CN106871903A - A kind of unmanned plane building is diversion and patrols and examines flight course planning method - Google Patents
A kind of unmanned plane building is diversion and patrols and examines flight course planning method Download PDFInfo
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- CN106871903A CN106871903A CN201710115274.9A CN201710115274A CN106871903A CN 106871903 A CN106871903 A CN 106871903A CN 201710115274 A CN201710115274 A CN 201710115274A CN 106871903 A CN106871903 A CN 106871903A
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Abstract
A kind of unmanned plane building of present invention offer is diversion and patrols and examines flight course planning method, and it comprises the following steps：（1）Obtain target structures thing and unmanned plane work data；（2）Determine the takeoff point of unmanned plane, coordinate system is set up as origin using this takeoff point；（3）The course line of unmanned plane is split into some planes of being diversion, the flex point and the point coordinates that climbs of unmanned plane in each plane of being diversion is obtained；（4）Determine to patrol and examine course line according to the flex point of unmanned plane in each plane of being diversion and the point coordinates that climbs.The present invention solves the problems, such as that unmanned plane is diversion the flight course planning of building automatically, and this algorithm can be according to the profile of building, and height, according to any certain operating direction, cook up suitable operation course line, or in the case of assignment direction, provide flight course planning.The operating efficiency of unmanned plane can be effectively improved, error and repetition covering that manual operation brings is reduced.Artificial running cost of the unmanned plane when the building that is diversion is patrolled and examined can be effectively reduced.
Description
Technical field
The invention belongs to unmanned plane flight course planning technical field, relate in particular to a kind of unmanned plane building and be diversion patrol and examine
Flight course planning method.
Background technology
At present, unmanned air vehicle technique is fast-developing.Unmanned plane is being used in increasing field.Unmanned plane positions skill
The maturation of art causes unmanned plane, and flight becomes a reality automatically.
Instantly in many fields, many scenes will be planned the course line of unmanned plane, and road is patrolled and examined in relevant road, ocean
The planning algorithm of line has tended to ripe, but patrols and examines flight course planning aspect for being diversion for building, there is no effective ways.
Based on this, the present invention proposes that a kind of unmanned plane building is diversion and patrols and examines flight course planning method, solves unmanned plane right
Building appearance carries out the automatic problem being successively diversion patrolled and examined comprehensively.
The content of the invention
To achieve the above object, the present invention provides following technical scheme：
A kind of unmanned plane building is diversion and patrols and examines flight course planning method, and it comprises the following steps：
（1）Target structures thing and unmanned plane work data are obtained, it is long a meters to be designated as building, wide b meters, high C meters；Unmanned machine operation
It it is m meters apart from building width, operation high-amplitude is n meters；
（2）Determine the takeoff point of unmanned plane, coordinate system is set up as origin using this takeoff point；
（3）The course line of unmanned plane is split into some planes of being diversion, the flex point of unmanned plane in each plane of being diversion is obtained and is climbed
Point coordinates；
（4）Determine to patrol and examine course line according to the flex point of unmanned plane in each plane of being diversion and the point coordinates that climbs.
Further, step（2）In, specific method is as follows：By three-dimensional coordinate system, two plane right-angle coordinates are converted into；
Using the takeoff point of unmanned plane as origin, the length and width parallel to building do x-axis, y-axis to first rectangular coordinate system respectively；Second is straight
Axle climbs for Y-axis, parallel to a length of X-axis of building using unmanned plane takeoff point as origin parallel to unmanned plane in angular coordinate system.
Further, step（3）In, specific method is as follows：
Plane of being diversion is determined with unmanned machine operation high-amplitude according to depth of building, then unmanned plane needs c/n flight plane
Can be diversion covering building, if the first flex point of plane of being diversion for i-th is designated as d1i, Second Inflexion Point is designated as d2i, the 3rd flex point note
It is d3i, the point coordinates that climbs is designated as pi, then
d11(a+2m,m,n), d21(a+2m,b+2m,n), d31(0,b+2m,n),p1(0,0,n) i=1
d12(a+2m,m,2n), d22(a+2m,b+2m,2n), d32(0,b+2m,2n),p2(0,0,2n) i=2
d13(a+2m,m,3n), d23(a+2m,b+2m,3n), d33(0,b+2m,3n),p3(0,0,3n) i=3
……
d1i(a+2m,m,in),d2i(a+2m,b+2m,in),d3i(0,b+2m,in),pi(0,0,in) i=c/n。
The beneficial effects of the invention are as follows：
The present invention solves the problems, such as that unmanned plane is diversion the flight course planning of building automatically, and this algorithm can be according to the outer of building
Shape, height, according to any certain operating direction, cooks up suitable operation course line, or in the case of assignment direction, give
Go out flight course planning.The operating efficiency of unmanned plane can be effectively improved, error and repetition covering that manual operation brings is reduced.Can
Effectively reduce artificial running cost of the unmanned plane when the building that is diversion is patrolled and examined.
Brief description of the drawings
Fig. 1 is the first rectangular coordinate system schematic diagram of the invention；
Fig. 2 is the second rectangular coordinate system schematic diagram of the invention；
Fig. 3 is that unmanned plane of the present invention is diversion plane route map；
Fig. 4 is that unmanned plane of the present invention climbs schematic diagram.
Specific embodiment
In order that those skilled in the art more fully understand technical scheme, it is right with reference to accompanying drawing of the invention
Technical scheme carries out clear, complete description, and based on the embodiment in the application, those of ordinary skill in the art exist
Other the similar embodiments obtained on the premise of not making creative work, should all belong to the scope of the application protection.
The present invention devises a kind of unmanned plane building is diversion and patrols and examines flight course planning method, first trip obtain target structures thing and nobody
Machine operation data, it is long a meters to be designated as building, wide b meters, high C meters；Unmanned machine operation is m meters, operation high-amplitude apart from building width
It is n meters.It is that a kind of reciprocal rising covers motion to patrol and examine operation of being diversion due to unmanned plane building appearance, and each operation course line is all
The subjob region that a tile height is n (unmanned plane patrols and examines panel height) is independently correspond to, therefore can be by dividing subjob region
To obtain the operation course line of unmanned plane.The flight operation orderliness of unmanned plane is certain height that climbed after a week around the parallel flight of building
Continue parallel flight after degree.According to this flight rule, the three-dimensional coordinate system of flying scene can be converted into two planes straight
Angular coordinate system.Using the takeoff point of unmanned plane as origin, the length and width parallel to building are x to first rectangular coordinate system respectively
Axle, y-axis.
Second rectangular coordinate system ease unmanned plane takeoff point climbs axle for Y-axis as origin parallel to unmanned plane, parallel to
The a length of X-axis of building.
Unmanned plane course line determines：The unmanned plane course line of this algorithm is the parallel building that is diversion after a week, is climbed to certain height
Degree continues parallel being diversion.So this algorithm flight course planning key is flex point and the determination climbed a little.This calculation is expressed in order to concise
The core idea of method, if building is common cuboid building, climb be a little unmanned plane takeoff point vertically upward axle and each
The focus of flight plane.Need to draw the first flex point d1 in each flight plane, Second Inflexion Point d2, the 3rd flex point d3 and climb
Rise point p coordinates.We can be with the flex point of the first flight plane and the coordinate for climbing a little from Fig. 1.Respectively d1 (a+2m, m, n),
d2(a+2m,b+2m,n), d3(0,b+2m,n),p(0,0,n).With reference to Fig. 2, according to depth of building and unmanned machine operation high-amplitude
It is determined that plane of being diversion, then unmanned plane needs c/n flight plane and can just be diversion covering building, if being diversion plane for i-th
First flex point is designated as d1i, and Second Inflexion Point is designated as d2i, and the 3rd flex point is designated as d3i, and the point coordinates that climbs is designated as pi, it can be deduced that,
d11(a+2m,m,n), d21(a+2m,b+2m,n), d31(0,b+2m,n),p1(0,0,n) i=1
d12(a+2m,m,2n), d22(a+2m,b+2m,2n), d32(0,b+2m,2n),p2(0,0,2n) i=2
d13(a+2m,m,3n), d23(a+2m,b+2m,3n), d33(0,b+2m,3n),p3(0,0,3n) i=3
……
d1i(a+2m,m,in),d2i(a+2m,b+2m,in),d3i(0,b+2m,in),pi(0,0,in) i=c/n。
Fig. 3 shows that unmanned plane of the present invention is diversion plane route map；Fig. 4 shows that unmanned plane of the present invention climbs signal
Figure.Be can be seen that from Fig. 3, Fig. 4 can determine to patrol and examine boat according to the flex point of unmanned plane in each plane of being diversion and the point coordinates that climbs
Line.
Embodiment 1：
After being determined the above method, it is the target building that is diversion to choose Qingdao International Innovation Park Building B, use big boundary multiaxis unmanned plane for
The experiment unmanned plane that is diversion makees imitative straight experiment.L-G simulation test step is the length, width and height for measuring target building, and the technology according to unmanned plane is joined
Number draws the breadth of unmanned machine operation.
The number of planes that this building needs unmanned plane to be diversion is drawn according to above-mentioned algorithm.Set the takeoff point of unmanned plane.According to calculation
Method draws plane flex point of being respectively diversion, the coordinate for climbing a little, is then converted to gps data, imported into big boundary unmanned plane console it
In, the height that setting is climbed, you can the emulation for carrying out algorithm is diversion.
The present invention solves the problems, such as that unmanned plane is diversion the flight course planning of building automatically, and this algorithm can be according to building
Profile, height, according to any certain operating direction, cooks up suitable operation course line, or in the case of assignment direction,
Provide flight course planning.The operating efficiency of unmanned plane can be effectively improved, error and repetition covering that manual operation brings is reduced.Energy
Enough effectively reduce artificial running cost of the unmanned plane when the building that is diversion is patrolled and examined.
Below the present invention is described in detail, the above, the only better embodiment of the present invention, when not
The scope of the present invention can be limited, i.e., it is all to make impartial change and modification according to the application scope, all should still belong to the present invention and cover model
In enclosing.
Claims (3)
1. a kind of unmanned plane building is diversion and patrols and examines flight course planning method, it is characterised in that：It comprises the following steps：
（1）Target structures thing and unmanned plane work data are obtained, it is long a meters to be designated as building, wide b meters, high C meters；Unmanned machine operation
It it is m meters apart from building width, operation high-amplitude is n meters；
（2）Determine the takeoff point of unmanned plane, coordinate system is set up as origin using this takeoff point；
（3）The course line of unmanned plane is split into some planes of being diversion, the flex point of unmanned plane in each plane of being diversion is obtained and is climbed
Point coordinates；
（4）Determine to patrol and examine course line according to the flex point of unmanned plane in each plane of being diversion and the point coordinates that climbs.
2. a kind of unmanned plane building according to claim 1 is diversion and patrols and examines flight course planning method, it is characterised in that：Step
（2）In, specific method is as follows：By three-dimensional coordinate system, two plane right-angle coordinates are converted into；First rectangular coordinate system is with nobody
The takeoff point of machine does x-axis, y-axis respectively as origin, the length and width parallel to building；Second rectangular coordinate system is taken off with unmanned plane
Point climbs axle for Y-axis, parallel to a length of X-axis of building as origin parallel to unmanned plane.
3. a kind of unmanned plane building according to claim 2 is diversion and patrols and examines flight course planning method, it is characterised in that：Step
（3）In, specific method is as follows：
Plane of being diversion is determined with unmanned machine operation high-amplitude according to depth of building, then unmanned plane needs c/n flight plane
Can be diversion covering building, if the first flex point of plane of being diversion for i-th is designated as d1i, Second Inflexion Point is designated as d2i, the 3rd flex point note
It is d3i, the point coordinates that climbs is designated as pi, then
d11(a+2m,m,n), d21(a+2m,b+2m,n), d31(0,b+2m,n),p1(0,0,n) i=1
d12(a+2m,m,2n), d22(a+2m,b+2m,2n), d32(0,b+2m,2n),p2(0,0,2n) i=2
d13(a+2m,m,3n), d23(a+2m,b+2m,3n), d33(0,b+2m,3n),p3(0,0,3n) i=3
……
d1i(a+2m,m,in), d2i(a+2m,b+2m,in), d3i(0,b+2m,in),pi(0,0,in) i=c/n。
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| CN107506724A (en) * | 2017-08-21 | 2017-12-22 | 中清能绿洲科技股份有限公司 | Inclination angle detection method and detection terminal |
| CN108364369A (en) * | 2018-01-17 | 2018-08-03 | 上海振华重工(集团)股份有限公司 | Unmanned plane inspection point determines method, apparatus, medium, equipment and system |
| CN108871287A (en) * | 2018-06-01 | 2018-11-23 | 广州中科云图智能科技有限公司 | A kind of band-like orthography airborne survey method of unmanned plane and system |
| CN108871288A (en) * | 2018-06-01 | 2018-11-23 | 广州中科云图智能科技有限公司 | A kind of band-like inclination image airborne survey method of unmanned plane and system |
| CN109696919A (en) * | 2018-12-12 | 2019-04-30 | 广东开放大学（广东理工职业学院） | A kind of building film covering method, building overlay film system and its control method |
| CN110118555A (en) * | 2019-05-27 | 2019-08-13 | 深圳市贝贝特科技实业有限公司 | UAV Navigation System and method |
| CN112484707A (en) * | 2020-11-25 | 2021-03-12 | 浙江有色勘测规划设计有限公司 | Building measurement method, system, terminal and medium based on aircraft |
| CN112987795A (en) * | 2021-04-30 | 2021-06-18 | 成都思晗科技股份有限公司 | Mountain fire monitoring autonomous route planning method, device and system based on unmanned aerial vehicle |
| CN116337012A (en) * | 2023-03-20 | 2023-06-27 | 重庆地质矿产研究院 | Surface mine boundary pile position layout optimization method based on oblique photogrammetry technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107506724A (en) * | 2017-08-21 | 2017-12-22 | 中清能绿洲科技股份有限公司 | Inclination angle detection method and detection terminal |
| CN108364369A (en) * | 2018-01-17 | 2018-08-03 | 上海振华重工(集团)股份有限公司 | Unmanned plane inspection point determines method, apparatus, medium, equipment and system |
| CN108364369B (en) * | 2018-01-17 | 2023-09-26 | 上海振华重工(集团)股份有限公司 | Unmanned aerial vehicle inspection point determining method, unmanned aerial vehicle inspection point determining device, unmanned aerial vehicle inspection point determining medium, unmanned aerial vehicle inspection point determining equipment and unmanned aerial vehicle inspection point determining system |
| CN108871287A (en) * | 2018-06-01 | 2018-11-23 | 广州中科云图智能科技有限公司 | A kind of band-like orthography airborne survey method of unmanned plane and system |
| CN108871288A (en) * | 2018-06-01 | 2018-11-23 | 广州中科云图智能科技有限公司 | A kind of band-like inclination image airborne survey method of unmanned plane and system |
| CN108871288B (en) * | 2018-06-01 | 2021-01-12 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle belt-shaped oblique image aerial surveying method and system |
| CN108871287B (en) * | 2018-06-01 | 2021-01-12 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle belt-shaped orthographic image aerial surveying method and system |
| CN109696919B (en) * | 2018-12-12 | 2022-02-01 | 广东开放大学（广东理工职业学院） | Building film covering method, building film covering system and control method thereof |
| CN109696919A (en) * | 2018-12-12 | 2019-04-30 | 广东开放大学（广东理工职业学院） | A kind of building film covering method, building overlay film system and its control method |
| CN110118555A (en) * | 2019-05-27 | 2019-08-13 | 深圳市贝贝特科技实业有限公司 | UAV Navigation System and method |
| CN112484707A (en) * | 2020-11-25 | 2021-03-12 | 浙江有色勘测规划设计有限公司 | Building measurement method, system, terminal and medium based on aircraft |
| CN112484707B (en) * | 2020-11-25 | 2022-05-10 | 浙江有色勘测规划设计有限公司 | Building measurement method, system, terminal and medium based on aircraft |
| CN112987795B (en) * | 2021-04-30 | 2023-03-21 | 成都思晗科技股份有限公司 | Mountain fire monitoring autonomous route planning method, device and system based on unmanned aerial vehicle |
| CN112987795A (en) * | 2021-04-30 | 2021-06-18 | 成都思晗科技股份有限公司 | Mountain fire monitoring autonomous route planning method, device and system based on unmanned aerial vehicle |
| CN116337012A (en) * | 2023-03-20 | 2023-06-27 | 重庆地质矿产研究院 | Surface mine boundary pile position layout optimization method based on oblique photogrammetry technology |
| CN116337012B (en) * | 2023-03-20 | 2023-10-20 | 重庆地质矿产研究院 | Surface mine boundary pile position layout optimization method based on oblique photogrammetry technology |
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