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WO2017211029A1 - Procédé et dispositif de planification de trajectoire de vol pour véhicule aérien sans pilote - Google Patents

Procédé et dispositif de planification de trajectoire de vol pour véhicule aérien sans pilote Download PDF

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Publication number
WO2017211029A1
WO2017211029A1 PCT/CN2016/102115 CN2016102115W WO2017211029A1 WO 2017211029 A1 WO2017211029 A1 WO 2017211029A1 CN 2016102115 W CN2016102115 W CN 2016102115W WO 2017211029 A1 WO2017211029 A1 WO 2017211029A1
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Prior art keywords
waypoint
waypoints
information
coordinate information
arc
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Ceased
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PCT/CN2016/102115
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English (en)
Chinese (zh)
Inventor
兰功金
郝祁
胡晨旭
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Southwest University of Science and Technology
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Southwest University of Science and Technology
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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
    • G05D1/10—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

Definitions

  • the present disclosure relates to drone technology, for example, to a drone flight path planning method and apparatus.
  • UAVs generally use a straight-line flight method when flying on a route, that is, after selecting GPS waypoints on the route (such as A, B, C, D, E, etc.), the drone starts from A, and then Go to B, then to C, and so on, to complete the automatic flight of all marked waypoints by way of a straight flight between waypoints and waypoints.
  • GPS waypoints on the route such as A, B, C, D, E, etc.
  • the drawback of the above-mentioned drone's straight flight mode between waypoints is that it is only suitable for open space and cannot be used in complex environments; in the process of building a building using a drone, if the shape of the building is round The shape or irregular shape is limited by the working distance of the scanning device. It cannot realize the scanning of the building within the effective range, and the flying distance is long during the flight of the drone, and the electric energy consumed is too much, resulting in the drone. The effective working hours for performing tasks are greatly reduced.
  • the present disclosure provides a UAV flight path planning method and apparatus, so that the UAV can complete the flight task more safely and efficiently, and improve the adaptability of the UAV to perform tasks in a complex environment.
  • an embodiment of the present disclosure provides a method for planning a flight path of a drone, including:
  • the coordinate information of the waypoint and the subdivided waypoint is taken as a flight path of the drone.
  • the method further includes: receiving height information corresponding to the waypoint input by the user;
  • the coordinate information includes longitude information, latitude information, and altitude information.
  • determining an equation including an arc of the waypoint according to coordinate information of the waypoint includes:
  • the waypoints are grouped in order, wherein each group includes three waypoints, and the equations of the arcs corresponding to the waypoints corresponding to each group of waypoints are respectively determined according to the coordinate information of the waypoints in each group.
  • the method further includes:
  • the user's selection operation is monitored, and the waypoint selected by the user is set as the connected waypoint, and the flight paths of the two adjacent connected waypoints are set as straight lines.
  • determining an equation including an arc of the waypoint according to coordinate information of the waypoint includes:
  • a coordinate system in which the takeoff point of the drone is zero is established, the coordinate information of the waypoint is mapped to a point in the coordinate system, and an equation of the arc including the waypoint is determined in the coordinate system.
  • an embodiment of the present disclosure further provides a UAV flight path planning apparatus, including:
  • a waypoint receiving module configured to receive a waypoint input by the user
  • An arc calculation module configured to determine an equation including an arc of the waypoint according to coordinate information of the waypoint, where the coordinate information includes longitude information and latitude information;
  • a waypoint subdivision module is configured to subdivide the waypoint according to the equation of the arc and the coordinate information of the waypoint to obtain coordinate information of the subdivided waypoint;
  • the flight path determining module is configured to use coordinate information of the waypoint and the subdivided waypoint as a flight path of the drone.
  • the waypoint receiving module is further configured to: receive height information corresponding to the waypoint input by the user;
  • the coordinate information includes longitude information, latitude information, and altitude information.
  • the arc calculation module is set to:
  • the waypoints are grouped in order, wherein each group includes three waypoints, and the equations of the arcs corresponding to the waypoints corresponding to each group of waypoints are respectively determined according to the coordinate information of the waypoints in each group.
  • the waypoint receiving module is further configured to:
  • the user's selection operation is monitored, and the waypoint selected by the user is set as the connected waypoint, and the flight paths of the two adjacent connected waypoints are set as straight lines.
  • the arc calculation module is set to:
  • a coordinate system in which the takeoff point of the drone is zero is established, the coordinate information of the waypoint is mapped to a point in the coordinate system, and an equation of the arc including the waypoint is determined in the coordinate system.
  • the present disclosure determines an equation including an arc of the waypoint according to the coordinate information of the waypoint by receiving a waypoint input by the user, the coordinate information including longitude information and latitude information, according to the equation and the arc of the arc
  • the coordinate information of the waypoint is subdivided to obtain the coordinate information of the subdivided waypoint, and the coordinate information of the waypoint and the subdivided waypoint is taken as the flight path of the drone, and the correlation is solved.
  • the technical UAV flight path planning scheme is only applicable to the open space, can not be applied to complex environments and has a long flight distance during the flight of the drone, consumes more electric energy, and has a short effective working time.
  • FIG. 1 is a flowchart of a method for planning a flight path of a drone according to Embodiment 1 of the present disclosure
  • FIG. 2 is a schematic diagram showing a flight path planning method in the prior art
  • FIG. 3 is a schematic diagram of a method for planning a flight path of a drone according to Embodiment 1 of the present disclosure
  • FIG. 4 is a schematic diagram of a UAV flight path planning method according to Embodiment 2 of the present disclosure.
  • FIG. 5 is a flowchart of a method for planning a flight path of a drone according to Embodiment 3 of the present disclosure
  • FIG. 6 is a schematic diagram of a UAV flight path planning method according to Embodiment 3 of the present disclosure.
  • FIG. 7 is a flowchart of a method for planning a flight path of a drone according to Embodiment 4 of the present disclosure
  • FIG. 8 is a schematic diagram of a UAV flight path planning method according to Embodiment 4 of the present disclosure.
  • FIG. 9 is a structural diagram of an unmanned aerial vehicle flight path planning apparatus according to Embodiment 5 of the present disclosure.
  • FIG. 1 is a flowchart of a method for planning a flight path of a drone according to Embodiment 1 of the present disclosure.
  • the present embodiment is applicable to a situation in which an aerial camera or a building is scanned during a take-off flight of a drone, and the method may be
  • a computing device such as a tablet, mobile phone, or computer, is executed, including the following steps. Step:
  • Step 101 Receive a waypoint input by a user.
  • the waypoint represents the point that the drone needs to pass during the flight
  • the flight path of the drone can be set by setting the waypoint.
  • a plurality of waypoints are first set, and then the drone performs a straight flight along each waypoint.
  • FIG. 2 shows a schematic diagram of a flight path planning method in the prior art. As shown in Figure 2, suppose the drone needs to fly around the circular area on the way. First, the user inputs three waypoints A, B, and C. Then the drone has A straight line to B, and then B straight line to C. Then fly straight from C to A.
  • the manner in which the user inputs the waypoint may be directly marked in the software on the ground side, and the ground end software is dedicated software developed for the drone, and the software integrates the Google Earth database plug-in, such as in Google.
  • the Google Earth database plug-in such as in Google.
  • the map plug-in by clicking the location in the map as the waypoint of the drone, the user can manually input the location information of the waypoint, such as inputting latitude and longitude.
  • Step 102 Determine an equation including an arc of the waypoint according to coordinate information of the waypoint, where the coordinate information includes longitude information and latitude information.
  • FIG. 3 is a schematic diagram of a UAV flight path planning method according to Embodiment 1 of the present disclosure.
  • three waypoints A1, B1 and C1 are marked in the figure.
  • the circular area in the middle is the area where the drone needs to be photographed by flying.
  • the arc determined according to A1, B1 and C1 is the circle of the outer ring.
  • the coordinate information includes longitude information and latitude information, that is, the arcs of the A1 to B1, B1 and then C1, C1 and then A1 can be obtained by the respective longitude and latitude coordinates of A1, B1 and C1.
  • Step 103 Subdivide the waypoint according to the equation of the arc and the coordinate information of the waypoint to obtain coordinate information of the segmented waypoint.
  • the arcs covering the waypoints are added, and the segmentation waypoints are added between the waypoints.
  • a plurality of navigations are subdivided between A1, B1 and C1. point.
  • the point spacing size depends on the size of the specific arc radians.
  • the larger the radius of the circle the smaller the number of waypoints to be subdivided, that is, the larger the interval between the subdivided waypoints.
  • the coordinates of the subdivided waypoints a-e can be obtained according to the coordinates of the waypoints A1, B1 and C1 and the equation of the arc determined by it.
  • Step 104 The coordinate information of the waypoint and the subdivided waypoint is used as a flight path of the drone.
  • the flight control unit of the drone acquires the flight information of the current drone (such as longitude, latitude, etc.) in real time, and calibrates the flight parameters in real time during flight to perform a predetermined flight path, the predetermined flight
  • the path is composed of several waypoints originally input by the user obtained in this step and the latitude and longitude coordinates of a large number of subdivided waypoints subdivided by the small number of waypoints.
  • the working principle of the UAV flight path planning method is to use three points to confirm the unique circle of the space, and then automatically subdivide the arc, and subdivide into a plurality of subdivided waypoints to form a flight path of the UAV.
  • the coordinate information includes longitude information and latitude information, according to the circle
  • the equation of the arc and the coordinate information of the waypoint subdivide the waypoint to obtain coordinate information of the subdivided waypoint, and use the coordinate information of the waypoint and the subdivided waypoint as the flight of the drone path.
  • the unmanned aerial vehicle flight path planning scheme that solves the related technology is only applicable to an open space, cannot be applied to a complicated environment, and has a long flight distance during the flight of the drone, consumes more electric energy, and has a short effective working time.
  • FIG. 4 is a schematic diagram of a UAV flight path planning method according to Embodiment 2 of the present disclosure. This embodiment further increases the height information of the waypoint based on the first embodiment.
  • the method further includes: receiving height information corresponding to the waypoint input by the user; correspondingly, the coordinate information includes longitude information, latitude information, and altitude information.
  • the scene switching can be performed in the map software, and the plane view is switched to the stereoscopic view, thereby directly selecting the point in the stereo space, and the point has the height information.
  • the user can also manually enter the size of the height information value.
  • FIG. 4 using the principle of three points to confirm the space unique circle, according to the waypoints A2, B2, and C2, an arc passing through the three points can be uniquely determined. Since the height information of the waypoint is introduced in this embodiment, That is, the arcs passing through A2, B2, and C2 also have height values, and the coordinate information of the corresponding subdivided waypoints also includes longitude information, latitude information, and altitude information.
  • determining an equation including an arc of the waypoint according to coordinate information of the waypoint includes: establishing a coordinate system with a takeoff point of the drone as a zero point, and setting coordinates of the waypoint The information is mapped to points in a coordinate system in which an equation containing the arc of the waypoint is determined. As shown in Figure 4, the spatial coordinate system x, y, z is established. Where o is the zero point coordinate, the coordinate information of the waypoint is mapped into the coordinate system, and the equation of the arc passing through A2, B2 and C2 is obtained according to the coordinates of the waypoint.
  • FIG. 5 is a flowchart of a UAV flight path planning method according to Embodiment 3 of the present disclosure.
  • a path planning method for a UAV to fly around a single object includes:
  • Step 201 Receive a waypoint input by a user.
  • Step 202 Group the waypoints in order, wherein each group includes three waypoints, according to each group The coordinate information of the waypoints in the respective points determines the equation of the arc corresponding to the waypoint corresponding to each set of waypoints.
  • FIG. 6 is a schematic diagram of a method for planning a flight path of a drone according to a third embodiment of the present disclosure.
  • the waypoints input by the user are A3, B3, C3, D3, ..., according to the principle of uniquely determining a circle according to three points, Three of the user-defined waypoints are determined as a group, that is, A3, B3, and C3 are a group, and C3, D3, and E3 are a group (the mark of E3 is hidden in the figure).
  • a unique circle equation is determined by three waypoints in each group, thus achieving a continuous curve flight path with a height difference.
  • Step 203 Subdivide the waypoint according to the equation of the arc and the coordinate information of the waypoint to obtain coordinate information of the segmented waypoint.
  • Step 204 The coordinate information of the waypoint and the subdivided waypoint is used as a flight path of the drone.
  • the arc flight path is determined by three waypoints in each group, and the curve path planning for a single target is completed to perform 3D aerial photography or scanning.
  • FIG. 7 is a flowchart of a UAV flight path planning method according to Embodiment 4 of the present disclosure.
  • a path planning method for a UAV to fly around multiple objects is presented. ,include:
  • Step 301 Receive a waypoint input by a user.
  • Step 302 The waypoints are grouped in order, wherein each group includes three waypoints, and the equations of the arcs corresponding to the waypoints corresponding to each group of waypoints are respectively determined according to the coordinate information of the waypoints in each group.
  • the user's selection operation is monitored, and the waypoint selected by the user is set as the connection waypoint, and the flight paths of the two adjacent connected waypoints are set as straight lines.
  • FIG. 8 Illustratively, as shown in FIG. 8 is a UAV flight path provided by Embodiment 4 of the present disclosure
  • A4 to B4, C4 to D4 are straight paths. That is, A4, B4, C4 and D4 are the connected waypoints selected by the user.
  • a connecting waypoint is adopted between the targets, and the planned path corresponds to a straight path to complete the drone in multiple targets. Switch between.
  • Step 303 Subdivide the waypoint according to the equation of the arc and the coordinate information of the waypoint to obtain coordinate information of the segmented waypoint.
  • Step 304 The coordinate information of the waypoint and the subdivided waypoint is used as a flight path of the drone.
  • the connected waypoints selected by the user are recorded, the arcs are determined by three waypoints in each group, and the plurality of objects are determined by connecting the waypoints.
  • the switching path between the two completes the curve path planning for multiple targets for 3D aerial photography or scanning.
  • FIG. 9 is a structural diagram of a UAV flight path planning apparatus according to Embodiment 5 of the present disclosure, including:
  • the waypoint receiving module 1 is configured to receive a waypoint input by the user
  • the arc calculation module 2 is configured to determine an equation including an arc of the waypoint according to coordinate information of the waypoint, the coordinate information including longitude information and latitude information;
  • the waypoint subdivision module 3 is configured to subdivide the waypoint according to the equation of the arc and the coordinate information of the waypoint to obtain coordinate information of the subdivided waypoint;
  • the flight path determining module 4 is configured to use coordinate information of the waypoint and the subdivided waypoint as a flight path of the drone.
  • the technical solution provided by this embodiment receives the user-entered waypoint according to the waypoint
  • the target information determines an equation including an arc of the waypoint, the coordinate information includes longitude information and latitude information, and the waypoint is subdivided according to the equation of the arc and the coordinate information of the waypoint,
  • the coordinate information of the waypoint is subdivided, and the coordinate information of the waypoint and the subdivided waypoint is used as the flight path of the drone, and the unmanned aerial vehicle flight path planning scheme for solving the related technology is only applicable to the empty space, and cannot It is applied to complex environments and has a long flight distance during the flight of the drone. It consumes more electric energy and has a shorter effective working time. It realizes that the drone can complete the flight mission safely and efficiently, and improve the drone. Adaptability of complex environments.
  • the waypoint receiving module is further configured to: receive height information corresponding to the waypoint input by the user;
  • the coordinate information includes longitude information, latitude information, and altitude information.
  • the arc calculation module is set as:
  • the waypoints are grouped in order, wherein each group includes three waypoints, and the equations of the arcs corresponding to the waypoints corresponding to each group of waypoints are respectively determined according to the coordinate information of the waypoints in each group.
  • the waypoint receiving module is further configured to:
  • the user's selection operation is monitored, and the waypoint selected by the user is set as the connected waypoint, and the flight paths of the two adjacent connected waypoints are set as straight lines.
  • the arc calculation module is set as:
  • a coordinate system in which the takeoff point of the drone is zero is established, the coordinate information of the waypoint is mapped to a point in the space coordinate system, and an equation of the arc including the waypoint is determined in the space coordinate system.
  • the above product can perform the method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
  • Embodiments of the present disclosure also provide a non-transitory storage medium containing computer executable instructions for performing any of the above embodiments when executed by a computer processor Aircraft flight path planning method.
  • Embodiments of the present disclosure also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions when the program instructions are When executed, the computer is caused to perform the drone flight path planning method of any of the above embodiments.
  • Embodiments of the present disclosure also provide an electronic device including: one or more processors and a memory.
  • the electronic device may further include: an input device and an output device.
  • the processor, memory, input device, and output device in the electronic device can be connected by a bus or other means.
  • the memory can be used to store a non-volatile software program, a non-volatile computer executable program, and a module, as in the UAV flight path planning method in the embodiment of the present application.
  • the processor executes various functional applications of the server and data processing by running non-volatile software programs, instructions, and modules stored in the memory, that is, implementing a drone flight path planning method.
  • the UAV flight path planning method and apparatus of the present disclosure can be applied to a complicated environment and consume The power is small, the effective working time is long, the flight task can be completed more safely and efficiently, and the adaptability of the drone to perform tasks in a complex environment is improved.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

L'invention concerne un procédé et un dispositif pour planifier une trajectoire de vol pour un véhicule aérien sans pilote. Le procédé consiste à: recevoir un point de cheminement d'entrée d'utilisateur (101); déterminer, selon une coordonnée du point de cheminement, une fonction d'une trajectoire courbe comprenant le point de cheminement, la coordonnée comprenant la latitude et la longitude (102); subdiviser, selon la fonction de la trajectoire courbe et la coordonnée du point de cheminement, le point de cheminement pour obtenir des coordonnées de points de cheminement subdivisés (103); et utiliser les coordonnées du point de cheminement et des points de cheminement subdivisés pour déterminer une trajectoire de vol du véhicule aérien sans pilote (104).
PCT/CN2016/102115 2016-06-07 2016-10-14 Procédé et dispositif de planification de trajectoire de vol pour véhicule aérien sans pilote Ceased WO2017211029A1 (fr)

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CN201610398423.2A CN106054920A (zh) 2016-06-07 2016-06-07 一种无人机飞行路径规划方法和装置

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