CN110494815A - 一种路径规划方法及装置 - Google Patents

一种路径规划方法及装置 Download PDF

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Publication number
CN110494815A
CN110494815A CN201880016700.6A CN201880016700A CN110494815A CN 110494815 A CN110494815 A CN 110494815A CN 201880016700 A CN201880016700 A CN 201880016700A CN 110494815 A CN110494815 A CN 110494815A
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China
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path
working
area
working area
ports
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CN201880016700.6A
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English (en)
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李劲松
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN110494815A publication Critical patent/CN110494815A/zh
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

一种路径规划方法及装置，所述路径规划方法包括：获取工作区域及所述工作区域的操作点；将所述工作区域划分为多个作业区域，获取多个所述作业区域的端口，所述操作点和所述端口组成所述工作区域的航点；以及对所述航点施加约束条件，得到最小化的非作业路径。

Description

PCT国内申请，说明书已公开。

Claims (27)

  1. PCT国内申请，权利要求书已公开。
CN201880016700.6A 2018-03-30 2018-03-30 一种路径规划方法及装置 Pending CN110494815A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/081460 WO2019183967A1 (zh) 2018-03-30 2018-03-30 一种路径规划方法及装置

Publications (1)

Publication Number Publication Date
CN110494815A true CN110494815A (zh) 2019-11-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880016700.6A Pending CN110494815A (zh) 2018-03-30 2018-03-30 一种路径规划方法及装置

Country Status (3)

Country Link
US (1) US20210027634A1 (zh)
CN (1) CN110494815A (zh)
WO (1) WO2019183967A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111752300A (zh) * 2019-12-30 2020-10-09 广州极飞科技有限公司 无人机航线规划方法、装置、***及计算机可读存储介质
CN111766864A (zh) * 2019-12-30 2020-10-13 广州极飞科技有限公司 路径生成方法、装置、电子设备和计算机可读存储介质
CN112506226A (zh) * 2020-12-24 2021-03-16 中国人民解放军军事科学院国防科技创新研究院 一种基于温度约束条件的长航时无人机飞行航线规划方法
CN112525199A (zh) * 2020-11-23 2021-03-19 广州极飞科技有限公司 一种无人机作业路径规划方法、装置、无人机及介质
CN112799398A (zh) * 2020-12-25 2021-05-14 珠海市一微半导体有限公司 基于寻径代价的清洁路径规划方法、芯片及清洁机器人

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US11440659B2 (en) * 2019-09-12 2022-09-13 National Formosa University Precision agriculture implementation method by UAV systems and artificial intelligence image processing technologies
US11897188B2 (en) 2020-01-30 2024-02-13 Xerox Corporation Method and system for 3D printing on fabric
CN113867329A (zh) * 2020-06-12 2021-12-31 纳恩博（北京）科技有限公司 一种确定行进路线的方法、设备及存储介质
CN115097865B (zh) * 2022-06-27 2023-09-22 中国人民解放军海军航空大学 一种多机编队避障的航迹规划方法

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111752300A (zh) * 2019-12-30 2020-10-09 广州极飞科技有限公司 无人机航线规划方法、装置、***及计算机可读存储介质
CN111766864A (zh) * 2019-12-30 2020-10-13 广州极飞科技有限公司 路径生成方法、装置、电子设备和计算机可读存储介质
CN112525199A (zh) * 2020-11-23 2021-03-19 广州极飞科技有限公司 一种无人机作业路径规划方法、装置、无人机及介质
CN112525199B (zh) * 2020-11-23 2023-12-05 广州极飞科技股份有限公司 一种无人机作业路径规划方法、装置、无人机及介质
CN112506226A (zh) * 2020-12-24 2021-03-16 中国人民解放军军事科学院国防科技创新研究院 一种基于温度约束条件的长航时无人机飞行航线规划方法
CN112799398A (zh) * 2020-12-25 2021-05-14 珠海市一微半导体有限公司 基于寻径代价的清洁路径规划方法、芯片及清洁机器人

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