CN109992002A - A kind of unmanned plane based on loss identification makes a return voyage method and system - Google Patents
A kind of unmanned plane based on loss identification makes a return voyage method and system Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The invention proposes a kind of unmanned planes based on loss identification to make a return voyage method and system, this method comprises: when unmanned plane takes off, record takes off dot position information, destination when making a return voyage as unmanned plane；In unmanned plane during flying operation, earth's surface attachment information is obtained using image capture module and identifies its economic value, generate earth's surface attachment value topological diagram by economic value size and store；Judgement is maked a return voyage, the algorithm that makes a return voyage based on loss identification of starting prepackage storage；Plan the return route from current location to takeoff point；Call the earth's surface attachment economic value topological diagram stored on unmanned plane；By the economic value size that topological diagram marks, the region of low economic loss risk is selected to return from main modulation return route.Unmanned plane of the present invention reduces economic loss risk of making a return voyage by identifying that earth's surface attachment independently selects the lower regional planning return route of economic value.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of unmanned plane based on loss identification, which makes a return voyage, method and is
System.
Background technique
With the rapid development of science and technology, people are also more and more extensive to the application of unmanned plane, such as: it takes photo by plane, explore, traffic
Commander, forest fire protection, electric power high-altitude stringing and inspection, security protection patrol, environmental monitoring, plant protection etc..Currently, many unmanned planes all have
There is the function of independently making a return voyage, when detecting system exception, interrupts currently performed task start and make a return voyage function, from present bit
Set and be back to starting point, but be the failure to make a return voyage in abnormal cases in view of unmanned plane occur air crash probability it is farther be higher than it is normal
State of flight is maked a return voyage, and the economic loss risk caused by earth's surface attachment is bigger or even is difficult to estimate.Therefore, it needs to design
It is a kind of to be worth with autonomous classification earth's surface attachment, reduce economic loss risk and plan that the unmanned plane of return route makes a return voyage method
And system solves the above problems.
Summary of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, ask for what unmanned aerial vehicle control system maked a return voyage safely
Topic proposes that a kind of unmanned plane based on loss identification makes a return voyage method and system, and unmanned plane is by identifying that earth's surface attachment independently selects
The lower regional planning return route of economic value is selected, economic loss risk of making a return voyage is reduced.
A kind of method the technical scheme of the present invention is realized as follows: unmanned plane based on loss identification makes a return voyage, comprising:
S101: when unmanned plane takes off, the location information of unmanned plane takeoff point, purpose when making a return voyage as unmanned plane are recorded
Ground；
S102: in unmanned plane during flying operation, earth's surface attachment information is obtained using image capture module and passes to winged control
Computer unit identifies its economic value, generates the economic value topological diagram of earth's surface attachment by economic value size and stores；
S103: judgement make a return voyage, make a return voyage received including unmanned plane make a return voyage instruction or unmanned plane during flying during detect with
Ground controls the abnormal conditions such as wireless communication link interruption, the own hardware system failure, causes the reliability of unmanned plane to reduce, opens
The algorithm that makes a return voyage based on loss identification of dynamic prepackage storage, make a return voyage algorithm the following steps are included:
(1) return route of the planning from current location to takeoff point；
(2) the earth's surface attachment economic value topological diagram stored on unmanned plane is called；
(3) the economic value size marked by the economic value topological diagram of earth's surface attachment, selects low economic loss risk
Region from main modulation return route return.The return route is in real time from main modulation.
Further, in step S101, the unmanned plane takeoff point of record includes ground initial position message, takes off to aerial
Route and positioned at aerial flight initial point.
Further, in step S101, the takeoff point is suitable for unmanned plane and lands safely using presetting.
Further, in step S102, economic value topological diagram be crossed through flight control computer cell processing it is big by value
The data structure of small mark.
Further, in step (3), when unmanned plane makes a return voyage, image capture module obtains the economic valence of ground attachment in real time
Value information, and compared with the ground attachment economic value topological diagram stored in step S102, control unmanned plane adjusts boat in real time
Line is far from newly-increased barrier and the lower airline safety of economic loss risk is selected to return to destination.
Further, in step (3), then selection region centre position is advised in the region of same value in economic value topological diagram
Draw return route.
Further, the return route of position planning is remote when entering the interface in different value regions among selection region
Region from high economic value.
Further, the low economic loss risk further includes the intersection that earth's surface attachment is two kinds of species of different cultivars
Arrangement, selects the region contexture by self return route of low economic value.
Further, the height of return route is unmanned plane apart from ground attachment safe altitude.
Further, the economic value of earth's surface attachment is set according to market value, generating value topological diagram.
Further, unmanned plane is planned and can be straight line, folding from the low economic loss risk back course of main modulation
Line or curve.
A kind of UAV system based on loss identification, including wireless communication link, image capture module, flight control computer
Unit and memory；
The wireless communication link is for receiving hand held controller to the operational order or unmanned plane of unmanned plane and ground
The communication of control station；
Described image acquisition module is that unmanned plane can be obtained in flight operation process using image acquiring device acquisition
Region on earth's surface attachment object image unit, and send to flight control computer cell processing identification；
The memory, for storing program instruction and earth's surface attachment value topological diagram；
The flight control computer unit is sentenced for handling earth's surface attachment data information acquired in image capture module
The economic value of other attachment, attachment by value sequence storage, and generating value topological diagram stores；And for holding
The program instruction of the row memory is used for when program instruction is performed:
When unmanned aerial vehicle control system exception, topological diagram determination is worth according to the earth's surface attachment of the acquisition recorded and is maked a return voyage
Path；
When making a return voyage according to the path of making a return voyage, if image capture module is functional, flight control computer unit control figure
Collected ground is attached when operation as acquisition module obtains ground attachment economic value information in real time, and with memory storage
The comparison of object economic value topological diagram, control unmanned plane adjust course line in real time far from newly-increased barrier and select economic loss wind
The lower airline safety in danger returns to destination.
Beneficial effects of the present invention:
A kind of unmanned plane based on loss identification of the present invention makes a return voyage method and system, has the function of that loss identifies, to work as
Front position to the direction of making a return voyage of takeoff point selects the region of low economic loss risk to return from main modulation return route, avoids nothing
It is man-machine to encounter emergency case in flight course and increase difficulty of making a return voyage；Avoiding unmanned plane from making a return voyage in abnormal cases, cause can not
Estimate economic loss；It is maked a return voyage using low economic loss risk algorithm security, reduces economic loss risk, the present invention has very strong
Practicability and application and popularization value.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, attached needed for being described below to embodiment
Figure is briefly described, it is clear that, the accompanying drawings in the following description is only a part of the embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is that the unmanned plane of the invention based on loss identification makes a return voyage method flow schematic diagram；
Fig. 2 is UAV system structural schematic diagram of the invention；
Fig. 3 is the return route schematic diagram of the invention planned by economic loss risk size.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, clear, perfect retouch is carried out to technical solution of the present invention
It states, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Embodiment one
A kind of method as shown in Figure 1, unmanned plane based on loss identification makes a return voyage, comprising:
S101: unmanned plane takes off, and records the dot position information that takes off, destination when making a return voyage as unmanned plane；
Wherein, the unmanned plane takeoff point of record includes control unmanned plane from ground flying to the flight initial point, and
It makes a return voyage in control unmanned plane to the takeoff point, safe falling to ground；Preferably, the takeoff point can preferentially select,
Setting is suitable for unmanned plane and lands safely.
S102: in unmanned plane during flying operation, earth's surface attachment data information is obtained using image capture module and identifies it
Economic value is stored by economic value size generating value topological diagram.
Wherein, described image acquisition module includes the equipment of high image resolution and sampling rate, such as high-speed camera；Institute
State image capture module acquired after unmanned plane takes off can absorb earth's surface attachment object image, including surface vegetation, building,
Mobile biology volumetric image data etc., and flight control computer cell processing is passed data to, the main warp for identifying the attached crop of earth's surface
Ji value, analyze its economic loss risk, by every kind of attachment value generating value topological diagram and store；The earth's surface
The economic value of attachment can be set by market situation.
S103: judgement is maked a return voyage, be included in during unmanned plane during flying detect interrupted with ground control wireless communication link,
The abnormal conditions such as the own hardware system failure cause the reliability of unmanned plane to reduce, and starting prepackage storage is identified based on loss
The algorithm that makes a return voyage, make a return voyage algorithm the following steps are included:
(1) return route of the planning from return route point to takeoff point；The return route is from making a return voyage a little to takeoff point reality
When from the course line of main modulation.
(2) the earth's surface attachment economic value topological diagram stored on unmanned plane is called；The topological diagram is to be flown control to calculate
The data structure marked by value that machine cell processing is crossed.
(3) by the economic value size of earth's surface attachment value topological diagram mark, the region of low economic loss risk is selected
It is returned from main modulation return route；The low economic loss risk includes the economic value size determined according to market value, such as
Consequence caused by after organism, mobile article, cultivating pool, industrial crops equivalent damage, makes unmanned plane far from high economic value
Region selects low economic loss risk airline safety to return to destination；The low economic loss risk further includes earth's surface attachment
It is that the cross arrangement of two kinds of species of different cultivars such as the interplanting mode of crops selects the region of low economic value from master ga(u)ge
Draw return route；The return route can be straight line, broken line or curve.
Embodiment two
The system as shown in Fig. 2, a kind of unmanned plane based on loss identification makes a return voyage, it is characterised in that including wireless communication link
Road, image capture module, flight control computer unit and memory；
Link sends an instruction to unmanned plane to unmanned operators by wireless communication, controls unmanned plane, while the figure
Adhere to object image as acquisition module can be obtained the earth's surface on region using image acquiring device acquisition, and sends to and fly control meter
The identification of calculation machine cell processing；
Earth's surface attachment data information acquired in the flight control computer cell processing image capture module differentiates attachment
The economic value of object is stored attachment by value sequence, and generating value topological diagram, and storage is in memory；
The flight control computer unit is also used to execute the program instruction of the memory, comprising:
(1) when wireless communication link interrupts or flight control system exception, price is adhered to according to the earth's surface of the acquisition recorded
Value topological diagram determines path of making a return voyage；
(2) when making a return voyage according to the path of making a return voyage, if image capture module failure, flight control computer unit is called directly
Collected ground attachment economic value topological diagram, control unmanned plane are selected by economic value size when the operation of processor storage
The course line for selecting low economic loss risk returns；
(3) if image capture module is functional, flight control computer unit control image capture module obtains ground in real time
Attachment economic value data, and collected ground attachment economic value topological diagram pair when operation with processor storage
Than control unmanned plane is far from newly-increased barrier and economic risk is selected to lose lower airline safety return destination；
The memory is used to store the value topological diagram and program instruction of earth's surface attachment.
It as shown in Figure 3, is a kind of unmanned plane return route based on loss identification, each region is unmanned machine operation in figure
When the equal value earth's surface attachment that acquired, the economic value of various earth's surface attachments determines according to actual conditions, value mark
Know 1 and be greater than mark 6 and be greater than mark 3 and be greater than mark 5 and be greater than mark 4 and be greater than mark 2 and be greater than mark 8, wherein mark 1 is that plantation is big
Canopy, mark 2 is wheat, and mark 3 is field side fish pond, and mark 4 is rapeseed, and mark 5 is lily, and mark 6 is fructus lycii tree, mark 7
It is high position barrier, and is located in mark 4, mark 8 is field side meadow, and unmanned plane judgement selects low economic loss wind after making a return voyage
The region of danger is returned from main modulation return route, and course line as shown in the figure is the curve from return route point S to destination D, unmanned plane
The middle part for entering identified areas 4 by identified areas 8 since return route point S, avoids 7 in identified areas 4, by identified areas
5 middle part finally reaches the destination D that makes a return voyage from the middle part of identified areas 2, is identifying 5,7 interfaces far from mark 3,6, is marking
Know 1 and 2,2 and 3 interfaces far from mark 1,3, far from mobile organism, vehicle, for example each planting fruit-trees of high economic value crop or
It is cultivating pool, the regions such as field ridge Gansu Province, the low industrial crops such as meadow of the one fixed width without plantation is selected to make a return voyage, it is effective to drop
The economic loss that low unmanned plane may cause when making a return voyage, final safety land, the return route can be straight line may also
It is the combination of curve or various line shapes.
Be provided for the embodiments of the invention above it is a kind of based on loss identification unmanned plane make a return voyage method and system carry out
Detailed introduction, used herein a specific example illustrates the principle and implementation of the invention, above implementation
The explanation of example is merely used to help understand method and its core concept of the invention.
Claims (10)
- A kind of method 1. unmanned plane based on loss identification makes a return voyage characterized by comprisingWhen S101 unmanned plane takes off, the location information of unmanned plane takeoff point, destination when making a return voyage as unmanned plane are recorded；In S102 unmanned plane during flying operation, earth's surface attachment information is obtained using image capture module and passes to flight control computer Unit identifies its economic value, generates the economic value topological diagram of earth's surface attachment by economic value size and stores；S103: judgement make a return voyage, starting prepackage storage based on loss identification the algorithm that makes a return voyage, make a return voyage algorithm the following steps are included:(1) return route of the planning from current location to takeoff point；(2) the earth's surface attachment economic value topological diagram stored on unmanned plane is called；(3) the economic value size marked by the economic value topological diagram of earth's surface attachment, selects the area of low economic loss risk Domain is returned from main modulation return route.
- The method 2. a kind of unmanned plane based on loss identification according to claim 1 makes a return voyage, which is characterized in that step In S101, the unmanned plane takeoff point of record includes the location information that ground is taken off or takes off to aerial flight initial point.
- 3. a kind of unmanned plane based on loss identification according to claims 1 or 2 makes a return voyage method, which is characterized in that step In rapid S101, the takeoff point is suitable for unmanned plane and lands safely using presetting.
- The method 4. a kind of unmanned plane based on loss identification according to claim 1 makes a return voyage, which is characterized in that step In S102, economic value topological diagram is the data structure marked by value crossed through flight control computer cell processing.
- The method 5. a kind of unmanned plane based on loss identification according to claim 1 makes a return voyage, which is characterized in that step (3) in, when unmanned plane makes a return voyage, image capture module obtains ground attachment economic value information in real time, and in step S102 The ground attachment economic value topological diagram of storage compares, and control unmanned plane adjusts course line far from newly-increased barrier and choosing in real time It selects the lower airline safety of economic loss risk and returns to destination.
- 6. a kind of unmanned plane based on loss identification according to claims 1 or 2 makes a return voyage method, which is characterized in that step Suddenly in (3), then return route is planned at selection region centre position in the region of same value in economic value topological diagram.
- The method 7. a kind of unmanned plane based on loss identification according to claim 6 makes a return voyage, which is characterized in that selection area The return route of position planning region far from high economic value when entering the interface in different value regions among domain.
- The method 8. a kind of unmanned plane based on loss identification according to claim 1 makes a return voyage, which is characterized in that step (3) in, when earth's surface attachment is the cross arrangement of two kinds of species of different cultivars, the region contexture by self of low economic value is selected Return route.
- The method 9. a kind of unmanned plane based on loss identification according to claim 1 makes a return voyage, which is characterized in that earth's surface is attached The economic value of object set according to market value, generating value topological diagram.
- The system 10. a kind of unmanned plane based on loss identification makes a return voyage, which is characterized in that including wireless communication link, Image Acquisition Module, flight control computer unit and memory；The wireless communication link is for receiving hand held controller to the operational order of unmanned plane or for unmanned plane and ground control Make the communication at station；Described image acquisition module is that unmanned plane can be obtained area using image acquiring device acquisition in flight operation process The unit of earth's surface attachment object image on domain, and send the identification of flight control computer cell processing to；The memory, for storing program instruction and earth's surface attachment value topological diagram；The flight control computer unit generates valence for handling earth's surface attachment data information acquired in image capture module It is worth topological diagram storage, and the program instruction for executing the memory storage.
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Cited By (1)
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| CN112835380A (en) * | 2020-12-30 | 2021-05-25 | 深兰科技（上海）有限公司 | Method and device for returning of aircraft, aircraft and computer readable storage medium |
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