行高度。
  4. 如权利要求2所述的方法，其特征在于，所述第一摄像头位于所述飞行器的正下方；
    所述对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，包括：
    通过预置姿态传感器获取所述飞行器的飞行姿态；
    基于所述飞行器的飞行姿态对所述第一图像进行分析处理，计算得出所述飞行器相对所述地面的飞行高度。
  5. 如权利要求1所述的方法，其特征在于，所述控制所述飞行器基于所述飞行策略进行飞行，包括：
    响应于所述飞行器与所述参考物之间的距离位于预设距离范围内，缩小所述飞行器中第二摄像头的视场角FOV，以使缩小后的所述第二摄像头的FOV与所述飞行器的尺寸相匹配；
    通过所述第二摄像头基于所述缩小后的所述第二摄像头的FOV采集第二图像；
    响应于所述第二图像包括所述参考物，控制所述飞行器停止飞行；
    响应于所述第二图像不包括所述参考物，控制所述飞行器保持飞行状态。
  6. 如权利要求5所述的方法，其特征在于，所述缩小所述飞行器中第二摄像头的FOV，包括：
    根据预先建立的所述飞行器与所述参考物之间的距离和FOV的对应关系，获取所述距离对应的FOV；
    对所述第二摄像头的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
  7. 如权利要求1所述的方法，其特征在于，所述获取所述飞行器与所述参考物之间的距离，包括：
    统计预设时间段内采集到的所述飞行器与所述参考物之间的历史距离；
    通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参 考物之间的当前距离；
    所述根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略，包括：
    根据预先建立的所述飞行器与所述参考物之间的距离和飞行速度之间的对应关系，获取所述当前距离对应的飞行速度。
  8. 如权利要求7所述的方法，其特征在于，所述通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离之前，还包括：
    获取历史滤波结果，以及所述飞行器当前的速度矢量；
    基于所述历史滤波结果和所述速度矢量，计算得到预测值；
    对所述预置双边滤波函数进行偏移，其中偏移后的所述预置双边滤波函数中所述预测值对应的置信概率为最大置信概率。
  9. 如权利要求8所述的方法，其特征在于，所述通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离，包括:
    获取各个所述历史距离与所述预测值之间的期望值；
    根据偏移后的预置双边滤波函数，得到各个所述期望值对应的置信概率；
    对各个所述期望值对应的置信概率进行归一化处理，得到所述飞行器与所述参考物之间的当前距离。
  10. 如权利要求1所述的方法，其特征在于，所述获取所述飞行器与所述参考物之间的距离，包括：
    响应于检测到所述飞行器处于穿梭状态，通过预置位置传感器获取所述飞行器与所述参考物之间的横向距离；
    所述根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略，包括：
    根据预先建立的所述飞行器与所述参考物之间的横向距离和飞行速度之间的对应关系，获取所述横向距离对应的飞行速度。
  11. 如权利要求1至10任一项所述的方法，其特征在于，所述获取所述飞行器与所述参考物之间的距离之前，所述方法还包括：
    确定所述飞行器处于避障模式。
  12. 如权利要求1至11任一项所述的方法，其特征在于，所述方法还包括：
    与所述控制设备之间建立通信连接；
    通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
    响应于所述关闭指令，关闭所述避障模式。
  13. 如权利要求1至11任一项所述的方法，其特征在于，所述方法还包括：
    响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令；
    响应于所述关闭指令，关闭所述避障模式。
  14. 一种飞行控制方法，其特征在于，所述方法应用于飞行器，所述方法包括：
    与所述控制设备之间建立通信连接；
    通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
    响应于所述关闭指令，关闭所述避障模式。
  15. 如权利要求14所述的方法，其特征在于，所述方法还包括：
    响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指 令；
    响应于所述关闭指令，关闭所述避障模式。
  16. 一种飞行控制装置，其特征在于，所述装置包括：
    参考物确定模块，用于确定所述飞行器所处飞行环境中的参考物；
    距离获取模块，用于获取所述飞行器与所述参考物之间的距离；
    飞行策略获取模块，用于根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略；
    飞行控制模块，用于控制所述飞行器基于所述飞行策略进行飞行。
  17. 如权利要求16所述的装置，其特征在于，所述距离获取模块，具体用于：
    通过第一摄像头采集第一图像，所述第一图像包括地面；
    对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度；
    所述飞行策略获取模块，具体用于根据预先建立的所述飞行器相对所述地面的飞行高度和飞行速度之间的对应关系，获取所述飞行高度对应的飞行速度。
  18. 如权利要求17所述的装置，其特征在于，所述距离获取模块对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，具体用于：
    在所述第一图像中确定所述地面的基准线及其终止线；
    获取所述基准线与所述终止线之间的距离；
    根据预先建立的所述基准线与所述终止线之间的距离和飞行高度的对应关系，获取所述距离对应的飞行高度；
    将所述距离对应的飞行高度作为所述飞行器相对所述地面的飞行高度。
  19. 如权利要求17所述的装置，其特征在于，所述第一摄像头位于所述飞行器的正下方；
    所述距离获取模块对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，具体用于：
    通过预置姿态传感器获取所述飞行器的飞行姿态；
    基于所述飞行器的飞行姿态对所述第一图像进行分析处理，计算得出所述飞行器相对所述地面的飞行高度。
  20. 如权利要求16所述的装置，其特征在于，所述飞行控制模块，具体用于：
    响应于所述飞行器与所述参考物之间的距离位于预设距离范围内，缩小所述飞行器中第二摄像头的视场角FOV，以使缩小后的所述第二摄像头的FOV与所述飞行器的尺寸相匹配；
    通过所述第二摄像头基于所述缩小后的所述第二摄像头的FOV采集第二图像；
    响应于所述第二图像包括所述参考物，控制所述飞行器停止飞行；
    响应于所述第二图像不包括所述参考物，控制所述飞行器保持飞行状态。
  21. 如权利要求20所述的装置，其特征在于，所述飞行控制模块缩小所述飞行器中第二摄像头的FOV，具体用于：
    根据预先建立的所述飞行器与所述参考物之间的距离和FOV的对应关系，获取所述距离对应的FOV；
    对所述第二摄像头的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
  22. 如权利要求16所述的装置，其特征在于，所述距离获取模块，具体用于：
    统计预设时间段内采集到的所述飞行器与所述参考物之间的历史距离；
    通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离；
    所述飞行策略获取模块，具体用于根据预先建立的所述飞行器与所述参考 物之间的距离和飞行速度之间的对应关系，获取所述当前距离对应的飞行速度。
  23. 如权利要求22所述的装置，其特征在于，所述装置还包括：
    数据获取模块，用于在所述距离获取模块通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离之前，获取历史滤波结果，以及所述飞行器当前的速度矢量；
    预测值计算模块，用于基于所述历史滤波结果和所述速度矢量，计算得到预测值；
    偏移模块，用于对所述预置双边滤波函数进行偏移，其中偏移后的所述预置双边滤波函数中所述预测值对应的置信概率为最大置信概率。
  24. 如权利要求23所述的装置，其特征在于，所述距离获取模块通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离，具体用于:
    获取各个所述历史距离与所述预测值之间的期望值；
    根据偏移后的预置双边滤波函数，得到各个所述期望值对应的置信概率；
    对各个所述期望值对应的置信概率进行归一化处理，得到所述飞行器与所述参考物之间的当前距离。
  25. 如权利要求16所述的装置，其特征在于，
    所述距离获取模块，具体用于响应于检测到所述飞行器处于穿梭状态，通过预置位置传感器获取所述飞行器与所述参考物之间的横向距离；
    所述飞行策略获取模块，具体用于根据预先建立的所述飞行器与所述参考物之间的横向距离和飞行速度之间的对应关系，获取所述横向距离对应的飞行速度。
  26. 如权利要求16至25任一项所述的装置，其特征在于，所述装置还包括：
    确定模块，用于在所述距离获取模块获取所述飞行器与所述参考物之间的距离之前，确定所述飞行器处于避障模式。
  27. 如权利要求16至26任一项所述的装置，其特征在于，所述装置还包括：
    通信连接建立模块，用于与所述控制设备之间建立通信连接；
    关闭指令接收模块，用于通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
    避障模式关闭模块，用于响应于所述关闭指令，关闭所述避障模式。
  28. 如权利要求16至26任一项所述的装置，其特征在于，所述装置还包括：
    关闭指令接收模块，用于响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令；
    避障模式关闭模块，用于响应于所述关闭指令，关闭所述避障模式。
  29. 一种飞行器，其特征在于，所述飞行器包括第一输入设备、第二输入设备、输出设备、处理器以及存储器，所述存储器中存储有程序指令，且所述处理器调用所述存储器中存储的程序指令以用于：
    确定所述飞行器所处飞行环境中的参考物；
    获取所述飞行器与所述参考物之间的距离；
    根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略；
    控制所述飞行器基于所述飞行策略进行飞行。
  30. 如权利要求29所述的飞行器，其特征在于，所述处理器获取所述飞行器与所述参考物之间的距离，包括：
    通过所述第一输入设备采集第一图像，所述第一图像包括地面；
    对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度；
    所述处理器根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略，包括：
    根据预先建立的所述飞行器相对所述地面的飞行高度和飞行速度之间的对应关系，获取所述飞行高度对应的飞行速度。
  31. 如权利要求30所述的飞行器，其特征在于，所述处理器对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，包括：
    在所述第一图像中确定所述地面的基准线及其终止线；
    获取所述基准线与所述终止线之间的距离；
    根据预先建立的所述基准线与所述终止线之间的距离和飞行高度的对应关系，获取所述距离对应的飞行高度；
    将所述距离对应的飞行高度作为所述飞行器相对所述地面的飞行高度。
  32. 如权利要求30所述的飞行器，其特征在于，所述第一输入设备位于所述飞行器的正下方；
    所述处理器对所述第一图像进行分析处理，得到所述飞行器相对所述地面的飞行高度，包括：
    通过预置姿态传感器获取所述飞行器的飞行姿态；
    基于所述飞行器的飞行姿态对所述第一图像进行分析处理，计算得出所述飞行器相对所述地面的飞行高度。
  33. 如权利要求29所述的飞行器，其特征在于，所述处理器控制所述飞行器基于所述飞行策略进行飞行，包括：
    响应于所述飞行器与所述参考物之间的距离位于预设距离范围内，缩小所述飞行器中所述第二输入设备的视场角FOV，以使缩小后的所述第二输入设备的FOV与所述飞行器的尺寸相匹配；
    通过所述第二输入设备基于所述缩小后的所述第二输入设备的FOV采集 第二图像；
    响应于所述第二图像包括所述参考物，控制所述飞行器停止飞行；
    响应于所述第二图像不包括所述参考物，控制所述飞行器保持飞行状态。
  34. 如权利要求33所述的飞行器，其特征在于，所述处理器缩小所述飞行器中所述第二输入设备的FOV，包括：
    根据预先建立的所述飞行器与所述参考物之间的距离和FOV的对应关系，获取所述距离对应的FOV；
    对所述第二输入设备的FOV进行更新，使得更新后的FOV与获取到的FOV相同。
  35. 如权利要求29所述的飞行器，其特征在于，所述处理器获取所述飞行器与所述参考物之间的距离，包括：
    统计预设时间段内采集到的所述飞行器与所述参考物之间的历史距离；
    通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离；
    所述处理器根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略，包括：
    根据预先建立的所述飞行器与所述参考物之间的距离和飞行速度之间的对应关系，获取所述当前距离对应的飞行速度。
  36. 如权利要求35所述的飞行器，其特征在于，所述处理器通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离之前，还包括：
    获取历史滤波结果，以及所述飞行器当前的速度矢量；
    基于所述历史滤波结果和所述速度矢量，计算得到预测值；
    对所述预置双边滤波函数进行偏移，其中偏移后的所述预置双边滤波函数中所述预测值对应的置信概率为最大置信概率。
  37. 如权利要求36所述的飞行器，其特征在于，所述处理器通过预置双边滤波器对所述历史距离进行处理，得到所述飞行器与所述参考物之间的当前距离，包括:
    获取各个所述历史距离与所述预测值之间的期望值；
    根据偏移后的预置双边滤波函数，得到各个所述期望值对应的置信概率；
    对各个所述期望值对应的置信概率进行归一化处理，得到所述飞行器与所述参考物之间的当前距离。
  38. 如权利要求29所述的飞行器，其特征在于，所述处理器获取所述飞行器与所述参考物之间的距离，包括：
    响应于检测到所述飞行器处于穿梭状态，通过预置位置传感器获取所述飞行器与所述参考物之间的横向距离；
    所述处理器根据预先建立的所述飞行器与所述参考物之间的距离和飞行策略之间的对应关系，获取所述距离对应的飞行策略，包括：
    根据预先建立的所述飞行器与所述参考物之间的横向距离和飞行速度之间的对应关系，获取所述横向距离对应的飞行速度。
  39. 如权利要求29至38任一项所述的飞行器，其特征在于，所述处理器获取所述飞行器与所述参考物之间的距离之前，所述装置还包括：
    确定所述飞行器处于避障模式。
  40. 如权利要求29至39任一项所述的飞行器，其特征在于，所述处理器还用于执行以下操作：
    与所述控制设备之间建立通信连接；
    通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
    响应于所述关闭指令，关闭所述避障模式。
  41. 如权利要求29至39任一项所述的飞行器，其特征在于，所述处理器还用于执行以下操作：
    响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令；
    响应于所述关闭指令，关闭所述避障模式。
  42. 一种飞行控制装置，其特征在于，所述装置包括：
    通信连接建立模块，用于与所述控制设备之间建立通信连接；
    关闭指令接收模块，用于通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
    避障模式关闭模块，用于响应于所述关闭指令，关闭所述避障模式。
  43. 如权利要求42所述的飞行控制装置，其特征在于，所述装置还包括：
    关闭指令生成模块，用于响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令；
    所述避障模式关闭模块，还用于响应于所述关闭指令，关闭所述避障模式。
  44. 一种飞行器，其特征在于，所述飞行器包括输入设备、输出设备、处理器以及存储器，所述存储器中存储有程序指令，且所述处理器调用所述存储器中存储的程序指令以用于：
    与所述控制设备之间建立通信连接；
    通过与所述控制设备之间的通信连接接收所述控制设备发送的对避障模式的关闭指令，所述关闭指令是所述控制设备检测到用户对所述控制设备中预置按键的点击操作时生成的；
    响应于所述关闭指令，关闭所述避障模式。
  45. 如权利要求44所述的飞行器，其特征在于，所述处理器还用于执行以下操作：
    响应于检测到所述飞行器处于穿梭状态，生成对所述避障模式的关闭指令；
    响应于所述关闭指令，关闭所述避障模式。
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