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WO2018094583A1 - 无人机避障控制方法、飞行控制器及无人飞行器 - Google Patents

无人机避障控制方法、飞行控制器及无人飞行器 Download PDF

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Publication number
WO2018094583A1
WO2018094583A1 PCT/CN2016/106832 CN2016106832W WO2018094583A1 WO 2018094583 A1 WO2018094583 A1 WO 2018094583A1 CN 2016106832 W CN2016106832 W CN 2016106832W WO 2018094583 A1 WO2018094583 A1 WO 2018094583A1
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WO
WIPO (PCT)
Prior art keywords
uav
unmanned aerial
aerial vehicle
distance
flight
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/CN2016/106832
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English (en)
French (fr)
Inventor
邹尧
王春明
王俊喜
闫光
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 CN201910509349.0A priority Critical patent/CN110134145A/zh
Priority to PCT/CN2016/106832 priority patent/WO2018094583A1/zh
Priority to CN201680002598.5A priority patent/CN107077148B/zh
Publication of WO2018094583A1 publication Critical patent/WO2018094583A1/zh
Priority to US16/417,074 priority patent/US11126202B2/en
Anticipated expiration legal-status Critical
Priority to US17/479,339 priority patent/US20220004201A1/en
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
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • 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
    • 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
    • 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
    • G05D1/1064—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones specially adapted for avoiding collisions with other 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

Definitions

  • the embodiments of the present invention relate to the field of drones, and in particular, to a drone obstacle avoidance control method, a flight controller, and an unmanned aerial vehicle.
  • the UAV is usually equipped with a radar.
  • the working height is usually below 4 m, and the working environment between the farms is complicated, and the obstacle avoidance radar becomes a necessary equipment for the agricultural plant protection drone.
  • agricultural plant protection drones sometimes work in hilly, sloping fields, terraces and other environments. Due to the complexity of terrain such as hills, sloping fields and terraces, the agricultural plant protection drones are forwarded at the same altitude.
  • the obstacle in front of the drone may be the ground of a hill, slope or terrace. If the ground in front of the agricultural plant protection drone is used as an obstacle to trigger the obstacle avoidance function of the drone, such as stopping the forward flight, then The agricultural plant protection drones are unable to operate normally in hilly, sloping fields and terraces.
  • the embodiment of the invention provides a drone obstacle avoidance control method, a flight controller and an unmanned aerial vehicle, so that the agricultural unmanned aerial vehicle can operate normally in hills, sloping fields, terraces and the like.
  • An aspect of the embodiments of the present invention provides a method for controlling an obstacle avoidance of a drone, including:
  • the flying height of the UAV is controlled according to the distance between the UAV and the front object.
  • Another aspect of an embodiment of the present invention is to provide a flight controller including one or more processors that work separately or in cooperation, the processor being used to:
  • the flying height of the UAV is controlled according to the distance between the UAV and the front object.
  • a power system mounted to the fuselage for providing flight power
  • a flight controller communicatively coupled to the power system for controlling flight of the unmanned aerial vehicle;
  • the flight controller including one or more processors operating separately or in cooperation, the processor for:
  • the flying height of the UAV is controlled according to the distance between the UAV and the front object.
  • the unmanned aerial vehicle obstacle avoidance control method, the flight controller and the unmanned aerial vehicle provided by the embodiment control the flying height of the unmanned aerial vehicle by the distance between the unmanned aerial vehicle and the front object, and the flying height of the unmanned aerial vehicle Increasing, the distance between the UAV and the object in front increases, and as the UAV flies forward, when the distance between the UAV and the object in front is less than the safety distance, the flying height of the UAV is increased.
  • the agricultural unmanned aerial vehicles can increase the flying height in the hills, slopes, terraces and other environments, and ensure that the agricultural unmanned aerial vehicles can operate normally.
  • FIG. 1 is a flowchart of a method for controlling an obstacle avoidance of a drone according to an embodiment of the present invention
  • FIG. 3 is an application scenario of an unmanned obstacle avoidance control method according to an embodiment of the present invention.
  • FIG. 4 is an application scenario of an unmanned obstacle avoidance control method according to an embodiment of the present invention.
  • FIG. 5 is an application scenario of an unmanned obstacle avoidance control method according to an embodiment of the present invention.
  • FIG. 6 is another application scenario of an unmanned obstacle avoidance control method according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of adjusting a flight direction according to an embodiment of the present invention.
  • FIG. 8 is another application scenario of an unmanned obstacle avoidance control method according to an embodiment of the present invention.
  • FIG. 9 is another application scenario of an unmanned obstacle avoidance control method according to an embodiment of the present invention.
  • FIG. 10 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 11 is a structural diagram of an unmanned aerial vehicle according to another embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • FIG. 1 is a flowchart of a method for controlling an obstacle avoidance of a drone according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Obtain a distance between the UAV and a front object in a flight direction of the UAV.
  • the unmanned aerial vehicle is equipped with a detecting device for detecting an object around the unmanned aerial vehicle.
  • the detecting device can detect the height of the unmanned aerial vehicle from the ground below it, and can also detect
  • the detecting device is specifically configured to detect the distance between the unmanned aerial vehicle and the front object in the flight direction of the unmanned aerial vehicle, as shown in the figure.
  • 21 denotes a detecting device mounted on the unmanned aerial vehicle, the ground below the unmanned aerial vehicle is a slope, and the unmanned aerial vehicle flies forward in the horizontal direction, as indicated by the arrow 1, in this embodiment, and
  • the specific flight direction of the UAV is not limited, and the detecting device 21 can detect that the distance between the ground in front of the detecting device in the horizontal direction and the detecting device is d, and the height of the ground in the vertical direction from the detecting device is h.
  • the distance d between the ground in front of the detecting device and the detecting device indicates the distance between the front ground in the flight direction of the unmanned aerial vehicle and the unmanned aerial vehicle, and the height of the ground detecting device from the ground below is detected in the vertical direction. Indicates the height of the UAV from the ground below.
  • the detecting device may specifically be at least one of the following: a radar sensor, an ultrasonic sensor, a TOF ranging sensor, a visual sensor, and a laser sensor.
  • the execution body of the method of the embodiment may be a flight controller on the unmanned aerial vehicle, and the flight controller acquires the distance between the front ground and the unmanned aerial vehicle in the flight direction of the unmanned aerial vehicle from the detecting device.
  • Step S102 Control a flying height of the UAV according to a distance between the UAV and the front object.
  • the UAV flies forward for example, the UAV flies from position A to position B, its distance d from the front ground is continuously reduced, and if it is in position B, the unmanned aerial vehicle The distance d from the front ground is less than the preset first safety distance and is greater than the preset second safety distance, then the flying height of the unmanned aerial vehicle is increased at the position B to reach the position C as shown in FIG. Wherein the first safety distance is greater than the second safety distance.
  • the flight controller controls the unmanned aerial vehicle to increase in position B such that d1 is greater than or equal to The flying height of the first safety distance.
  • the ground below the unmanned aerial vehicle is a terrace, and the unmanned aerial vehicle flies forward in the horizontal direction.
  • the position A detecting device 21 detects the ground in front of the detecting device in the horizontal direction.
  • the distance from the detecting device is d, and the height of the ground below the detecting device from the vertical direction is h.
  • the unmanned aerial vehicle flies forward, for example, the UAV flies from position A to position B, its distance d from the front ground is continuously reduced, and if at position B, between the unmanned aerial vehicle and the front ground If the distance d is less than the preset first safety distance and greater than the preset second safety distance, the flying height of the unmanned aerial vehicle is increased at the position B to reach the position C as shown in FIG. 5; A safety distance is greater than the second safety distance.
  • the flight controller controls the unmanned aerial vehicle to increase in position B such that d1 is greater than or equal to The flying height of the first safety distance.
  • the unmanned aerial vehicle in this embodiment may specifically be an agricultural unmanned aerial vehicle.
  • the flying height of the UAV is controlled by the distance between the UAV and the object in front, and as the flying height of the UAV increases, the distance between the UAV and the object in front increases.
  • the unmanned aerial vehicle flies forward.
  • the flying height of the unmanned aerial vehicle is increased, so that the agricultural unmanned aerial vehicle can be in the environment of hills, slopes, terraces, etc., along with the terrain. Raising and increasing the flying height ensures that the agricultural unmanned aerial vehicle can operate normally.
  • Embodiments of the present invention provide a method for controlling an obstacle avoidance of a drone. Based on the embodiment shown in FIG. 1, if the distance between the UAV and the front object is less than the second safety distance, adjusting the flight path of the UAV or controlling the unmanned The aircraft stops flying in the original flight direction. As shown in FIG. 2, if the distance between the UAV and the front ground is less than the second safety distance at position A or position B, the flight controller adjusts the flight path of the UAV or controls the unmanned The aircraft stops flying in the original flight direction. As shown in FIG. 6, on the basis of FIG. 3, it is assumed that there are obstacles such as trees, iron towers, etc. in front of the flight direction of the UAV, and the height of such obstacles is usually more than 8 meters.
  • trees are used as obstacles.
  • Object 22 if at position B, the distance d between the UAV and the obstacle 22 is less than a preset first safety distance and greater than a preset second safety distance, then the position of the unmanned aerial vehicle is increased at position B The flying height reaches the position C as shown in FIG. 6, and the distance d1 between the position C and the obstacle 22 of the UAV is smaller than the distance between the unmanned aerial vehicle and the front ground at the position B, if d1 is smaller than the first
  • the second safety distance adjusts the flight path of the UAV or controls the UAV to stop flying in the original flight direction.
  • the flight controller adjusts the flight path of the UAV, which can be implemented in the following two ways:
  • the height of the UAV continues to be increased such that the flight path of the UAV crosses the front object.
  • the height of the unmanned aerial vehicle is continuously increased at position C, and the position D is reached.
  • the detection direction of the detecting device 21 is not affected by the obstacle 22, that is, further at the position C.
  • Increasing the height of the UAV should be such that the obstacle 22 is not in the direction of detection of the detection device 21 and the UAV continues to fly forward from position D, the flight path of which will cross the obstacle 22.
  • the UAV rises from position B to position C, and from position C to position D, its flight direction does not change, and always moves in the direction of arrow 1 forward, ie the flight controller is raising the At the flight altitude of the unmanned aerial vehicle, the unmanned aerial vehicle is simultaneously controlled to continue flying in the original flight direction.
  • the flight controller may also control the UAV to stop flying in the original flight direction while increasing the flying height of the UAV.
  • the flight controller controls the unmanned aerial vehicle to stop continuing flight in the original flight direction, for example, controlling the unmanned aerial vehicle to be in a hovering state.
  • the ground below the unmanned aerial vehicle is a terrace.
  • an obstacle 22 such as a tree in front of the flying direction of the unmanned aerial vehicle
  • the flight controller can control the unmanned aircraft to hover at the position C, and can also adjust the heading angle of the unmanned aerial vehicle, as shown in FIG.
  • the height of the unmanned aerial vehicle is continuously increased to reach the position D such that the obstacle 22 is not in the detecting direction of the detecting device 21.
  • the UAV when the distance between the UAV and the front object is less than the second safety distance, the UAV is prevented from continuing to fly in the original flight direction by adjusting the flight path of the UAV or controlling the UAV to avoid the UAV and the front.
  • Object collisions improve the safety of UAVs during flight, especially when flying at low altitudes.
  • Embodiments of the present invention provide a flight controller.
  • the flight controller provided in this embodiment includes one or more processors, which work separately or in cooperation, and the processor is used to: acquire unmanned flight The distance between the device and the front object in the flight direction of the unmanned aerial vehicle; controlling the flying height of the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the front object.
  • the processor is configured to determine, according to the distance between the UAV and the front object, whether the distance between the UAV and the front object is Less than the preset first safety distance and greater than the preset second safety distance; if the distance between the UAV and the front object is less than a preset first safety distance, and greater than the preset second
  • the safety distance is controlled to increase the flying height of the UAV to increase the distance between the UAV and the front object; wherein the first safety distance is greater than the second safety distance.
  • the distance between the unmanned aerial vehicle and the front object increases, so that the distance between the unmanned aerial vehicle and the front object is greater than or equal to The first safety distance.
  • the flying height of the UAV is controlled by the distance between the UAV and the object in front, and as the flying height of the UAV increases, the distance between the UAV and the object in front increases.
  • the unmanned aerial vehicle flies forward.
  • the flying height of the unmanned aerial vehicle is increased, so that the agricultural unmanned aerial vehicle can be in the environment of hills, slopes, terraces, etc., along with the terrain. Raising and increasing the flying height ensures that the agricultural unmanned aerial vehicle can operate normally.
  • Embodiments of the present invention provide a flight controller. Based on the above embodiment, if the distance between the UAV and the front object is less than the second safety distance, the processor adjusts a flight path of the UAV or controls the The human aircraft stops flying in the original flight direction.
  • the processor controls the unmanned aerial vehicle to increase the flying height while controlling the unmanned aerial vehicle to continue flying in the original flight direction; or the processor controls the unmanned aerial vehicle to increase the flying height, and controls the The human aircraft stops flying in the original flight direction.
  • the height of the UAV continues to be increased such that the flight path of the UAV crosses the front object.
  • the processor can control the unmanned aerial vehicle to stop flying in the original flight direction in an achievable manner: controlling the unmanned aerial vehicle to be in a hovering state.
  • the processor when the processor acquires the distance between the UAV and the front object in the flight direction of the UAV, the processor is specifically configured to: detect the UAV and the device by using the detecting device carried by the UAV The distance between the front objects in the flight direction of the unmanned aerial vehicle.
  • the detecting device includes at least one of a radar sensor, an ultrasonic sensor, a TOF ranging sensor, a visual sensor, and a laser sensor.
  • the UAV when the distance between the UAV and the front object is less than the second safety distance, the UAV is prevented from continuing to fly in the original flight direction by adjusting the flight path of the UAV or controlling the UAV to avoid the UAV and the front.
  • Object collisions improve the safety of UAVs during flight, especially when flying at low altitudes.
  • Embodiments of the present invention provide an unmanned aerial vehicle.
  • 10 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 100 includes: a fuselage, a power system, a detecting device 21, and a flight controller 118, and the power system includes at least the following a motor 107, a propeller 106 and an electronic governor 117, the power system is mounted on the airframe for providing flight power; the detecting device 21 is mounted on the fuselage, and is communicably connected with the flight controller.
  • the object around the UAV is detected, specifically for detecting the distance between the UAV and the front object in the flight direction of the UAV, and the height of the ground below the detection device from the vertical direction.
  • a flight controller 118 is communicatively coupled to the power system for controlling the UAV flight; wherein the flight controller 118 includes an inertial measurement unit and a gyroscope.
  • the inertial measurement unit and the gyroscope are configured to detect acceleration, pitch angle, roll angle and deviation of the drone Angle and so on.
  • the unmanned aerial vehicle 100 further includes: a communication system 110, a supporting device 102, and a photographing device 104.
  • the supporting device 102 may specifically be a pan/tilt.
  • the communication system 110 may specifically include a receiver and a receiver.
  • the wireless signal transmitted at the antenna 114 of the receiving ground station 112, 116, represents the electromagnetic waves generated during communication between the receiver and the antenna 114.
  • the flying height of the UAV is controlled by the distance between the UAV and the object in front, and as the flying height of the UAV increases, the distance between the UAV and the object in front increases.
  • the unmanned aerial vehicle flies forward.
  • the flying height of the unmanned aerial vehicle is increased, so that the agricultural unmanned aerial vehicle can be in the environment of hills, slopes, terraces, etc., along with the terrain. Raising and increasing the flying height ensures that the agricultural unmanned aerial vehicle can operate normally.
  • FIG. 11 is a structural diagram of an unmanned aerial vehicle according to another embodiment of the present invention.
  • the detecting device 21 includes an obstacle avoidance sensor 211 and a height sensor 212, and the obstacle avoidance sensor 211 and the flight
  • the controller 118 is communicatively coupled to sense a distance between the UAV and the front object; the height sensor 212 is communicatively coupled to the flight controller 118 for sensing the relative height of the drone from the ground .
  • the distance between the unmanned aerial vehicle and the front object is detected by the obstacle avoidance sensor, and the relative height of the drone from the ground is detected by the height sensor, and the detection between the unmanned aerial vehicle and the front object is simultaneously detected by one detecting device.
  • the distance and the relative height of the drone from the ground improve the detection accuracy.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, actual There may be additional divisions at present, for example multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

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  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种无人机避障控制方法、飞行控制器及无人飞行器，该方法包括：获取无人飞行器（100）与其飞行方向上的前方物体之间的距离（S101）；根据该距离控制无人飞行器（100）的飞行高度（S102）。该控制方法通过无人飞行器（100）与前方物体之间的距离，控制无人飞行器（100）的飞行高度，随着飞行高度的增加，无人飞行器（100）与前方物体之间的距离随之增大，随着无人飞行器（100）向前飞行，当无人飞行器（100）与前方物体之间的距离小于安全距离时，提高无人飞行器（100）的飞行高度，保证了农业无人飞行器可以正常作业。

Description

无人机避障控制方法、飞行控制器及无人飞行器 技术领域
本发明实施例涉及无人机领域，尤其涉及一种无人机避障控制方法、飞行控制器及无人飞行器。
背景技术
现有技术中无人飞行器通常设置有雷达，对于农业植保无人机，其作业高度通常在4m以下，并且农田间作业环境复杂，避障雷达成为了农业植保无人机的必须设备。
但是，农业植保无人机有时工作在丘陵、坡地、梯田等环境，由于丘陵、坡地、梯田等地形的复杂性，导致农业植保无人机在同一高度向前飞行时，雷达远距离探测到的无人机前方的障碍物可能是较高处的丘陵、坡地或梯田的地面，若将农业植保无人机前方的地面作为障碍物触发无人机的避障功能，例如停止向前飞行，则导致农业植保无人机无法在丘陵、坡地、梯田等环境正常作业。
发明内容
本发明实施例提供一种无人机避障控制方法、飞行控制器及无人飞行器，以使农业无人飞行器可以在丘陵、坡地、梯田等环境正常作业。
本发明实施例的一个方面是提供一种无人机避障控制方法，包括：
获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离；
根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
本发明实施例的另一个方面是提供一种飞行控制器，包括一个或多个处理器，单独或协同工作，所述处理器用于：
获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离；
根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
本发明实施例的另一个方面是提供一种无人飞行器，包括：
机身；
动力系统，安装在所述机身，用于提供飞行动力；
飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；所述飞行控制器包括一个或多个处理器，单独或协同工作，所述处理器用于：
获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离；
根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
本实施例提供的无人机避障控制方法、飞行控制器及无人飞行器，通过无人飞行器与前方物体之间的距离，控制无人飞行器的飞行高度，随着无人飞行器的飞行高度的增加，无人飞行器与前方物体之间的距离随之增大，随着无人飞行器向前飞行，当无人飞行器与前方物体之间的距离小于安全距离时，提高无人飞行器的飞行高度，使得农业无人飞行器在丘陵、坡地、梯田等环境，可以随着地形升高而增加飞行高度，保证了农业无人飞行器可以正常作业。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的无人机避障控制方法的流程图；
图2为本发明实施例提供的无人机避障控制方法适用的应用场景；
图3为本发明实施例提供的无人机避障控制方法适用的应用场景；
图4为本发明实施例提供的无人机避障控制方法适用的应用场景；
图5为本发明实施例提供的无人机避障控制方法适用的应用场景；
图6为本发明实施例提供的无人机避障控制方法适用的另一应用场景；
图7为本发明实施例提供的调整飞行方向的示意图；
图8为本发明实施例提供的无人机避障控制方法适用的另一应用场景；
图9为本发明实施例提供的无人机避障控制方法适用的另一应用场景；
图10为本发明实施例提供的无人飞行器的结构图；
图11为本发明另一实施例提供的无人飞行器的结构图。
附图标记：
1-飞行方向  2-调整之前的飞行方向  3-调整之后的飞行方向
21-探测设备  22-障碍物  30-当前位置
31-飞行轨迹  100-无人飞行器
107-电机  106-螺旋桨  117-电子调速器
118-飞行控制器  110-通信系统
102-支撑设备  104-拍摄设备  112-地面站
114-天线  116-电磁波  211-避障传感器
212-高度传感器
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书 中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种无人机避障控制方法。图1为本发明实施例提供的无人机避障控制方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤S101、获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离。
在本实施例中，无人飞行器搭载有探测设备，该探测设备用于探测无人飞行器的周围的物体，具体的，该探测设备可以探测该无人飞行器距离其下方地面的高度，也可以探测该无人飞行器距离其斜前方地面的高度和距离，在本实施例中，该探测设备具体用于探测无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离，如图2所示，21表示无人飞行器上搭载的探测设备，无人飞行器下方的地面是斜坡，无人飞行器沿着水平方向向前飞行，如箭头1所示的方向，在本实施例中，并不限定无人飞行器的具体飞行方向，探测设备21可探测到水平方向上探测设备前方的地面与该探测设备的距离是d，以及垂直方向上探测设备距离下方的地面的高度是h。在本实施例中，以探测设备前方的地面与该探测设备的距离d表示无人飞行器的飞行方向上的前方地面与该无人飞行器的距离，以垂直方向上探测设备距离下方地面的高度h表示无人飞行器距离下方地面的高度。
探测设备具体可以是如下至少一种：雷达传感器、超声波传感器、TOF测距传感器、视觉传感器、激光传感器。
本实施例方法的执行主体可以是无人飞行器上的飞行控制器，飞行控制器从探测设备获取无人飞行器的飞行方向上的前方地面与该无人飞行器的距离。
步骤S102、根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
如图2所示，随着无人飞行器向前飞行，例如，无人飞行器从位置A飞到位置B，其与前方地面之间的距离d不断减小，若在位置B时，无人飞行器与前方地面之间的距离d小于预设的第一安全距离，且大于预设的第二安全距离，则在位置B提高所述无人飞行器的飞行高度，到达如图3所示的位置C；其中，所述第一安全距离大于所述第二安全距离。
如图3所示，随着所述无人飞行器的飞行高度的增加，所述无人飞行器与所述前方物体之间的距离随之增大，无人飞行器在位置B提高飞行高度后到达位置C，无人飞行器在位置C与前方地面的距离d1相比于在位置B无人飞行器与前方地面的距离大，并且无人飞行器在位置B上升的高度越大，即位置C和位置B之间的高度差越大，无人飞行器到达位置C时，无人飞行器与前方地面的距离d1越大，在本实施例中，飞行控制器控制无人飞行器在位置B提高到使d1大于或等于所述第一安全距离的飞行高度。
如图4所示，无人飞行器下方的地面是梯田，无人飞行器沿着水平方向向前飞行，如箭头1所示的方向，在位置A探测设备21探测到水平方向上探测设备前方的地面与该探测设备的距离是d，以及垂直方向上探测设备距离下方的地面的高度是h。随着无人飞行器向前飞行，例如，无人飞行器从位置A飞到位置B，其与前方地面之间的距离d不断减小，若在位置B时，无人飞行器与前方地面之间的距离d小于预设的第一安全距离，且大于预设的第二安全距离，则在位置B提高所述无人飞行器的飞行高度，到达如图5所示的位置C；其中，所述第一安全距离大于所述第二安全距离。
如图5所示，随着所述无人飞行器的飞行高度的增加，所述无人飞行器与所述前方物体之间的距离随之增大，无人飞行器在位置B提高飞行高度后到达位置C，无人飞行器在位置C与前方地面的距离d1相比于在位置B无人飞行器与前方地面的距离大，并且无人飞行器在位置B上升的高度越大，即位置C和位置B之间的高度差越大，无人飞行器到达位置C时，无人飞行器与前方地面的距离d1越大，在本实施例中，飞行控制器控制无人飞行器在位置B提高到使d1大于或等于所述第一安全距离的飞行高度。
另外，本实施例中的无人飞行器具体可以是农业无人飞行器。
本实施例通过无人飞行器与前方物体之间的距离，控制无人飞行器的飞行高度，随着无人飞行器的飞行高度的增加，无人飞行器与前方物体之间的距离随之增大，随着无人飞行器向前飞行，当无人飞行器与前方物体之间的距离小于安全距离时，提高无人飞行器的飞行高度，使得农业无人飞行器在丘陵、坡地、梯田等环境，可以随着地形升高而增加飞行高度，保证了农业无人飞行器可以正常作业。
本发明实施例提供一种无人机避障控制方法。在图1所示实施例的基础上，若所述无人飞行器与所述前方物体之间的距离小于所述第二安全距离，则调整所述无人飞行器的飞行轨迹或控制所述无人飞行器停止沿原飞行方向继续飞行。如图2所示，若在位置A或位置B时，无人飞行器与前方地面之间的距离小于第二安全距离，则飞行控制器调整所述无人飞行器的飞行轨迹或控制所述无人飞行器停止沿原飞行方向继续飞行。如图6所示，在图3的基础上，假设无人飞行器的飞行方向的前方地面存在障碍物例如树木、铁塔等，这类障碍物的高度通常大于8米，本实施例以树木作为障碍物22，若在位置B时，无人飞行器与障碍物22之间距离d小于预设的第一安全距离，且大于预设的第二安全距离，则在位置B提高所述无人飞行器的飞行高度，到达如图6所示的位置C，无人飞行器在位置C与障碍物22之间的距离d1相比于在位置B无人飞行器与前方地面的距离小，若d1小于所述第二安全距离，则调整所述无人飞行器的飞行轨迹或控制所述无人飞行器停止沿原飞行方向继续飞行。
在本实施例中，飞行控制器调整所述无人飞行器的飞行轨迹，可通过如下两种方式实现：
第一种：
调整所述无人飞行器的航向角度，以使所述无人飞行器的飞行轨迹绕开所述前方物体；如图7所示，30为无人飞行器当前的位置，箭头2表示无人飞行器当前的飞行方向，若当前位置30与前方障碍物22之间的距离d1小于所述第二安全距离，则调整无人飞行器的航向角度，例如偏离当前的飞行方向，如箭头3所示，使得无人飞行器按照如箭头3所示的 方向飞行，以使无人飞行器的飞行轨迹例31绕开障碍物22。
第二种：
继续提高所述无人飞行器的高度，使所述无人飞行器的飞行轨迹越过所述前方物体。
如图8所示，在图7的基础上，在位置C继续提高无人飞行器的高度，到达位置D，在位置D，探测设备21的探测方向不受障碍物22影响，即在位置C进一步提高无人飞行器的高度时，应使得障碍物22不在探测设备21的探测方向上，无人飞行器从位置D继续向前飞行，其飞行轨迹将越过障碍物22。
如图8所示，无人飞行器从位置B上升到位置C，以及从位置C上升到位置D，其飞行方向没有改变，始终保持箭头1的方向向前飞行，即飞行控制器在提高所述无人飞行器的飞行高度时，同时控制所述无人飞行器沿着原飞行方向继续飞行。
或者，在一些实施例中，飞行控制器还可以在提高所述无人飞行器的飞行高度时，控制所述无人飞行器停止沿原飞行方向继续飞行。例如在位置B或位置C，飞行控制器控制所述无人飞行器停止沿原飞行方向继续飞行，例如，控制所述无人飞行器处于悬停状态。
另外，如图9所示，无人飞行器下方的地面是梯田，在图5的基础上，假设无人飞行器的飞行方向的前方地面存在障碍物22例如树木，若无人飞行器上升到位置C时，与障碍物22之间距离d1小于第二安全距离，则飞行控制器可以控制无人飞行器悬停在位置C，也可以调整所述无人飞行器的航向角度，如图7所示，还可以继续提高无人飞行器的高度，到达位置D，使得障碍物22不在探测设备21的探测方向上。
本实施例中，当无人飞行器与前方物体之间的距离小于第二安全距离时，通过调整无人飞行器的飞行轨迹或控制无人飞行器停止沿原飞行方向继续飞行，避免无人飞行器与前方物体碰撞，提高了无人飞行器在飞行时的安全性，尤其是在低空飞行时的安全性。
本发明实施例提供一种飞行控制器。本实施例提供的飞行控制器包括一个或多个处理器，单独或协同工作，所述处理器用于：获取无人飞行 器与所述无人飞行器的飞行方向上的前方物体之间的距离；根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
所述处理器根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度时具体用于：判断所述无人飞行器与所述前方物体之间的距离是否小于预设的第一安全距离，且大于预设的第二安全距离；若所述无人飞行器与所述前方物体之间的距离小于预设的第一安全距离，且大于预设的第二安全距离，则控制所述无人飞行器提高飞行高度，以使所述无人飞行器与所述前方物体之间的距离增大；其中，所述第一安全距离大于所述第二安全距离。
随着所述无人飞行器的飞行高度的增加，所述无人飞行器与所述前方物体之间的距离随之增大，使所述无人飞行器与所述前方物体之间的距离大于或等于所述第一安全距离。
本发明实施例提供的飞行控制器的具体原理和实现方式均与图1所示实施例类似，此处不再赘述。
本实施例通过无人飞行器与前方物体之间的距离，控制无人飞行器的飞行高度，随着无人飞行器的飞行高度的增加，无人飞行器与前方物体之间的距离随之增大，随着无人飞行器向前飞行，当无人飞行器与前方物体之间的距离小于安全距离时，提高无人飞行器的飞行高度，使得农业无人飞行器在丘陵、坡地、梯田等环境，可以随着地形升高而增加飞行高度，保证了农业无人飞行器可以正常作业。
本发明实施例提供一种飞行控制器。在上述实施例的基础上，若所述无人飞行器与所述前方物体之间的距离小于所述第二安全距离，则所述处理器调整所述无人飞行器的飞行轨迹或控制所述无人飞行器停止沿原飞行方向继续飞行。
所述处理器控制所述无人飞行器提高飞行高度的同时控制所述无人飞行器沿着原飞行方向继续飞行；或者，所述处理器控制所述无人飞行器提高飞行高度时，控制所述无人飞行器停止沿原飞行方向继续飞行。
所述处理器调整所述无人飞行器的飞行轨迹的可实现方式有两种：
第一种：
调整所述无人飞行器的航向角度，以使所述无人飞行器的飞行轨迹绕开所述前方物体。
第二种：
继续提高所述无人飞行器的高度，使所述无人飞行器的飞行轨迹越过所述前方物体。
所述处理器控制所述无人飞行器停止沿原飞行方向继续飞行的可实现方式是：控制所述无人飞行器处于悬停状态。
另外，所述处理器获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离时具体用于：通过所述无人飞行器搭载的探测设备探测所述无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离。所述探测设备包括如下至少一种：雷达传感器、超声波传感器、TOF测距传感器、视觉传感器、激光传感器。
本发明实施例提供的飞行控制器的具体原理和实现方式均与图2所示实施例类似，此处不再赘述。
本实施例中，当无人飞行器与前方物体之间的距离小于第二安全距离时，通过调整无人飞行器的飞行轨迹或控制无人飞行器停止沿原飞行方向继续飞行，避免无人飞行器与前方物体碰撞，提高了无人飞行器在飞行时的安全性，尤其是在低空飞行时的安全性。
本发明实施例提供一种无人飞行器。图10为本发明实施例提供的无人飞行器的结构图，如图10所示，无人飞行器100包括：机身、动力系统、探测设备21和飞行控制器118，所述动力系统包括如下至少一种：电机107、螺旋桨106和电子调速器117，动力系统安装在所述机身，用于提供飞行动力；探测设备21安装在所述机身，与所述飞行控制器通信连接，用于探测无人飞行器的周围的物体，具体用于探测无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离，以及垂直方向上探测设备距离下方的地面的高度。
飞行控制器118与所述动力系统通讯连接，用于控制所述无人飞行器飞行；其中，飞行控制器118包括惯性测量单元及陀螺仪。所述惯性测量单元及所述陀螺仪用于检测所述无人机的加速度、俯仰角、横滚角及偏 航角等。
另外，如图10所示，无人飞行器100还包括：通信系统110、支撑设备102、拍摄设备104，其中，支撑设备102具体可以是云台，通信系统110具体可以包括接收机，接收机用于接收地面站112的天线114发送的无线信号，116表示接收机和天线114通信过程中产生的电磁波。
本发明实施例提供的飞行控制器的具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过无人飞行器与前方物体之间的距离，控制无人飞行器的飞行高度，随着无人飞行器的飞行高度的增加，无人飞行器与前方物体之间的距离随之增大，随着无人飞行器向前飞行，当无人飞行器与前方物体之间的距离小于安全距离时，提高无人飞行器的飞行高度，使得农业无人飞行器在丘陵、坡地、梯田等环境，可以随着地形升高而增加飞行高度，保证了农业无人飞行器可以正常作业。
本发明实施例提供一种无人飞行器。图11为本发明另一实施例提供的无人飞行器的结构图，如图11所示，在图10的基础上，探测设备21包括避障传感器211和高度传感器212，避障传感器211与飞行控制器118通信连接，用于感测所述无人飞行器与所述前方物体之间的距离；高度传感器212与飞行控制器118通信连接，用于感测所述无人机距离地面的相对高度。
本发明实施例提供的飞行控制器的具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过避障传感器检测无人飞行器与前方物体之间的距离，以及通过高度传感器检测无人机距离地面的相对高度，相比于一个探测设备同时检测无人飞行器与前方物体之间的距离和无人机距离地面的相对高度，提高了检测精度。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实 现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，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单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (28)

  1. 一种无人机避障控制方法，其特征在于，包括：
    获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离；
    根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度，包括：
    若所述无人飞行器与所述前方物体之间的距离小于预设的第一安全距离，且大于预设的第二安全距离，则提高所述无人飞行器的飞行高度；其中，所述第一安全距离大于所述第二安全距离。
  3. 根据权利要求2所述的方法，其特征在于，随着所述无人飞行器的飞行高度的增加，所述无人飞行器与所述前方物体之间的距离随之增大，使所述无人飞行器与所述前方物体之间的距离大于或等于所述第一安全距离。
  4. 根据权利要求2所述的方法，其特征在于，还包括：
    若所述无人飞行器与所述前方物体之间的距离小于所述第二安全距离，则调整所述无人飞行器的飞行轨迹或控制所述无人飞行器停止沿原飞行方向继续飞行。
  5. 根据权利要求2所述的方法，其特征在于，在提高所述无人飞行器的飞行高度时，同时控制所述无人飞行器沿着原飞行方向继续飞行；
    或者，在提高所述无人飞行器的飞行高度时，控制所述无人飞行器停止沿原飞行方向继续飞行。
  6. 根据权利要求4所述的方法，其特征在于，所述调整所述无人飞行器的飞行轨迹，包括：
    调整所述无人飞行器的航向角度，以使所述无人飞行器的飞行轨迹绕开所述前方物体；
    或者，继续提高所述无人飞行器的高度，使所述无人飞行器的飞行轨迹越过所述前方物体。
  7. 根据权利要求4或5所述的方法，其特征在于，所述控制所述无人飞行器停止沿原飞行方向继续飞行，包括：
    控制所述无人飞行器处于悬停状态。
  8. 根据权利要求1所述的方法，其特征在于，所述获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离，包括：
    通过所述无人飞行器搭载的探测设备探测所述无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离。
  9. 根据权利要求8所述的方法，其特征在于，所述探测设备包括如下至少一种：
    雷达传感器、超声波传感器、TOF测距传感器、视觉传感器、激光传感器。
  10. 一种飞行控制器，其特征在于，包括一个或多个处理器，单独或协同工作，所述处理器用于：
    获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离；
    根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
  11. 根据权利要求10所述的飞行控制器，其特征在于，所述处理器根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度时具体用于：
    判断所述无人飞行器与所述前方物体之间的距离是否小于预设的第一安全距离，且大于预设的第二安全距离；
    若所述无人飞行器与所述前方物体之间的距离小于预设的第一安全距离，且大于预设的第二安全距离，则控制所述无人飞行器提高飞行高度，以使所述无人飞行器与所述前方物体之间的距离增大；
    其中，所述第一安全距离大于所述第二安全距离。
  12. 根据权利要求11所述的飞行控制器，其特征在于，随着所述无人飞行器的飞行高度的增加，所述无人飞行器与所述前方物体之间的距离随之增大，使所述无人飞行器与所述前方物体之间的距离大于或等于所述第一安全距离。
  13. 根据权利要求11所述的飞行控制器，其特征在于，若所述无人飞行器与所述前方物体之间的距离小于所述第二安全距离，则所述处理器调整所述无人飞行器的飞行轨迹或控制所述无人飞行器停止沿原飞行方向继续飞行。
  14. 根据权利要求11所述的飞行控制器，其特征在于，所述处理器控制所述无人飞行器提高飞行高度的同时控制所述无人飞行器沿着原飞行方向继续飞行；
    或者，所述处理器控制所述无人飞行器提高飞行高度时，控制所述无人飞行器停止沿原飞行方向继续飞行。
  15. 根据权利要求13所述的飞行控制器，其特征在于，所述处理器调整所述无人飞行器的飞行轨迹时具体用于：
    调整所述无人飞行器的航向角度，以使所述无人飞行器的飞行轨迹绕开所述前方物体；
    或者，继续提高所述无人飞行器的高度，使所述无人飞行器的飞行轨迹越过所述前方物体。
  16. 根据权利要求13或14所述的飞行控制器，其特征在于，所述处理器控制所述无人飞行器停止沿原飞行方向继续飞行时具体用于：
    控制所述无人飞行器处于悬停状态。
  17. 根据权利要求10所述的飞行控制器，其特征在于，所述处理器获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离时具体用于：
    通过所述无人飞行器搭载的探测设备探测所述无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离。
  18. 根据权利要求17所述的飞行控制器，其特征在于，所述探测设备包括如下至少一种：
    雷达传感器、超声波传感器、TOF测距传感器、视觉传感器、激光传感器。
  19. 一种无人飞行器，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于提供飞行动力；
    飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；所述飞行控制器包括一个或多个处理器，单独或协同工作，所述处理器用于：
    获取无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离；
    根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度。
  20. 根据权利要求19所述的无人飞行器，其特征在于，所述处理器根据所述无人飞行器与所述前方物体之间的距离，控制所述无人飞行器的飞行高度时具体用于：
    判断所述无人飞行器与所述前方物体之间的距离是否小于预设的第一安全距离，且大于预设的第二安全距离；
    若所述无人飞行器与所述前方物体之间的距离小于预设的第一安全距离，且大于预设的第二安全距离，则控制所述无人飞行器提高飞行高度，以使所述无人飞行器与所述前方物体之间的距离增大；
    其中，所述第一安全距离大于所述第二安全距离。
  21. 根据权利要求20所述的无人飞行器，其特征在于，随着所述无人飞行器的飞行高度的增加，所述无人飞行器与所述前方物体之间的距离随之增大，使所述无人飞行器与所述前方物体之间的距离大于或等于所述第一安全距离。
  22. 根据权利要求20所述的无人飞行器，其特征在于，若所述无人飞行器与所述前方物体之间的距离小于所述第二安全距离，则所述处理器调整所述无人飞行器的飞行轨迹或控制所述无人飞行器停止沿原飞行方向继续飞行。
  23. 根据权利要求20所述的无人飞行器，其特征在于，所述处理器控制所述无人飞行器提高飞行高度的同时控制所述无人飞行器沿着原飞行方向继续飞行；
    或者，所述处理器控制所述无人飞行器提高飞行高度时，控制所述无人飞行器停止沿原飞行方向继续飞行。
  24. 根据权利要求22所述的无人飞行器，其特征在于，所述处理器 调整所述无人飞行器的飞行轨迹时具体用于：
    调整所述无人飞行器的航向角度，以使所述无人飞行器的飞行轨迹绕开所述前方物体；
    或者，继续提高所述无人飞行器的高度，使所述无人飞行器的飞行轨迹越过所述前方物体。
  25. 根据权利要求22或23所述的无人飞行器，其特征在于，所述处理器控制所述无人飞行器停止沿原飞行方向继续飞行时具体用于：
    控制所述无人飞行器处于悬停状态。
  26. 根据权利要求19所述的无人飞行器，其特征在于，还包括：
    探测设备，安装在所述机身，与所述飞行控制器通信连接，用于探测所述无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离，并将所述无人飞行器与所述无人飞行器的飞行方向上的前方物体之间的距离传输给所述处理器。
  27. 根据权利要求26所述的无人飞行器，其特征在于，所述探测设备包括如下至少一种：
    雷达传感器、超声波传感器、TOF测距传感器、视觉传感器、激光传感器。
  28. 根据权利要求26所述的无人飞行器，其特征在于，所述探测设备包括：
    避障传感器，与所述飞行控制器通信连接，用于感测所述无人飞行器与所述前方物体之间的距离；
    高度传感器，与所述飞行控制器通信连接，用于感测所述无人机距离地面的相对高度。
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