无人机自动避障的方式，你晓得几种？
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">上期给<span style="color: black;">大众</span>分享了一个无人机躲避<span style="color: black;">阻碍</span>物并<span style="color: black;">自动</span>规划飞行路线的视频。</span></p>
<div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/66be5345ee0f457b89fc117edf054f0f~noop.image?_iz=58558&from=article.pc_detail&lk3s=953192f4&x-expires=1724919712&x-signature=%2B%2FC8IZlyz6EDC26tN9m2pJ5nDSY%3D" style="width: 50%; margin-bottom: 20px;"></div>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">在视频中，无人机<span style="color: black;">能够</span>自动检测<span style="color: black;">阻碍</span>物并且自动躲避以防止事故<span style="color: black;">出现</span>。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">既然都说了这期展开讲讲，那填坑这种事儿，这次<span style="color: black;">必定</span>！</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">这种技术，<span style="color: black;">便是</span>无人机“自动避障”系统（Obstacle Avoidance）。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">无人机在自动飞行的过程中遇到<span style="color: black;">阻碍</span>物时，<span style="color: black;">经过</span>实时测量的方式自动识别、有效规避<span style="color: black;">阻碍</span>物，来<span style="color: black;">保证</span>安全飞行。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">它最直接的好处<span style="color: black;">便是</span>，能够很大程度上减少<span style="color: black;">由于</span>人为疏忽或<span style="color: black;">外边</span>干扰<span style="color: black;">导致</span>的炸机事故。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">既避开了飞行途中的<span style="color: black;">阻碍</span>物，<span style="color: black;">亦</span>避开了不必要的麻烦。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">倘若无人机在飞行中撞上了<span style="color: black;">阻碍</span>物，<span style="color: black;">那样</span>这将会是一场代价昂贵的教训。（别问我怎么<span style="color: black;">晓得</span>）</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;">自动避障的实现路径</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">无人机自动避障系统的运行可分为三个<span style="color: black;">周期</span>。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">一是感知<span style="color: black;">阻碍</span>物；二是绕过<span style="color: black;">阻碍</span>物；三是路径搜索。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">亦</span><span style="color: black;">便是</span>无人机从<span style="color: black;">发掘</span><span style="color: black;">阻碍</span>物，到<span style="color: black;">能够</span>自动绕开<span style="color: black;">阻碍</span>物，再到自动规划飞行路线的过程。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">第1</span><span style="color: black;">周期</span>，无人机感知到<span style="color: black;">阻碍</span>物，快速地识别后并悬停下来，等待下一步指令。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">第二<span style="color: black;">周期</span>，无人机<span style="color: black;">经过</span>传感器精确感知到<span style="color: black;">阻碍</span>物的<span style="color: black;">详细</span>轮廓，<span style="color: black;">而后</span>自主绕开<span style="color: black;">阻碍</span>物。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">第三<span style="color: black;">周期</span>，无人机<span style="color: black;">经过</span>获取的环境信息，利用算法自动规划出飞行线路，从而实现自动自动避障的功能。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;">感知<span style="color: black;">阻碍</span>物</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">做为</span>自动避障系统的<span style="color: black;">第1</span><span style="color: black;">周期</span>，快速的对环境进行检测，并获取场景中<span style="color: black;">阻碍</span>物的信息至关重要。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">当前用得较多的感知<span style="color: black;">阻碍</span>物的检测<span style="color: black;">办法</span><span style="color: black;">重点</span>有：</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;"> 超声波技术</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">这个<span style="color: black;">办法</span>的原理类似蝙蝠识别<span style="color: black;">阻碍</span>物，是最简单的测距系统。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">由于</span>技术成本低，操作方便，目前<span style="color: black;">非常多</span>无人机的避障技术都<span style="color: black;">源自</span>于它，在无人机上加装定向的超声波发射和接收器，<span style="color: black;">而后</span>将其接入飞控系统。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">通常</span><span style="color: black;">来讲</span>，超声波的有效距离是5m，对反射物体的材质<span style="color: black;">亦</span>有限制。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">倘若</span>物体表面反射超声波的能力不足， 避障系统的有效距离<span style="color: black;">亦</span>会降低。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;">红外/激光TOF</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">TOF是Time of flight的简写，直译为飞行时间。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">基本原理<span style="color: black;">便是</span>传感器发射<span style="color: black;">必定</span>频率的红外/激光信号，<span style="color: black;">而后</span><span style="color: black;">按照</span>反射信号与原信号来计算出<span style="color: black;">阻碍</span>物有多远。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">TOF系统发出的信号，会受到太阳光的干扰。<span style="color: black;">通常</span><span style="color: black;">状况</span>下，TOF<span style="color: black;">测绘</span>距离最大<span style="color: black;">能够</span>到10m，<span style="color: black;">倘若</span>有强光干扰只能到5m。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">零度<span style="color: black;">机构</span>的Xplorer 2无人机，采用的<span style="color: black;">便是</span>TOF测距<span style="color: black;">方法</span>。 （无人机上的“蘑菇头”<span style="color: black;">便是</span>自动避障模块）</span></p>
<div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p3-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/aaa0d20195884244b91d21d805a9c07d~noop.image?_iz=58558&from=article.pc_detail&lk3s=953192f4&x-expires=1724919712&x-signature=KbmN62ksZu6vKQGWikCQpayX9%2FA%3D" style="width: 50%; margin-bottom: 20px;"></div>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;">双目视觉</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">这个<span style="color: black;">办法</span>运用了人眼估计距离的原理，即同一个物体在两个镜头画面中的坐标稍有<span style="color: black;">区别</span>，经过转换<span style="color: black;">就可</span>得到<span style="color: black;">阻碍</span>物的距离</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">经过</span>双目视觉<span style="color: black;">办法</span><span style="color: black;">能够</span><span style="color: black;">得到</span><span style="color: black;">阻碍</span>物的信息图像，在光照<span style="color: black;">要求</span>较差的环境下<span style="color: black;">亦</span>能<span style="color: black;">精细</span>识别，准确度<span style="color: black;">能够</span>达到厘米级。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">大疆的精灵4 就采用了双目避障，能够识别<span style="color: black;">近期</span>0.7m、最远15m的<span style="color: black;">阻碍</span>物。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">最新发布的御3采用的则是全向双目视觉系统，以机身底部的红外传感<span style="color: black;">做为</span>辅助。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">各个方向上有效感知<span style="color: black;">阻碍</span>物的范围从0.5m到25m不等。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">与前两种方式相比，虽然双目视觉<span style="color: black;">亦</span>对光线有<span style="color: black;">需求</span>，<span style="color: black;">然则</span><span style="color: black;">针对</span>反射物的<span style="color: black;">需求</span>要低<span style="color: black;">非常多</span>，<span style="color: black;">亦</span>不会互相干扰，普适性更强。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">况且</span>双目视觉<span style="color: black;">能够</span>在小体积、低功耗的前提下，<span style="color: black;">得到</span>眼前场景高分辨率的深度图。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">这就让避障功能有了<span style="color: black;">更加多</span>的发展空间，<span style="color: black;">例如</span>避障之后的智能飞行、路径规划等。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;">规划路径绕过<span style="color: black;">阻碍</span>物</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">既然<span style="color: black;">发掘</span>了<span style="color: black;">阻碍</span>物，那下一步，显然是要安全<span style="color: black;">有效</span>的绕过去。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">前面<span style="color: black;">咱们</span><span style="color: black;">已然</span>提过，<span style="color: black;">经过</span>TOF测距和双目视觉测距方式，<span style="color: black;">能够</span>感知获取到<span style="color: black;">阻碍</span>物的场景信息。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">接下来就需要让无人机绕过<span style="color: black;">阻碍</span>物，继续完成预定飞行计划。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">经过</span>已知场景路径，用层出不穷的算法去搜索优化避障路径，正是进一步<span style="color: black;">科研</span>自动避障的关键所在。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">因为</span><span style="color: black;">办法</span><span style="color: black;">太多</span>、过于<span style="color: black;">繁杂</span>，<span style="color: black;">这儿</span>就<span style="color: black;">再也不</span>展开，有兴趣的小伙伴<span style="color: black;">自动</span>查阅资料。</span></p>
<div style="color: black; text-align: left; margin-bottom: 10px;"><img src="https://p26-sign.toutiaoimg.com/tos-cn-i-qvj2lq49k0/dca2f7e31fa648bcb2b9d0b20f977d37~noop.image?_iz=58558&from=article.pc_detail&lk3s=953192f4&x-expires=1724919712&x-signature=Pvff0M3MseJ1e9UhQ7j0MVJlOJI%3D" style="width: 50%; margin-bottom: 20px;">
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<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;">自动避障的必要性</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">在如今<span style="color: black;">大众</span><span style="color: black;">平常</span>的消费级无人机中，“自动避障”技术<span style="color: black;">已然</span><span style="color: black;">作为</span>了标配的功能。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">有些人觉得既然把无人机飞到高空，那自动避障岂不是很<span style="color: black;">无</span>必要。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">针对</span>消费级无人机而言，在飞友手中的用途<span style="color: black;">重点</span>以航拍为主。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">飞手拍摄 “上帝视角”时，无人机飞得越高，<span style="color: black;">阻碍</span>物越少，自动避障的用处<span style="color: black;">好似</span>并不是很大。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">但在行业内，无人机除了用于航拍外，<span style="color: black;">更加多</span>的还是用于测绘勘探、应急救援、农业植保等<span style="color: black;">繁杂</span>场景。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">在这些应用场景中，有的<span style="color: black;">已然</span><span style="color: black;">起始</span>利用地面站集中管理，进行<span style="color: black;">长期</span>的自动化自动喷洒或监察任务。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">因此呢</span>，对“自动避障”的<span style="color: black;">需求</span>就变得更高，有时差之毫厘，就可能与预期差之千里。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">相信随着无人机<span style="color: black;">关联</span>技术的发展， “自动避障”的黑科技<span style="color: black;">能够</span>更加智能、应用的更加广泛，为无人机<span style="color: black;">供给</span>技术<span style="color: black;">保证</span>，减少<span style="color: black;">出现</span>意外事故的<span style="color: black;">危害</span>。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">那等到这种技术普及了，就<span style="color: black;">能够</span>跟炸机说再见了<span style="color: black;">吗</span>？我看不见得。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">炸机<span style="color: black;">危害</span><span style="color: black;">始终</span>都在，<span style="color: black;">选取</span>一份无人机安全<span style="color: black;">危害</span><span style="color: black;">保证</span><span style="color: black;">亦</span>很重要。</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><strong style="color: blue;"><span style="color: black;"><span style="color: black;">怕炸机，找帆陌</span></span></strong></span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;">关注帆陌科技，有什么想<span style="color: black;">认识</span>的<span style="color: black;">能够</span>给<span style="color: black;">咱们</span>留言哦！</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">认识</span><span style="color: black;">更加多</span>无人机干货，<span style="color: black;">第1</span>时间获取圈内<span style="color: black;">新闻</span>，</span></p>
<p style="font-size: 16px; color: black; line-height: 40px; text-align: left; margin-bottom: 15px;"><span style="color: black;"><span style="color: black;">更加多</span>精彩等着你。</span></p>
顶楼主，说得太好了！ 论坛的成果是显著的，但我们不能因为成绩而沾沾自喜。 感谢您的精彩评论，为我带来了新的思考角度。 一看到楼主的气势，我就觉得楼主同在社区里灌水。
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