High-rise fire rescue unmanned aerial vehicle anti-collision early warning method

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High-rise fire rescue unmanned aerial vehicle anti-collision early warning method

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YANG ZEYUN / WANG YUEPENG / YANG TAO / SEO JONG-SUNG

The invention relates to the technical field of unmanned aerial vehicle anti-collision early warning, in particular to a high-rise fire rescue unmanned aerial vehicle anti-collision early warning method. The method comprises the following steps: determining a scanning time interval based on the real-time speed of an unmanned aerial vehicle in a high-rise fire rescue process, and obtaining point cloud data corresponding to each scanning; according to the number of the data points on the barrier reference surface corresponding to the current scanning, the number of the data points projected by the unmanned aerial vehicle on the barrier reference surface, and the distance between the unmanned aerial vehicle and the barrier reference surface, obtaining an early warning threshold value of the main direction; and obtaining an early warning threshold value of each secondary direction at the current moment based on the relative position of the unmanned aerial vehicle and the reference surface of the obstacle during each scanning and the early warning threshold value of the main direction, and further judging whether to perform anti-collision early warning on the unmanned aerial vehicle or not. The early warning accuracy of the unmanned aerial vehicle in the high-rise fire rescue process is guaranteed, and meanwhile the early warning real-time performance is improved.

本发明涉及无人机防撞预警技术领域，具体涉及一种高层消防救援无人机防撞预警方法。方法包括：基于无人机在高层消防救援过程中的实时速度确定扫描时间间隔，获取每次扫描对应的点云数据；根据当前次扫描对应的障碍物参考面上数据点的数量、无人机投射到障碍物参考面上数据点的数量、无人机与障碍物参考面的距离，得到主方向的预警阈值；基于每次扫描时无人机与障碍物参考面的相对位置以及主方向的预警阈值，得到当前时刻每个次要方向的预警阈值，进而判断是否对无人机进行防撞预警。本发明在保证高层消防救援过程中无人机预警准确度的同时提高了预警的实时性。