CN109871030A - A kind of unmanned mechanical paths planning method - Google Patents
A kind of unmanned mechanical paths planning method Download PDFInfo
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- CN109871030A CN109871030A CN201910154708.5A CN201910154708A CN109871030A CN 109871030 A CN109871030 A CN 109871030A CN 201910154708 A CN201910154708 A CN 201910154708A CN 109871030 A CN109871030 A CN 109871030A
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Abstract
Then a kind of unmanned mechanical paths planning method, the location information of operation boundary of land block point needed for being obtained first according to positioning system carry out path planning according to the boundary dot position information.Finally, completing mechanical job task using the course line.Paths planning method proposed by the invention does not need the operation difficulty that user is reduced using earth station's mobile phone or computer, can effectively promote operating efficiency.
Description
Technical field
The present invention relates to unmanned mechanical Path Planning Technique field, a kind of method for proposing unmanned mechanical path planning.
Background technique
Currently, unmanned mechanical taking photo by plane, surveying and drawing, Traffic monitoring, emergency management and rescue, limiting automatic Pilot and agriculture under scene
The fields such as industry plant protection extensive utilization.In use, unmanned machinery is all by remote controler manual manipulation, therefore to operator
Requirement it is high.Especially in industry application field, operator's uninterrupted manipulation for a long time, spiritual high concentration, therefore it is easy tired
Labor causes operation error and air crash.
On the other hand, in unmanned mechanical use process, due to the technical reason of operator, it is difficult to guarantee unmanned plane
Tool is easy to deviate preset path according to required route.In addition, operator is difficult to ensure at the uniform velocity going for unmanned machinery
Sail, busy shift, this had not only caused unmanned mechanical work uneven, but also reduced unmanned mechanical cruise duration, increase battery or
Fuel cost.
The driving path of unmanned mechanical work is planned therefore, it is necessary to a kind of more intelligent method, it is distant manually to mitigate
The burden of operator is controlled, reduces unmanned mechanical crash accident, while improving unmanned mechanical operating efficiency.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention is real
It applies example and discloses a kind of unmanned mechanical paths planning method.
According to the first aspect of the embodiments of the present disclosure, a kind of unmanned mechanical paths planning method, the method packet are provided
It includes:
Obtain the geographical location information in unmanned mechanical work plot；
The destination geographical location information that the plot is calculated according to the geographical location information in the plot, the destination is geographical
Location information is saved in unmanned machinery as the destination of unmanned mechanical work, completes flight course planning.So-called destination just refers to described
Unmanned mechanical driving path point.
Obtain the mode of the geographical location information in unmanned mechanical work plot for example are as follows: the acquisition methods based on map, example
The latitude and longitude coordinates in target plot each sideline and vertex are such as obtained by satellite map artificial enquiry, these information are directly defeated
Enter at unmanned mechanical, such as its controller；Certainly also have through handheld satellite system and manually go to target location
Mode reads the latitude and longitude information of the target point.Wherein, obtaining location information by unmanned plane can also include by unmanned plane
Target location is flown to, the latitude and longitude information that unmanned plane satellite system acquires at this time is obtained.
Optionally, the plot is considered as polygon and carries out path planning by a kind of embodiment according to the present invention.This
Outside, the geographical location information in the operation plot includes the geographical location information on polygonal region vertex, the geographical location letter
Breath includes longitude and latitude.
In this embodiment, the geographical location information for obtaining unmanned mechanical work plot includes:
The unmanned mechanical polygon edge boundary line operation along the operation plot of remote manual control operation；
When the unmanned mechanical polygon vertex for reaching the operation plot, remote manual control operates the current institute of unmanned mechanical record
State geographical location information；The benefit of the program is that operation plot is carried out the abstract of geometric parameter, is brought just for path planning
Benefit.
The geographical location information for obtaining unmanned mechanical work plot, may also include that
When unmanned mechanical the first vertex for reaching operation parcel polygon boundary, remote manual control operates unmanned mechanical removal
The geographical location information saved.The benefit of the program is, while only saving one group of way point information for path planning, saves
Memory space, it is promising effectively especially for the embedded controller application scenarios of low cost.
In this embodiment, the method also includes:
When the manual remote control operation planning course line of user, according to the geographical location information in the operation plot, flight course planning is completed
And it is automatically saved to unmanned machinery.
The method in the planning course line, comprising:
Course line side is determined according to the first vertex geographical location information of the parcel polygon and the second vertex geographical location information
To；The benefit of the program is to determine course by two o'clock, provide initial heading information for subsequent automatic path planning.
According to the unmanned mechanical width of the operation, the operation spacing distance in unmanned mechanical work course line is determined；
According to the geographical location information of the polygon vertex in the plot, the course-and-bearing and the operation spacing distance, meter
The borderline track geographical location information of the parcel polygon is calculated, using the track geographical location information as unmanned mechanical work
The destination of industry is saved in unmanned machinery, completes flight course planning.
In this embodiment, the method in the planning course line, may also include that
According to the first vertex geographical location information, the second vertex geographical location information and the operating room of the parcel polygon
Gauge is from by the first vertex geographical location information of the parcel polygon and the second vertex geographical location information to the plot
Operation spacing distance described in bias internal obtains first destination and the second destination geographical location information in the course line；The program
Benefit is that boundary of land block progress is left white processing in advance when being operation, and raising system is played under to the highly sensitive application scenarios that cross the border
The effect for adaptability of uniting.
In this embodiment, the method in the planning course line, may also include that
In the planning course line, addition is maked a return voyage as the last one destination；
The order of making a return voyage refers to the geographical location taken off back to the unmanned machinery.
The embodiment of the present invention includes following advantages:
In the embodiment of the present invention, the unmanned mechanical polygon edge boundary line operation along the operation plot is operated in remote manual control
Meanwhile the geographical location information in unmanned mechanical work plot is obtained, drain spray is reduced, operating efficiency is improved；
In part mountainous region scene of operations, avoid since people cannot obtain the geographical location letter in operation plot into operation plot
Breath, is unable to complete unmanned mechanical work；
The path planning in operation plot does not need the manipulation difficulty that user is reduced using earth station's mobile phone or computer, promotes operation
Efficiency.
Detailed description of the invention
Detailed description of the present invention embodiment with reference to the accompanying drawings and detailed description, preferably to embody the present invention
Feature.
Fig. 1: the step flow chart of the unmanned mechanical paths planning method embodiment of one kind of the invention；
Fig. 2: the acquisition operation plot geographical location information in the unmanned mechanical paths planning method embodiment of one kind of the invention
Aircraft route map；
Fig. 3: the path planning route map one in the unmanned mechanical paths planning method embodiment of one kind of the invention；
Fig. 4: the path planning route map two in the unmanned mechanical paths planning method embodiment of one kind of the invention.
Specific embodiment
Fig. 1 is the step flow chart according to the paths planning method of one embodiment of the invention.
As shown in Figure 1, the step of paths planning method of the unmanned machinery of one kind of the invention, includes:
S101, the unmanned mechanical polygon edge boundary line operation along operation plot of remote manual control operation；
S102, in the operation process of S101, when unmanned mechanical the first vertex for reaching operation parcel polygon boundary of judgement,
Remote manual control operation removes the unmanned mechanical geographical location information saved and records current unmanned mechanical geographical location information；
Specifically, further includes:, can for the security consideration of unmanned mechanical work when operation boundary of land block is there are when barrier
By the first vertex to plot bias internal.
S103, in the operation process of S101, when the unmanned mechanical each top for reaching operation parcel polygon boundary of judgement
When point, remote manual control operates the geographical location information on unmanned mechanical record vertex, the geographical location information in the plot that fulfils assignment.
S104 determines course-and-bearing, operating room according to first vertex, the second vertex and unmanned machine readable in operation plot
Gauge is from the first destination and the second destination with course line；
Specifically, course-and-bearing is confirmed according to the geographical location information on the first vertex of operation plot of acquisition and the second vertex；Root
Operation spacing distance is determined according to unmanned machine readable；According to the geographical location information on the first vertex of operation plot and the second vertex with
And operation spacing distance determines first destination and the second destination in course line.
S105, course-and-bearing that according to the operation of acquisition block message and S104 are obtained, operation spacing distance, the first destination
The destination that course line is determined with the second destination, the path planning in the plot that fulfils assignment.
Fig. 2 is the acquisition operation plot geographical location in the unmanned mechanical paths planning method embodiment of one kind of the invention
The aircraft route map of information；
Specifically, operation plot geographical location information includes the geographical location information on polygonal region vertex, geographical location information
Including longitude and latitude.
Fig. 3 is the path planning route map in the unmanned mechanical paths planning method embodiment of one kind of the invention
One, path planning step includes:
Step 1: confirming course-and-bearing according to the geographical location information on the first vertex of operation plot of acquisition and the second vertex；Root
Operation spacing distance is determined according to unmanned machine readable；
It navigates Step 2: being determined according to the geographical location information and operation spacing distance on the first vertex of operation plot and the second vertex
The first destination and the second destination of line；
Step 3: according to the operation of acquisition block message (the Polygonal Boundary vertex of Fig. 2) and course-and-bearing, operation interval distance
From the destination that, the first destination and the second destination determine course line, the path planning in the plot that fulfils assignment.
Fig. 4 is the path planning route map in the unmanned mechanical paths planning method embodiment of one kind of the invention
Two, further includes: when last column distance shown in figure be greater than unmanned mechanical operating room gauge from half, while being less than nobody
When mechanical work spacing distance, individually increase by two destinations, prevents last column for omitting operation plot.Wherein, illustratively
The determination of " the first destination " and " the second destination " is explained in conjunction with Fig. 3 and Fig. 4.
" confirming course-and-bearing according to the geographical location information on the first vertex of operation plot of acquisition and the second vertex " refers to
Pass through two " vertex " available vectors.This " vector " is translated into (or less than an one) operation spacing distance
(width for making full use of machinery operation to cover), has just obtained a new vector.This " new vector " and adjacent two edges
Intersection point is exactly " the first destination " and " the second destination ".Adjacent two edges refer to " the first vertex " and " the second vertex " and they
Respectively side composed by adjacent another two vertex.
In addition, when unmanned machinery is a kind of aircraft, in terms of the operation height of flight, need to take into account operation effectiveness and
The operation area coverage of single flight.Typically, flying height is often determined by operator according to the experience of various restrictive conditions
It is fixed.In destination collection process, longitude and latitude first can be individually acquired, last practical flight height can be independently arranged.
It should be noted that each step title (such as Step 1: step S101) that the present invention is previously mentioned is used only for
Step gives a name and convenient for the purpose that step is quoted, without explicitly indicating that or implying the sequence between step.Except non-present invention is clear
Perhaps sequence in the case where obvious conflict between each step is mentioned can be any or synchronize and implemented.
It should be understood that all above preferred embodiments are all illustrative and not restrictive, those skilled in the art
The various remodeling or deformation that member makes particular embodiments described above under design of the invention all should be in methods of the invention
It restrains in protection scope.
Claims (10)
1. a kind of unmanned mechanical paths planning method, which is characterized in that the described method includes: obtaining unmanned mechanical work plot
Geographical location information；
The destination geographical location information that the plot is calculated according to the geographical location information in the plot, the destination is geographical
Location information is saved in unmanned machinery as the destination of unmanned mechanical work, completes flight course planning.
2. paths planning method according to claim 1, which is characterized in that the plot is considered as polygon and carries out path
Planning.
3. paths planning method according to claim 2, which is characterized in that the geographical location information packet in the operation plot
The geographical location information of operation parcel polygon border vertices is included, the geographical location information includes longitude and latitude.
4. paths planning method according to claim 2, which is characterized in that further include:
The geographical location information for obtaining unmanned mechanical work plot includes: the unmanned machinery of remote manual control operation along the work
The polygon edge boundary line operation in industry plot, it is distant manually when the unmanned mechanical Polygonal Boundary vertex for reaching the operation plot
Control operates the current geographical location information of unmanned mechanical record.
5. paths planning method according to claim 2, which is characterized in that further include:
When nobody mechanical first vertex for reaching operation parcel polygon boundary, remove what unmanned machinery had saved
Geographical location information.
6. paths planning method according to claim 1, which is characterized in that the paths planning method further include:
When the manual remote control operation planning course line of user, according to the geographical location information in the operation plot, flight course planning is completed
And it is automatically saved to unmanned machinery.
7. paths planning method according to claim 2, which is characterized in that further include:
It is true according to the first vertex geographical location information on operation parcel polygon boundary and the second vertex geographical location information
Tramp-liner direction；
The operation spacing distance in unmanned mechanical work course line is determined according to the unmanned mechanical width of operation；
It is calculated according to the geographical location information of the polygon vertex in the plot, the course-and-bearing and the operation spacing distance
The borderline destination geographical location information of parcel polygon, using the destination geographical location information as unmanned mechanical work
Destination be saved in unmanned machinery, complete flight course planning.
8. paths planning method according to claim 7, which is characterized in that further include:
According to the first vertex geographical location information, the second vertex geographical location information and institute on operation parcel polygon boundary
Operation spacing distance is stated, by the first vertex geographical location information on operation parcel polygon boundary and the second vertex geography position
Confidence ceases the half that the operation spacing distance is translated into operation plot, and first destination and second in the course line is calculated
Destination geographical location information.
9. paths planning method according to claim 7, which is characterized in that further include:
According to first destination in the course line and the second destination geographical location information, by course line according to unmanned mechanical operating room every
Distance translation obtains a series of course line, calculates a series of this course line and the parcel polygon boundary line obtains a series of intersection points
Position, and obtained intersection point numbered into the destination as unmanned mechanical work in a certain order come replace the operation nobody
The geographical location information of existing operation parcel polygon border vertices in machinery is saved in the unmanned machinery of the operation, completes
Path planning.
10. paths planning method according to claim 1, which is characterized in that further include:
In the flight course planning, addition makes a return voyage order as the last one destination, wherein the order of making a return voyage refers to returning
It takes off the geographical location of operation to the unmanned machinery.
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| CN112313595A (en) * | 2019-10-31 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Operation planning method and system of movable platform and control terminal |
| CN112313599A (en) * | 2019-10-31 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Control method, control device and storage medium |
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| CN117470199A (en) * | 2023-12-27 | 2024-01-30 | 天津云圣智能科技有限责任公司 | Swing photography control method and device, storage medium and electronic equipment |
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Application publication date: 20190611 |