Obstacle detection method and apparatus and unmanned aerial vehicle

1 . An obstacle detection method applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a binocular photographing component and a laser texture component, the laser texture component being associated with a preset detection distance, wherein the laser texture component is configured to emit a texture pattern and enhance a surface texture of an obstacle in a detection zone of the laser texture component, the method comprising:

obtaining an initial binocular view currently collected by the binocular photographing component;

determining by the unmanned aerial vehicle a distance between the unmanned aerial vehicle and the obstacle closest to the unmanned aerial vehicle based on the initial binocular view;

when the distance is less than or equal to the preset detection distance of the laser texture component, determining by the unmanned aerial vehicle that the detection zone of the laser texture component includes the obstacle;

when it is determined that the detection zone of the laser texture component includes the obstacle,

determining by the unmanned aerial vehicle to start the laser texture component,

starting the laser texture component, and

emitting a laser texture.

2 . The obstacle detection method according to claim 1 , wherein

obtaining a binocular view that is collected by the binocular photographing component and that comprises the laser texture, and setting the binocular view that comprises the laser texture as a target binocular view; and

performing obstacle detection based on the target binocular view.

3 . The obstacle detection method according to claim 1 , wherein

obtaining the luminance of an environment of the unmanned aerial vehicle; determining that luminance of the environment of the unmanned aerial vehicle is less than a preset value;

when the luminance of the environment of the unmanned aerial vehicle is less than the preset value, determining to start the laser texture component.

4 . The obstacle detection method according to claim 1 , wherein the determining to start the laser texture component further comprises:

determining that a photographing scene of the binocular photographing component is a weak texture scene.

5 . The obstacle detection method according to claim 4 ,

wherein the determining that the photographing scene of the binocular photographing component is the weak texture scene comprises:

obtaining an initial view of at least one initial binocular views currently collected by the binocular photographing component;

performing a gradient operation on the initial view, to obtain a gradient value of each pixel in the initial view;

collecting statistics on a quantity N of pixels whose gradient values are less than or equal to a gradient threshold; and

when the quantity N is less than or equal to a quantity threshold Nth, determining that the photographing scene of the binocular photographing component is the weak texture scene.

6 . The obstacle detection method according to claim 1 , wherein the determining to start the laser texture component further comprises:

determining that a photographing scene of the binocular photographing component is a repeated texture scene.

7 . The obstacle detection method according to claim 6 , wherein the determining that the photographing scene of the binocular photographing component is the repeated texture scene comprises:

obtaining an initial binocular view currently collected by the binocular photographing component;

performing stereo matching on the initial binocular view, and obtaining a smallest cost value C 1i and a second smallest cost value C 2i , that correspond to each matching block, wherein i indicates an i-th matching block; and

determining that the photographing scene of the binocular photographing component is the repeated texture scene if there is a matching block i that satisfies the following formula:

C 1i /C 2i >K,

wherein a value range of K is: 0.5≤K<1.

8 . The obstacle detection method according to claim 3 , wherein the determining that luminance of the environment of the unmanned aerial vehicle is less than a preset value comprises:

obtaining an initial view of initial binocular views currently collected by the binocular photographing component; and

determining that the luminance of the environment of the unmanned aerial vehicle is less than the preset value according to an average grayscale value of pixels in the initial view.

9 . An obstacle detection apparatus, applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a binocular photographing component and a laser texture component, the laser texture component being associated with a preset detection distance, wherein the laser texture component is configured to emit a texture pattern and enhance a surface texture of an obstacle in a detection zone of the laser texture component, the obstacle detection apparatus comprising:

a memory, configured to store a computer-executable obstacle detection program; and

a processor, configured to invoke the computer-executable obstacle detection program to implement:

obtain an initial binocular view currently collected by the binocular photographing component;

determine by the unmanned aerial vehicle a distance between the unmanned aerial vehicle and the obstacle closest to the unmanned aerial vehicle based on the initial binocular view;

when the distance is less than or equal to the preset detection distance of the laser texture component, determine by the unmanned aerial vehicle that the-detection zone of the laser texture component includes the obstacle; and

when the unmanned aerial vehicle determines that the detection zone of the laser texture component includes the obstacle,

determine to start the laser texture component,

start the laser texture component, and

emit a laser texture.

10 . The apparatus according to claim 9 , wherein the binocular photographing component comprises a first image collection apparatus and a second image collection apparatus; and

the laser texture component is provided between the first image collection apparatus and the second image collection apparatus.

11 . The apparatus according to claim 10 , wherein

obtaining a binocular view that is collected by the binocular photographing component and that comprises the laser texture, and setting the binocular view that comprises the laser texture as a target binocular view; and

performing obstacle detection based on the target binocular view.

12 . The apparatus according to claim 10 , wherein the processor is further configured to:

obtain the luminance of an environment of the unmanned aerial vehicle;

determine that luminance of the environment of the unmanned aerial vehicle is less than a preset value;

when the luminance of the environment of the unmanned aerial vehicle is less than the preset value, determine to start the laser texture component.

13 . The apparatus according to claim 10 , wherein

the processor is further configured to determine that a photographing scene of the binocular photographing component is a weak texture scene.

14 . The apparatus according to claim 13 , wherein

the processor is further configured to obtain an initial view of at least one initial binocular views currently collected by the binocular photographing component;

perform a gradient operation on the initial view, to obtain a gradient value of each pixel in the initial view;

collect statistics on a quantity N of pixels whose gradient values are less than or equal to a gradient threshold; and

when the quantity N is less than or equal to a quantity threshold Nth, determining that the photographing scene of the binocular photographing component is the weak texture scene.

15 . The apparatus according to claim 10 , wherein the processor is further configured to:

determine that a photographing scene of the binocular photographing component is a repeated texture scene.

16 . The apparatus according to claim 15 , wherein the processor is further configured to:

obtain an initial binocular view currently collected by the binocular photographing component;

performing stereo matching on the initial binocular view, and obtaining a smallest cost value C 1i and a second smallest cost value C 2i , that correspond to each matching block, wherein i indicates an i-th matching block; and

determining that the photographing scene of the binocular photographing component is the repeated texture scene if there is a matching block i that satisfies the following formula:

C 1i /C 2i >K,

wherein a value range of K is: 0.5≤K<1.

17 . The apparatus according to claim 15 , wherein the processor is further configured to:

obtain an initial view of initial binocular views currently collected by the binocular photographing component; and

determine that the luminance of the environment of the unmanned aerial vehicle is less than the preset value according to an average grayscale value of pixels in the initial view.

18 . An unmanned aerial vehicle, comprising:

a vehicle body;

a vehicle arm connected to the vehicle body;

a power apparatus disposed on the vehicle arm;

a binocular photographing component disposed on the vehicle body and configured to collect a binocular view in a movement direction of the unmanned aerial vehicle;

a laser texture component disposed on the vehicle body and configured to emit a laser texture sensible by the binocular photographing component, the laser texture component being associated with a preset detection distance, wherein the laser texture component is configured to emit a texture pattern and enhance a surface texture of an obstacle in a detection zone of the laser texture component;

a processor disposed inside the vehicle body and being in communication connection with each of the binocular photographing component and the laser texture component; and

a memory being in communication connection with the processor,

wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor to enable the processor to execute:

obtaining an initial binocular view currently collected by the binocular photographing component;

determining a distance between the unmanned aerial vehicle and the obstacle closest to the unmanned aerial vehicle based on the initial binocular view;

when the distance is less than or equal to the preset detection distance of the laser texture component,

when it is determined that the detection zone of the laser texture component has the obstacle,

determining to start the laser texture component,

starting the laser texture component, and

emitting a laser texture.

19 . The unmanned aerial vehicle according to claim 18 , wherein the unmanned aerial vehicle further comprises:

luminance sensor, obtaining the luminance of an environment in which the unmanned aerial vehicle is located.