Obstacle-avoidance control method for unmanned aerial vehicle (uav), flight controller and uav

Abstract

An obstacle-avoidance control method comprises acquiring a distance between an unmanned aerial vehicle (UAV) and a front object in a flying direction of the UAV; and controlling a flying altitude of the UAV according to the distance between the UAV and the front object, including in response to determining that the distance between the UAV and the front object is smaller than a safety distance, adjusting a flight trajectory of the UAV or controlling the UAV to stop flying in the flying direction.

What is claimed is: 
     
         1 . An obstacle-avoidance control method comprising:
 acquiring a distance between an unmanned aerial vehicle (UAV) and a front object in a flying direction of the UAV; and   controlling a flying altitude of the UAV according to the distance between the UAV and the front object, including:
 in response to determining that the distance between the UAV and the front object is smaller than a safety distance, adjusting a flight trajectory of the UAV or controlling the UAV to stop flying in the flying direction. 
   
     
     
         2 . The method of  claim 1 , wherein:
 the safety distance is a first safety distance; and   controlling the flying altitude of the UAV according to the distance between the UAV and the front object further includes:
 in response to determining that the distance between the UAV and the front object is smaller than a second safety distance and greater than the first safety distance, increasing the flying altitude of the UAV, the second safety distance being greater than the first safety distance. 
   
     
     
         3 . The method of  claim 2 , wherein increasing the flying altitude of the UAV includes:
 increasing the flying altitude of the UAV to increase the distance between the UAV and the front object to be greater than or equal to the second safety distance.   
     
     
         4 . The method of  claim 1 , wherein adjusting the flight trajectory of the UAV includes at least one of:
 adjusting a heading angle of the UAV to enable the flight trajectory of the UAV to bypass the front object; or   increasing the flying altitude of the UAV to enable the flight trajectory of the UAV to pass over the front object.   
     
     
         5 . The method of  claim 1 , wherein controlling the UAV to stop flying in the flying direction includes:
 controlling the UAV to be in a hovering state.   
     
     
         6 . The method of  claim 1 , wherein controlling the flying altitude of the UAV according to the distance between the UAV and the front object further includes at least one of:
 simultaneously increasing the flying altitude of the UAV and controlling the UAV to continue flying in the flying direction; or   increasing the flying altitude of the UAV and controlling the UAV to stop flying in the flying direction.   
     
     
         7 . The method of  claim 6 , wherein controlling the UAV to stop flying in the flying direction includes:
 controlling the UAV to be in a hovering state.   
     
     
         8 . The method of  claim 1 , wherein acquiring the distance between the UAV and the front object in the flying direction of the UAV includes:
 acquiring the distance between the UAV and the front object in the flying direction of the UAV via a detecting device carried by the UAV.   
     
     
         9 . The method of  claim 8 , wherein:
 the detecting device includes at least one of a radar sensor, an ultrasonic sensor, a time of flight (TOF) ranging sensor, a visual sensor, or a laser sensor.   
     
     
         10 . An unmanned aerial vehicle (UAV) comprising:
 a fuselage;   a power system mounted at the fuselage and configured to provide flight power; and   a flight controller in communication with the power system to control the UAV, including one or more processors configured to, individually or cooperatively, execute instructions to:
 acquire a distance between the UAV and a front object in a flying direction of the UAV; and 
 control a flying altitude of the UAV according to the acquired distance between the UAV and the front object, including:
 in response to determining that the distance between the UAV and the front object is smaller than a safety distance, adjusting a flight trajectory of the UAV or control the UAV to stop flying in the flying direction. 
 
   
     
     
         11 . The UAV of  claim 10 , wherein:
 the safety distance is a first safety distance; and   the one or more processors are further configured to execute the instructions to control the flying altitude of the UAV according to the acquired distance between the UAV and the front object by:
 determining whether the distance between the UAV and the front object is smaller than a second safety distance and greater than the first safety distance, and 
   in response to determining that the distance between the UAV and the front object is smaller than the second safety distance and greater than the first safety distance, increasing the flying altitude of the UAV to increase the distance between the UAV and the front object, the second safety distance being greater than the first safety distance.   
     
     
         12 . The UAV of  claim 11 , wherein the one or more processors are further configured to execute the instructions to increase the flying altitude of the UAV to increase the distance between the UAV and the front object by:
 increasing the flying altitude of the UAV to increase the distance between the UAV and the front object to be greater than or equal to the first safety distance.   
     
     
         13 . The UAV of  claim 10 , wherein the one or more processors are further configured to execute the instructions to adjust the flight trajectory of the UAV by performing at least one of:
 adjusting a heading angle of the UAV to enable the flight trajectory of the UAV to bypass the front object; or   increasing the flying altitude of the UAV to enable the flight trajectory of the UAV to pass over the front object.   
     
     
         14 . The UAV of  claim 10 , wherein the one or more processors are further configured to execute the instructions to control the UAV to stop flying in the flying direction by:
 controlling the UAV to be in a hovering state.   
     
     
         15 . The UAV of  claim 10 , wherein the one or more processors are further configured to execute the instructions to control the flying altitude of the UAV according to the acquired distance between the UAV and the front object by performing at least one of:
 simultaneously increasing the flying altitude of the UAV and control the UAV to continue flying in the flying direction; or   increasing the flying altitude of the UAV and control the UAV to stop flying in the flying direction.   
     
     
         16 . The UAV of  claim 15 , wherein the one or more processors are further configured to execute the instructions to control the UAV to stop flying in the flying direction by:
 controlling the UAV to be in a hovering state.   
     
     
         17 . The UAV of  claim 10 , further comprising:
 a detecting device mounted at the fuselage and communicating with the flight controller, wherein the detecting device is configured to:
 detect the distance between the UAV and the front object in the flying direction of the UAV, and 
 transmit the distance between the UAV and the front object in the flying direction of the UAV to the one or more processors. 
   
     
     
         18 . The UAV of  claim 17 , wherein:
 the detecting device includes at least one of a radar sensor, an ultrasonic sensor, a time of flight (TOF) ranging sensor, a visual sensor, or a laser sensor.